CN114460955B - Forward obstacle detection method and device, unmanned aerial vehicle and readable storage medium - Google Patents
Forward obstacle detection method and device, unmanned aerial vehicle and readable storage medium Download PDFInfo
- Publication number
- CN114460955B CN114460955B CN202110721621.9A CN202110721621A CN114460955B CN 114460955 B CN114460955 B CN 114460955B CN 202110721621 A CN202110721621 A CN 202110721621A CN 114460955 B CN114460955 B CN 114460955B
- Authority
- CN
- China
- Prior art keywords
- radar
- target
- power
- unmanned aerial
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 80
- 238000000034 method Methods 0.000 claims abstract description 51
- 238000006243 chemical reaction Methods 0.000 claims description 31
- 238000012545 processing Methods 0.000 claims description 21
- 238000004590 computer program Methods 0.000 claims description 5
- 230000009466 transformation Effects 0.000 claims description 3
- 230000001131 transforming effect Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 16
- 238000010586 diagram Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 230000035772 mutation Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000011895 specific detection Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The application provides a forward obstacle detection method, a forward obstacle detection device, an unmanned aerial vehicle and a readable storage medium, wherein the method comprises the following steps: determining the actual return power of a target side lobe of a first radar of an unmanned aerial vehicle, wherein the target side lobe is a side lobe within a preset angle range of the first radar, and the first radar is used for detecting an obstacle in the advancing direction of the unmanned aerial vehicle; and detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to the gain of the second radar of the unmanned aerial vehicle, the gain of the target side lobe and the actual return power of the target side lobe, wherein the second radar is used for detecting the obstacle of the unmanned aerial vehicle in the direction of the ground. The method combines the detection information of the forward radar and the ground radar, can effectively eliminate misjudgment caused by side lobes of the forward radar, and ensures the accuracy of the unmanned aerial vehicle in forward obstacle detection. Meanwhile, the design difficulty of the unmanned aerial vehicle and the complexity of the unmanned aerial vehicle structure are not caused.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a forward obstacle detection method and device, an unmanned aerial vehicle and a readable storage medium.
Background
At present, radars can be installed at different positions of the unmanned aerial vehicle to achieve the purposes of obstacle detection and the like. For example, a forward radar and a ground radar may be mounted on the drone, where the forward radar may be mounted on the head of the drone for detecting the front of the drone. The ground radar can be arranged below the unmanned aerial vehicle body and used for detecting the lower part of the unmanned aerial vehicle when the unmanned aerial vehicle flies. For forward radars with larger gain, when the unmanned aerial vehicle approaches the water surface, larger interference signals can be generated due to the influence of antenna side lobes of the forward radars, so that the unmanned aerial vehicle misjudges the interference signals as obstacles in front, and therefore the misjudgment needs to be eliminated.
In the prior art, the position of an obstacle in the vertical direction can be distinguished by providing resolution of the vertical angle, and whether the obstacle exists in front of the front unmanned aerial vehicle or not can be judged according to the position of the obstacle in the vertical direction.
However, the method of the prior art may result in a complex structure of the unmanned aerial vehicle, and at the same time, the accuracy of the judgment of the forward obstacle is low.
Disclosure of Invention
The application aims to overcome the defects in the prior art and provide a forward obstacle detection method, a forward obstacle detection device, an unmanned aerial vehicle and a readable storage medium, so as to solve the problems of complex structure of the unmanned aerial vehicle and low accuracy of judgment of the forward obstacle caused by the prior art method.
In order to achieve the above purpose, the technical scheme adopted by the embodiment of the application is as follows:
in a first aspect, an embodiment of the present application provides a method for detecting a forward obstacle of an unmanned aerial vehicle, including:
determining the actual return power of a target side lobe of a first radar of an unmanned aerial vehicle, wherein the target side lobe is a side lobe within a preset angle range of the first radar, and the first radar is used for detecting an obstacle in the advancing direction of the unmanned aerial vehicle;
and detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to the gain of the second radar of the unmanned aerial vehicle, the gain of the target side lobe and the actual return power of the target side lobe, wherein the second radar is used for detecting the obstacle of the unmanned aerial vehicle in the direction of the ground.
As a possible implementation manner, the determining the actual return power of the target sidelobe of the first radar of the unmanned aerial vehicle includes:
determining a target frequency point according to the spectrogram of the second radar, wherein the target frequency point is a frequency point corresponding to the maximum power in the spectrogram of the second radar;
and acquiring first power on the target frequency point in the spectrogram of the first radar, and taking the first power as the actual return power of the target side lobe.
As one possible implementation, the detecting an obstacle in the forward direction of the unmanned aerial vehicle according to the gain of the second radar of the unmanned aerial vehicle, the gain of the target flap, and the actual return power of the target flap includes:
according to the gain of the second radar and the gain of the target side lobe, determining a power conversion value of the target side lobe on the target frequency point;
according to the power conversion value, converting the actual return power of the target auxiliary lobe to obtain converted power of the target auxiliary lobe;
and determining whether an obstacle exists in the forward direction of the unmanned aerial vehicle according to the converted power and a target power threshold.
As a possible implementation manner, the determining the power conversion value of the target side lobe on the target frequency point according to the gain of the second radar and the gain of the target side lobe includes:
determining a difference between a gain of the second radar and a gain of the target sidelobe;
determining a power difference value generated by the second radar by reducing the gain by the difference value on the target frequency point;
and taking the power difference value as the power conversion value.
As a possible implementation manner, said transforming the actual return power of the target flap according to the power transformation value, to obtain a transformed power of the target flap, includes:
subtracting the power conversion value from the actual return power of the target auxiliary lobe to obtain the converted power of the target auxiliary lobe.
As a possible implementation manner, the determining whether an obstacle exists in the forward direction of the unmanned aerial vehicle according to the converted power and a target power threshold value includes:
and if the converted power is larger than a target power threshold value, determining that an obstacle exists in the advancing direction of the unmanned aerial vehicle.
As a possible implementation manner, before determining whether an obstacle exists in the forward direction of the unmanned aerial vehicle according to the converted power and the target power threshold, the method further includes:
acquiring the current detection distance of the first radar;
and taking the power corresponding to the current detection distance as the target power threshold.
As one possible implementation, the detecting an obstacle in the forward direction of the unmanned aerial vehicle according to the gain of the second radar of the unmanned aerial vehicle, the gain of the target flap, and the actual return power of the target flap includes:
Acquiring the current distance between the unmanned aerial vehicle and the ground, which is obtained based on the detection information of the second radar;
determining the reference return power of the target side lobe under the current distance according to the gain of the target side lobe;
and detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to the actual return power of the target flap and the reference return power.
As a possible implementation manner, the detecting an obstacle in the forward direction of the unmanned aerial vehicle according to the actual return power of the target flap and the reference return power includes:
if the difference between the actual return power and the reference return power at the current distance is greater than a first preset threshold value, detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to corresponding frequency points of reflected echo signals of main lobes and/or auxiliary lobes except for the auxiliary lobes in the first radar in a spectrogram.
As a possible implementation manner, the determining the actual return power of the target sidelobe of the first radar of the unmanned aerial vehicle includes:
and determining the actual return power of the target auxiliary lobe according to the reflected echo signal received by the target auxiliary lobe.
In a second aspect, an embodiment of the present application provides a forward obstacle detection device of an unmanned aerial vehicle, including:
the device comprises a determining module, a first radar detecting module and a second radar detecting module, wherein the determining module is used for determining the actual return power of a target side lobe of a first radar of the unmanned aerial vehicle, wherein the target side lobe is a side lobe within a preset angle range of the first radar, and the first radar is used for detecting an obstacle in the advancing direction of the unmanned aerial vehicle;
and the processing module is used for detecting the obstacle in the advancing direction of the unmanned aerial vehicle according to the gain of the second radar of the unmanned aerial vehicle, the gain of the target side lobe and the actual return power of the target side lobe, wherein the second radar is used for detecting the obstacle of the unmanned aerial vehicle towards the ground direction.
As a possible implementation manner, the determining module is specifically configured to:
determining a target frequency point according to the spectrogram of the second radar, wherein the target frequency point is a frequency point corresponding to the maximum power in the spectrogram of the second radar;
and acquiring first power on the target frequency point in the spectrogram of the first radar, and taking the first power as the actual return power of the target side lobe.
As a possible implementation manner, the processing module is specifically configured to:
According to the gain of the second radar and the gain of the target side lobe, determining a power conversion value of the target side lobe on the target frequency point;
according to the power conversion value, converting the actual return power of the target auxiliary lobe to obtain converted power of the target auxiliary lobe;
and determining whether an obstacle exists in the forward direction of the unmanned aerial vehicle according to the converted power and a target power threshold.
As a possible implementation manner, the processing module is specifically configured to:
determining a difference between a gain of the second radar and a gain of the target sidelobe;
determining a power difference value generated by the second radar by reducing the gain by the difference value on the target frequency point;
and taking the power difference value as the power conversion value.
As a possible implementation manner, the processing module is specifically configured to:
subtracting the power conversion value from the actual return power of the target auxiliary lobe to obtain the converted power of the target auxiliary lobe.
As a possible implementation manner, the processing module is specifically configured to:
and if the converted power is larger than a target power threshold value, determining that an obstacle exists in the advancing direction of the unmanned aerial vehicle.
As a possible implementation manner, the processing module is further configured to:
acquiring the current detection distance of the first radar;
and taking the power corresponding to the current detection distance as the target power threshold.
As a possible implementation manner, the processing module is specifically configured to:
acquiring the current distance between the unmanned aerial vehicle and the ground, which is obtained based on the detection information of the second radar;
determining the reference return power of the target side lobe under the current distance according to the gain of the target side lobe;
and detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to the actual return power of the target flap and the reference return power.
As a possible implementation manner, the processing module is specifically configured to:
if the difference between the actual return power and the reference return power at the current distance is greater than a first preset threshold value, detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to corresponding frequency points of reflected echo signals of main lobes and/or auxiliary lobes except for the auxiliary lobes in the first radar in a spectrogram.
As a possible implementation manner, the determining module is specifically configured to:
And determining the actual return power of the target auxiliary lobe according to the reflected echo signal received by the target auxiliary lobe.
In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle, including: a controller, a first radar, and a second radar; the first radar is used for detecting an obstacle in the forward direction of the unmanned aerial vehicle, the second radar is used for detecting an obstacle in the direction of the unmanned aerial vehicle towards the ground, and the controller is used for performing forward obstacle detection based on detection information of the first radar and the second radar according to the unmanned aerial vehicle forward obstacle detection method of the first aspect.
In a fourth aspect, an embodiment of the present application provides an electronic device, including: a memory and a processor;
the memory is configured to store machine-readable instructions executable by the processor, where the processor is configured to execute the machine-readable instructions to implement the steps of the unmanned aerial vehicle forward obstacle detection method according to the first aspect.
In a fifth aspect, an embodiment of the present application provides a computer readable storage medium, where a computer program is stored, where the computer program when executed by a processor performs the steps of the method for detecting a forward obstacle of a drone according to the first aspect.
According to the forward obstacle detection method, the forward obstacle detection device, the unmanned aerial vehicle and the readable storage medium, the unmanned aerial vehicle can detect the obstacle in the forward direction of the unmanned aerial vehicle according to the gain of the second radar, the gain of the target side lobe of the first radar at the preset angle and the actual return power of the target side lobe, and the detection information of the first radar and the detection information of the second radar are combined in the process. Meanwhile, the hardware structure of the unmanned aerial vehicle does not need to be changed in the process, so that the design difficulty of the unmanned aerial vehicle and the complexity of the unmanned aerial vehicle structure are avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for detecting forward obstacle of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 2 is an example diagram of a drone and radar installed on the drone;
fig. 3 is another flow chart of a forward obstacle detection method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a method for detecting a forward obstacle of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 5 is a schematic flow chart of a method for detecting a forward obstacle of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 6 is a schematic flow chart of a detection mode of a forward obstacle detection method of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 7 is a block diagram of a forward obstacle detection device of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an unmanned aerial vehicle 80 according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device 90 according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
In addition, the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
In order to enable a person skilled in the art to use the present disclosure, the following embodiments are presented in connection with a specific application scenario "unmanned forward obstacle detection". It will be apparent to those having ordinary skill in the art that the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the application. While the application is primarily described in terms of forward obstacle detection of an unmanned aerial vehicle, it should be appreciated that this is merely one exemplary embodiment.
It should be noted that the term "comprising" will be used in embodiments of the application to indicate the presence of the features stated hereafter, but not to exclude the addition of other features.
For a forward radar installed on an unmanned aerial vehicle, the level performance requirement of an antenna side lobe of 80 degrees to 90 degrees on the forward radar is generally-20 dB, and if the gain of the forward radar is larger or the overall transmission power of the system is larger, the antenna side lobe of 80 degrees to 90 degrees can generate higher power even if the level performance requirement is met. When unmanned aerial vehicle flies on the surface of water, the high power of flap can lead to the surface of water to produce reflected signal, and this kind of reflected signal belongs to an interference signal, can lead to unmanned aerial vehicle to be with this interference signal misjudgement as the place ahead has the barrier, influences unmanned aerial vehicle's normal flight.
Although the prior art proposes a method of eliminating erroneous judgment by providing resolution of vertical angle to distinguish the position of the obstacle in the vertical direction, this method requires a certain number of corresponding receiving antennas to improve the vertical resolution, which increases the difficulty of the unmanned aerial vehicle design and the complexity of the unmanned aerial vehicle structure. In addition, this method will represent the reflection of the water surface as an obstacle obliquely below, and thus it is still impossible to completely distinguish whether the reflection of the water surface is an obstacle or an obstacle, but only an obstacle classifying it in a certain direction tries to avoid it, and thus the accuracy of the judgment of the forward obstacle is low.
Based on the above problems, the embodiment of the application provides a forward obstacle detection method, which combines the detection information of a forward radar and a ground radar, can effectively eliminate misjudgment caused by side lobes of the forward radar, and ensures the accuracy of the unmanned aerial vehicle in forward obstacle detection. Meanwhile, the method does not need to change the hardware structure of the unmanned aerial vehicle, so that the design difficulty of the unmanned aerial vehicle and the complexity of the unmanned aerial vehicle structure are not caused.
The method of the embodiment of the application can be applied to any unmanned aerial vehicle using radar for obstacle detection, and the unmanned aerial vehicle can comprise the following steps: the inspection unmanned aerial vehicle, the agricultural unmanned aerial vehicle, the meteorological unmanned aerial vehicle, the fire-fighting unmanned aerial vehicle, the surveying unmanned aerial vehicle, or the like, which is not particularly limited in the embodiment of the application.
Fig. 1 is a schematic flow chart of a method for detecting a forward obstacle of an unmanned aerial vehicle according to an embodiment of the present application, where an execution body of the method may be the unmanned aerial vehicle, or may be other electronic devices that interact with the unmanned aerial vehicle in real time to realize forward obstacle detection of the unmanned aerial vehicle. As shown in fig. 1, the method includes:
s101, determining the actual return power of a target side lobe of a first radar of the unmanned aerial vehicle, wherein the target side lobe is a side lobe within a preset angle range of the first radar, and the first radar is used for detecting an obstacle in the advancing direction of the unmanned aerial vehicle.
Fig. 2 is an example diagram of a drone and radars mounted on the drone, as shown in fig. 2, on which at least a first radar and a second radar may be mounted. The first radar is arranged at the position of the unmanned aerial vehicle in the forward direction and is used for detecting obstacles in the forward direction of the unmanned aerial vehicle. Illustratively, the drone flies to the east, and the first radar may be used to detect an obstacle in the east direction. In the present application, the first radar may be referred to as a forward radar which is dedicated to detecting an obstacle in the forward direction of the unmanned aerial vehicle, or may be referred to as a swing radar which may be rotated to a different direction, and when the swing radar is rotated to face the forward direction of the unmanned aerial vehicle, an obstacle in the forward direction of the unmanned aerial vehicle may be detected. The second radar is installed at the position of the unmanned aerial vehicle facing the ground direction and is used for detecting the obstacle of the unmanned aerial vehicle facing the ground direction. In the present application, the second radar may refer to a ground-based radar for detecting a radar of the unmanned aerial vehicle toward the ground. It should be noted that, in addition to the first radar and the second radar, other radars may be installed on the unmanned aerial vehicle, which is not limited by the present application.
Alternatively, the predetermined angle range may be a range of 80 degrees to 90 degrees, assuming that the angle of the forward radar extending in the forward direction of the unmanned aerial vehicle is 0 degrees. Accordingly, the above-described target side lobe may refer to a side lobe in the range of 80 degrees to 90 degrees of the first radar.
Optionally, after the first radar sends out the detection signal from the target side lobe and receives the return signal of the obstacle reached by the detection signal, the first radar may obtain the actual return power of the target side lobe by receiving and analyzing the return signal, and a specific process of specifically determining the actual return power will be described in detail in the following embodiments.
S102, detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to the gain of a second radar of the unmanned aerial vehicle, the gain of the target side lobe and the actual return power of the target side lobe, wherein the second radar is used for detecting the obstacle of the unmanned aerial vehicle in the ground direction.
Optionally, the steps S101 to S102 may be performed in real time during the flight of the unmanned aerial vehicle, that is, at each moment, the unmanned aerial vehicle may determine to obtain the actual return power of the target side lobe at the moment, and detect the obstacle in the forward direction of the unmanned aerial vehicle according to the gain of the second radar, the gain of the target side lobe, and the actual return power of the target side lobe at the moment.
The gain of the second radar may be the gain of the main lobe of the second radar. In the present application, the gain of the second radar may be greater than that of the target lobe to more accurately detect the forward-direction obstacle in the course of the above detection, and the specific principle will be described in detail in the following embodiments. The gain of the second radar and the gain of the target sidelobe may be set in advance before the unmanned aerial vehicle performs the flight task.
Alternatively, the result of detecting an obstacle in the forward direction of the drone may include the presence or absence of an obstacle in the forward direction.
In this embodiment, unmanned aerial vehicle can detect the obstacle on the unmanned aerial vehicle advancing direction according to the gain of second radar, the gain of the target sidelobe of the preset angle of first radar and the actual return power of target sidelobe, the detection information of first radar and second radar has been combined simultaneously to above-mentioned in-process, because the second radar is the radar towards the ground direction, unmanned aerial vehicle detects forward obstacle's reference with its detection information as first radar, when meeting environment such as surface of water, can effectively eliminate the erroneous judgement that the sidelobe of forward radar leads to, guarantee unmanned aerial vehicle accuracy when forward obstacle detects. Meanwhile, the hardware structure of the unmanned aerial vehicle does not need to be changed in the process, so that the design difficulty of the unmanned aerial vehicle and the complexity of the unmanned aerial vehicle structure are avoided.
The unmanned aerial vehicle may perform in two ways when detecting an obstacle in the forward direction according to the procedure of step S202 described above. In the first mode, the unmanned aerial vehicle can be according to the principle that the energy mutation of the target side lobe of the first radar and the main lobe of the second radar on the same frequency point can be kept consistent when the target side lobe of the first radar and the main lobe of the second radar meet environments such as water surfaces, and meanwhile, the frequency points in the spectrograms of the first radar and the second radar and the power on the frequency points are combined, so that the obstacle in the advancing direction of the unmanned aerial vehicle is detected. In a second way, the drone may detect obstacles in the forward direction of the drone in combination with a reference return power at the current distance from the ground. The following examples will explain the above two modes in detail respectively. It should be noted that either of the above two embodiments may be selected as a single embodiment, or may be implemented in combination. When the combination is performed, for example, the detection may be performed first using the above-described second method, and when the detection result is that there is no obstacle, the above-described first method may be further used to determine whether there is an obstacle.
The following first describes the execution process of the first embodiment.
Fig. 3 is another flow chart of the method for detecting a forward obstacle of an unmanned aerial vehicle according to the embodiment of the present application, as shown in fig. 3, an alternative manner of the step S201 includes:
S301, determining a target frequency point according to the spectrogram of the second radar, wherein the target frequency point is a frequency point corresponding to the maximum power in the spectrogram of the second radar.
In the flight process of the unmanned aerial vehicle, according to the signals transmitted by the first radar and the second radar and the received return signals, a spectrogram of the first radar and a spectrogram of the second radar can be generated respectively. Specifically, for the first radar, the spectrogram is used for recording the power of the target side lobe of the first radar at a plurality of frequency points; for the second radar, a spectrogram is used for recording the power of the main lobe of the first radar at a plurality of frequency points. The power of each frequency point may refer to the return power, i.e., the power obtained by analyzing and processing the signal returned after the transmitted signal reaches the obstacle.
In the spectrograms of the first radar and the second radar, each frequency point corresponds to one distance of the radar from the obstacle. The first radar and the second radar have the same frequency point a in the spectrogram, the power at the frequency point a in the spectrogram of the first radar is b1, the power at the frequency point a in the spectrogram of the second radar is b2, which indicates that the power of the target side lobe of the first radar is b1 and the power of the main lobe of the second radar is b2 at the distance corresponding to the frequency point a.
In this step, the unmanned aerial vehicle may first determine a target frequency point according to the spectrogram of the second radar, where the target frequency point is a frequency point corresponding to the maximum power in the spectrogram of the second radar. Specifically, the distance corresponding to the target frequency point is the distance between the unmanned aerial vehicle and the ground, namely, for the main lobe of the ground radar, the return signal power of the ground is larger than the return signal power of other positions between the ground and the unmanned aerial vehicle.
S302, acquiring first power on the target frequency point in a spectrogram of the first radar, and taking the first power as actual return power of the target side lobe.
The same frequency point in the spectrograms of the first radar and the second radar corresponds to the same distance, and after the unmanned aerial vehicle determines the target frequency point from the spectrogram of the second radar, the target frequency point corresponds to the distance between the unmanned aerial vehicle and the ground, so that the unmanned aerial vehicle obtains the first power on the target frequency point in the spectrogram of the first radar, and then obtains the power returned from the ground to the target side lobe, thereby obtaining the actual return power of the target side lobe.
In this embodiment, the unmanned aerial vehicle uses the same distance corresponding to the same frequency point in the spectrograms of the first radar and the second radar, and the distance corresponding to the frequency point of the maximum frequency of the second radar from the ground, so that the actual return power of the target side lobe of the first radar can be obtained by combining the spectrograms of the second radar and the spectrograms of the first radar, thereby ensuring the accuracy of the obtained actual return power.
Fig. 4 is a schematic flow chart of another method for detecting a forward obstacle of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 4, on the basis of fig. 3, an optional manner of step S202 includes:
s401, determining a power conversion value of the target side lobe on the target frequency point according to the gain of the second radar and the gain of the target side lobe.
As previously described, the gain of the second radar may refer to the gain of the main lobe of the second radar, which may be greater than the gain of the target side lobe of the first radar. The gain of the second radar and the gain of the target flap have been determined before the drone performs a certain flight. The unmanned aerial vehicle can determine a power conversion value of the target side lobe on the target frequency point by utilizing the difference between the gain of the second radar and the gain of the target side lobe, wherein the power conversion value can represent the difference between the main lobe of the second radar and the target side lobe on the return power at the same distance (namely, the distance between the unmanned aerial vehicle and the ground or the water surface). When the unmanned aerial vehicle flies from the ground to the water surface, the main lobe of the second radar can generate energy mutation on the target frequency point, and similarly, the auxiliary lobe of the first radar can also generate energy mutation on the target frequency point, and the power conversion value obtained through the process can represent the energy mutation condition of the water surface reflection interference acting on the first radar and the second radar.
And S402, converting the actual return power of the target side lobe according to the power conversion value to obtain the converted power of the target side lobe.
After the actual return power of the target flap is converted, the obtained converted power may refer to the return power of the target flap after the water surface reflection interference is eliminated.
S403, determining whether an obstacle exists in the forward direction of the unmanned aerial vehicle according to the converted power and a target power threshold.
The target power threshold may be a predetermined threshold, related to a forward detection distance of the first radar. The unmanned aerial vehicle can accurately determine whether an obstacle exists in the advancing direction of the unmanned aerial vehicle by utilizing the converted power and the target power threshold.
In this embodiment, the unmanned aerial vehicle determines the power conversion value of the target side lobe of the first radar on the target frequency point by using the gains of the first radar and the second radar, and then can eliminate the reflection interference of the water surface by using the power conversion value, and determines whether an obstacle exists in the forward direction of the unmanned aerial vehicle by using the converted power with the reflection interference eliminated, so that the interference reflection signal on the target side lobe can be accurately eliminated, and the accuracy in detecting the obstacle in the forward direction is ensured.
Fig. 5 is a schematic flow chart of another method for detecting a forward obstacle of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 5, an alternative manner of the step S401 includes:
s501, determining a difference value between the gain of the second radar and the gain of the target side lobe.
As described above, the gain of the second radar may refer to the gain of the main lobe of the second radar, wherein the gain of the main lobe of the second radar is preset to be greater than the gain of the target side lobe. Correspondingly, in this step, the gain of the second radar may be subtracted from the gain of the target lobe, and a difference between the gain of the second radar and the gain of the target lobe may be obtained.
S502, determining a power difference value generated by reducing the gain by the difference value on the target frequency point by the second radar.
Optionally, the unmanned aerial vehicle may reduce the gain of the main lobe of the second radar by the difference value, to obtain a reduced gain. The unmanned aerial vehicle further controls the main lobe of the second radar to work at the reduced gain on the target frequency point, and collects and analyzes the return power of the main lobe of the second radar after working at the gain. And the unmanned aerial vehicle subtracts the return power after the gain reduction from the return power before the gain reduction on the target frequency point, and the obtained result is the power difference.
S503, taking the power difference value as the power conversion value.
As an alternative embodiment, the step S402 may include:
and subtracting the power conversion value from the actual return power of the target side lobe to obtain the converted power of the target side lobe.
The power conversion value represents the difference between the main lobe of the second radar and the target side lobe in the return power at the same distance (i.e. the distance between the unmanned aerial vehicle and the ground or the water surface), and accordingly, in this embodiment, the converted power obtained by subtracting the power conversion value from the actual return power may represent the power from which the interference reflection on the target side lobe is eliminated.
As an alternative embodiment, the step S403 may include:
and if the converted power is larger than a target power threshold value, determining that an obstacle exists in the advancing direction of the unmanned aerial vehicle.
The converted power represents the power after the water surface reflection interference is eliminated, the first radar can detect with a specific detection distance according to the requirement when the unmanned aerial vehicle is in normal flight, and for a specific detection distance, if an obstacle exists under the detection distance, the return power received by the first radar is larger than a power threshold. Alternatively, the corresponding power threshold may be different for different probing distances. In this embodiment, the target power threshold may refer to a power threshold corresponding to a detection distance currently used by the first radar.
If the converted power is greater than the target power threshold, it may be determined that an obstacle exists in the forward direction of the drone.
On the basis of the above embodiment, optionally, before determining whether an obstacle exists in the forward direction of the unmanned aerial vehicle according to the converted power and the target power threshold, the unmanned aerial vehicle may first acquire a current detection distance of the first radar, and use power corresponding to the current detection distance as the target power threshold.
Optionally, the unmanned aerial vehicle may obtain the current detection distance of the first radar by reading a configuration parameter or a current working parameter of the first radar. Different detection distances can correspond to different power thresholds, the power thresholds corresponding to the various detection distances can be determined in advance through experiments and the like, and the power thresholds corresponding to the various detection distances are stored in the unmanned aerial vehicle in advance. Correspondingly, in this embodiment, the unmanned aerial vehicle may query the power threshold corresponding to the current detection distance, thereby obtaining the target power threshold.
A second mode of detecting an obstacle in the forward direction of the unmanned aerial vehicle based on the gain of the second radar of the unmanned aerial vehicle, the gain of the target lobe, and the actual return power of the target lobe will be described below.
Fig. 6 is a schematic flow chart of a detection mode of a forward obstacle detection method of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 6, another alternative mode of step S202 includes:
s601, acquiring the current distance between the unmanned aerial vehicle and the ground, which is obtained based on detection information of the second radar.
Optionally, the unmanned aerial vehicle may calculate the current distance between the unmanned aerial vehicle and the ground based on the return power of the second radar main lobe.
S602, determining the reference return power of the target side lobe at the current distance according to the gain of the target side lobe.
The reference return power may represent the return power that the target flap should have in a normal environment (e.g., a non-water environment such as a grass, road surface, etc.) at the current distance.
Alternatively, the reference return power may be calculated based on the gain of the target lobe of the first radar. When the unmanned aerial vehicle flies in a normal environment, the target side lobes of the first radar are controlled to work under different gains respectively, the corresponding return powers of the target side lobes of the first radar under the gains and different ground distances are calculated respectively, and the gains and the corresponding return powers under the distances are stored in the unmanned aerial vehicle. Further, in this step, the return power corresponding to the current gain of the target side lobe is queried according to the current gain of the target side lobe, and the reference return power of the target side lobe at the current distance can be obtained.
S603, detecting an obstacle in the forward direction of the unmanned aerial vehicle according to the actual return power and the reference return power of the target side lobe.
The actual return power represents the actual return power of the target flap at the current distance, the reference return power represents the power which the target flap should return at the current distance in a normal environment without water surface, and the reference return power is taken as a reference, so that the detection of the obstacle in the advancing direction of the unmanned plane can be realized.
In the embodiment, the obstacle detection in the advancing direction of the unmanned aerial vehicle can be realized by using the actual return power and the reference return power of the unmanned aerial vehicle at the current distance, so that the accuracy of the detection result can be ensured while the calculation complexity is reduced.
As an alternative embodiment, an alternative manner of the step S603 includes:
if the difference between the actual return power and the reference return power at the current distance is greater than a first preset threshold value, detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to corresponding frequency points of the reflected echo signals of the main lobe and/or the auxiliary lobe except the auxiliary lobe in the first radar in a spectrogram.
If the difference between the actual return power and the reference return power is greater than a first preset threshold, the reflection interference suffered by the target side lobe is larger, and in this case, the unmanned aerial vehicle can remove the return power of the target side lobe from the spectrogram of the first radar, that is, the return power of the target side lobe is not used as the basis for detecting the obstacle in the advancing direction, but the return power of the main lobe and/or the side lobe outside the target side lobe is used for detecting. Specifically, the power corresponding to the frequency points of the main lobe and/or the frequency points corresponding to the frequency points of the emission echo signals of the auxiliary lobes outside the target auxiliary lobe can be used as a reference to detect the obstacle in the advancing direction. For example, the power corresponding to the frequency points may be processed according to the weights and compared with a preset power threshold, so as to determine whether an obstacle exists in the forward direction.
In another way, if the difference between the actual return power and the reference return power is smaller than or equal to the first preset threshold, which indicates that the reflection interference suffered by the target side lobe is smaller, it can be determined whether there is an obstacle in the forward direction by combining the actual return power of the target side lobe and the return powers of the main lobe and other side lobes on the first radar.
As an alternative implementation manner, in the foregoing embodiments, when determining the actual return power of the first radar, the unmanned aerial vehicle may determine the actual return power of the target flap according to the reflected echo signal received by the target flap.
By way of example, the unmanned aerial vehicle may detect the reflected signal from the target side lobe by sending the detection signal through the target side lobe of the first radar, sample the reflected signal by using a beam, and perform a conversion analysis process on the sampled beam, so as to obtain the actual return power of the target side lobe.
Based on the same inventive concept, the embodiment of the application also provides an unmanned aerial vehicle forward obstacle detection device corresponding to the unmanned aerial vehicle forward obstacle detection method, and because the principle of solving the problem of the device in the embodiment of the application is similar to that of the unmanned aerial vehicle forward obstacle detection method in the embodiment of the application, the implementation of the device can refer to the implementation of the method, and the repetition is omitted.
Fig. 7 is a block diagram of a forward obstacle detection device of an unmanned aerial vehicle according to an embodiment of the present application, as shown in fig. 7, where the device includes:
the determining module 701 is configured to determine an actual return power of a target sidelobe of a first radar of the unmanned aerial vehicle, where the target sidelobe is a sidelobe within a preset angle range of the first radar, and the first radar is configured to detect an obstacle in a forward direction of the unmanned aerial vehicle.
The processing module 702 is configured to detect an obstacle in a forward direction of the unmanned aerial vehicle according to a gain of a second radar of the unmanned aerial vehicle, a gain of the target sidelobe, and the actual return power of the target sidelobe, where the second radar is configured to detect an obstacle of the unmanned aerial vehicle in a ground direction.
As an alternative embodiment, the determining module 701 is specifically configured to:
and determining a target frequency point according to the spectrogram of the second radar, wherein the target frequency point is a frequency point corresponding to the maximum power in the spectrogram of the second radar.
And acquiring first power on the target frequency point in the spectrogram of the first radar, and taking the first power as the actual return power of the target side lobe.
As an alternative embodiment, the processing module 702 is specifically configured to:
and determining a power conversion value of the target side lobe on the target frequency point according to the gain of the second radar and the gain of the target side lobe.
And transforming the actual return power of the target side lobe according to the power transformation value to obtain the transformed power of the target side lobe.
And determining whether an obstacle exists in the forward direction of the unmanned aerial vehicle according to the converted power and a target power threshold.
As an alternative embodiment, the processing module 702 is specifically configured to:
a difference in gain of the second radar and a gain of the target lobe is determined.
And determining a power difference value generated by the second radar by reducing the gain by the difference value on the target frequency point.
And taking the power difference value as the power conversion value.
As an alternative embodiment, the processing module 702 is specifically configured to:
subtracting the power conversion value from the actual return power of the target auxiliary lobe to obtain the converted power of the target auxiliary lobe.
As an alternative embodiment, the processing module 702 is specifically configured to:
and if the converted power is larger than a target power threshold value, determining that an obstacle exists in the advancing direction of the unmanned aerial vehicle.
As an alternative embodiment, the processing module 702 is further configured to:
and acquiring the current detection distance of the first radar.
And taking the power corresponding to the current detection distance as the target power threshold.
As an alternative embodiment, the processing module 702 is specifically configured to:
and acquiring the current distance between the unmanned aerial vehicle and the ground, which is obtained based on the detection information of the second radar.
And determining the reference return power of the target auxiliary lobe under the current distance according to the gain of the target auxiliary lobe.
And detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to the actual return power of the target flap and the reference return power.
As an alternative embodiment, the processing module 702 is specifically configured to:
if the difference between the actual return power and the reference return power at the current distance is greater than a first preset threshold value, detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to corresponding frequency points of reflected echo signals of main lobes and/or auxiliary lobes except for the auxiliary lobes in the first radar in a spectrogram.
As an alternative embodiment, the determining module 701 is specifically configured to:
and determining the actual return power of the target auxiliary lobe according to the reflected echo signal received by the target auxiliary lobe.
The embodiment of the application also provides an unmanned aerial vehicle 80, as shown in fig. 8, which is a schematic structural diagram of the unmanned aerial vehicle 80 provided by the embodiment of the application, comprising: a controller 81, a first radar 82, and a second radar 83; the first radar 82 is used for detecting an obstacle in the forward direction of the unmanned aerial vehicle, the second radar 83 is used for detecting an obstacle in the direction of the unmanned aerial vehicle towards the ground, and the controller 81 is used for performing forward obstacle detection based on detection information of the first radar 82 and the second radar 83 according to the unmanned aerial vehicle forward obstacle detection method described in the foregoing method embodiment.
The embodiment of the present application further provides an electronic device 90, as shown in fig. 9, which is a schematic structural diagram of the electronic device 90 provided in the embodiment of the present application, including: a processor 91, a memory 92, and a bus 93. The memory 92 stores machine readable instructions executable by the processor 91 (e.g., the determination module 701 and the processing module 702 in the apparatus of fig. 7), which when executed by the processor 91 perform the method steps in the method embodiments described above, when the electronic device 90 is operated, the processor 91 and the memory 92 may communicate via the bus 93.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program executes the steps of the unmanned aerial vehicle forward obstacle detection method when being run by a processor.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the method embodiments, and are not repeated in the present disclosure. In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, and the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, and for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, indirect coupling or communication connection of devices or modules, electrical, mechanical, or other form.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily appreciate variations or alternatives within the scope of the present application.
Claims (12)
1. A method for detecting forward obstacles of an unmanned aerial vehicle, comprising:
determining the actual return power of a target side lobe of a first radar of an unmanned aerial vehicle, wherein the target side lobe is a side lobe within a preset angle range of the first radar, and the first radar is used for detecting an obstacle in the advancing direction of the unmanned aerial vehicle;
detecting an obstacle in the forward direction of the unmanned aerial vehicle according to the gain of a second radar of the unmanned aerial vehicle, the gain of the target side lobe and the actual return power of the target side lobe, wherein the second radar is used for detecting the obstacle of the unmanned aerial vehicle in the ground direction;
the determining the actual return power of the target sidelobe of the first radar of the unmanned aerial vehicle comprises:
determining a target frequency point according to the spectrogram of the second radar, wherein the target frequency point is a frequency point corresponding to the maximum power in the spectrogram of the second radar;
acquiring first power on the target frequency point in a spectrogram of the first radar, and taking the first power as actual return power of the target side lobe;
the detecting an obstacle in the forward direction of the unmanned aerial vehicle according to the gain of the second radar of the unmanned aerial vehicle, the gain of the target sidelobe and the actual return power of the target sidelobe, comprises:
According to the gain of the second radar and the gain of the target side lobe, determining a power conversion value of the target side lobe on the target frequency point;
according to the power conversion value, converting the actual return power of the target auxiliary lobe to obtain converted power of the target auxiliary lobe;
and determining whether an obstacle exists in the forward direction of the unmanned aerial vehicle according to the converted power and a target power threshold.
2. The method of claim 1, wherein the determining the power conversion value of the target sidelobe at the target frequency point according to the gain of the second radar and the gain of the target sidelobe comprises:
determining a difference between a gain of the second radar and a gain of the target sidelobe;
determining a power difference value generated by the second radar by reducing the gain by the difference value on the target frequency point;
and taking the power difference value as the power conversion value.
3. The method of claim 1, wherein said transforming the actual return power of the target flap based on the power transformation value to obtain a transformed power of the target flap comprises:
Subtracting the power conversion value from the actual return power of the target auxiliary lobe to obtain the converted power of the target auxiliary lobe.
4. The method of claim 1, wherein the determining whether an obstacle is present in the direction of travel of the drone based on the converted power and a target power threshold comprises:
and if the converted power is larger than a target power threshold value, determining that an obstacle exists in the advancing direction of the unmanned aerial vehicle.
5. The method of claim 4, wherein the determining whether an obstacle is present in the direction of travel of the drone based on the converted power and a target power threshold further comprises:
acquiring the current detection distance of the first radar;
and taking the power corresponding to the current detection distance as the target power threshold.
6. The method according to claim 1, wherein the detecting an obstacle in the forward direction of the drone based on the gain of the second radar of the drone, the gain of the target flap, and the actual return power of the target flap, comprises:
acquiring the current distance between the unmanned aerial vehicle and the ground, which is obtained based on the detection information of the second radar;
Determining the reference return power of the target side lobe under the current distance according to the gain of the target side lobe;
and detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to the actual return power of the target flap and the reference return power.
7. The method of claim 6, wherein the detecting an obstacle in the forward direction of the drone based on the actual return power of the target flap and the reference return power, comprises:
if the difference between the actual return power and the reference return power at the current distance is greater than a first preset threshold value, detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to corresponding frequency points of reflected echo signals of main lobes and/or auxiliary lobes except for the auxiliary lobes in the first radar in a spectrogram.
8. The method according to claim 6 or 7, wherein said determining the actual return power of the target side lobe of the first radar of the drone, comprises:
and determining the actual return power of the target auxiliary lobe according to the reflected echo signal received by the target auxiliary lobe.
9. An unmanned aerial vehicle forward obstacle detection device, characterized by comprising:
The device comprises a determining module, a first radar detecting module and a second radar detecting module, wherein the determining module is used for determining the actual return power of a target side lobe of a first radar of the unmanned aerial vehicle, wherein the target side lobe is a side lobe within a preset angle range of the first radar, and the first radar is used for detecting an obstacle in the advancing direction of the unmanned aerial vehicle;
the processing module is used for detecting an obstacle in the advancing direction of the unmanned aerial vehicle according to the gain of a second radar of the unmanned aerial vehicle, the gain of the target side lobe and the actual return power of the target side lobe, wherein the second radar is used for detecting the obstacle of the unmanned aerial vehicle in the ground direction;
the determining module is specifically configured to:
determining a target frequency point according to the spectrogram of the second radar, wherein the target frequency point is a frequency point corresponding to the maximum power in the spectrogram of the second radar;
acquiring first power on the target frequency point in a spectrogram of the first radar, and taking the first power as actual return power of the target side lobe;
the processing module is specifically configured to:
according to the gain of the second radar and the gain of the target side lobe, determining a power conversion value of the target side lobe on the target frequency point;
According to the power conversion value, converting the actual return power of the target auxiliary lobe to obtain converted power of the target auxiliary lobe;
and determining whether an obstacle exists in the forward direction of the unmanned aerial vehicle according to the converted power and a target power threshold.
10. An unmanned aerial vehicle, comprising: a controller, a first radar, and a second radar; the first radar is used for detecting an obstacle in the forward direction of the unmanned aerial vehicle, the second radar is used for detecting an obstacle in the direction of the unmanned aerial vehicle towards the ground, and the controller is used for performing forward obstacle detection based on detection information of the first radar and the second radar according to the unmanned aerial vehicle forward obstacle detection method of any one of claims 1 to 8.
11. An electronic device, comprising: a memory and a processor;
the memory is configured to store machine-readable instructions executable by the processor, the processor being configured to execute the machine-readable instructions to implement the steps of the unmanned aerial vehicle forward obstacle detection method of any of claims 1 to 8.
12. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the method for forward obstacle detection of a drone according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110721621.9A CN114460955B (en) | 2021-06-28 | 2021-06-28 | Forward obstacle detection method and device, unmanned aerial vehicle and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110721621.9A CN114460955B (en) | 2021-06-28 | 2021-06-28 | Forward obstacle detection method and device, unmanned aerial vehicle and readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114460955A CN114460955A (en) | 2022-05-10 |
| CN114460955B true CN114460955B (en) | 2023-11-17 |
Family
ID=81405484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110721621.9A Active CN114460955B (en) | 2021-06-28 | 2021-06-28 | Forward obstacle detection method and device, unmanned aerial vehicle and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114460955B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405557A (en) * | 2016-12-06 | 2017-02-15 | 电子科技大学 | Radar detection method for preventing collision with high-voltage power line by helicopter |
| CN106680790A (en) * | 2016-12-29 | 2017-05-17 | 中国电子科技集团公司第五十四研究所 | Pseudo-code phase modulation continuous wave radar interference detection method |
| CN110531327A (en) * | 2019-10-11 | 2019-12-03 | 上海无线电设备研究所 | A kind of Radar cross-section redaction detection method based on automatic growth control |
| CN110726980A (en) * | 2019-10-30 | 2020-01-24 | 金肯职业技术学院 | Method for analyzing ground clutter by airborne phased array weather radar |
| CN111679266A (en) * | 2020-06-18 | 2020-09-18 | 成都纳雷科技有限公司 | Automobile millimeter wave radar sparse array grating lobe false target identification method and system |
| CN111736119A (en) * | 2020-06-05 | 2020-10-02 | 西安电子科技大学 | Design method for anti-interference processing of phased array radar |
| WO2021074949A1 (en) * | 2019-10-15 | 2021-04-22 | オムロン株式会社 | Radar device and vehicle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2988178B1 (en) * | 2012-03-15 | 2014-08-22 | Thales Sa | ELECTROMAGNETIC BEAM GUIDING DEVICE, FLYING OBJECT AND LAUNCHING SYSTEM THEREFOR |
| CN112578371B (en) * | 2019-09-30 | 2024-04-12 | 华为技术有限公司 | Signal processing method and device |
| CN111625018A (en) * | 2020-05-09 | 2020-09-04 | 深圳市天鼎微波科技有限公司 | Unmanned aerial vehicle flight trajectory planning method based on radar detection and unmanned aerial vehicle system |
-
2021
- 2021-06-28 CN CN202110721621.9A patent/CN114460955B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106405557A (en) * | 2016-12-06 | 2017-02-15 | 电子科技大学 | Radar detection method for preventing collision with high-voltage power line by helicopter |
| CN106680790A (en) * | 2016-12-29 | 2017-05-17 | 中国电子科技集团公司第五十四研究所 | Pseudo-code phase modulation continuous wave radar interference detection method |
| CN110531327A (en) * | 2019-10-11 | 2019-12-03 | 上海无线电设备研究所 | A kind of Radar cross-section redaction detection method based on automatic growth control |
| WO2021074949A1 (en) * | 2019-10-15 | 2021-04-22 | オムロン株式会社 | Radar device and vehicle |
| CN110726980A (en) * | 2019-10-30 | 2020-01-24 | 金肯职业技术学院 | Method for analyzing ground clutter by airborne phased array weather radar |
| CN111736119A (en) * | 2020-06-05 | 2020-10-02 | 西安电子科技大学 | Design method for anti-interference processing of phased array radar |
| CN111679266A (en) * | 2020-06-18 | 2020-09-18 | 成都纳雷科技有限公司 | Automobile millimeter wave radar sparse array grating lobe false target identification method and system |
Non-Patent Citations (1)
| Title |
|---|
| 机载脉冲多普勒预警雷达海地杂波功率计算;杨正 等;《现代雷达》;第29卷(第3期);第12-13、41页第1-3节 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114460955A (en) | 2022-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110531357B (en) | Method for estimating speed of moving target in horizontal plane and radar detection system | |
| US5923282A (en) | Radar system | |
| WO2019119243A1 (en) | Obstacle avoidance method for unmanned aerial vehicle and unmanned aerial vehicle | |
| US20130222174A1 (en) | Apparatus and method for providing obstacle information in autonomous mobile vehicle | |
| WO2017146824A1 (en) | Radar mounting estimation with unstructured data | |
| US20200117881A1 (en) | Target detection method and device, unmanned aerial vehicle, and agricultural unmanned aerial vehicle | |
| CN110261856B (en) | Radar detection method and device based on multi-radar cooperative detection | |
| KR101868600B1 (en) | Apparatus and method for calculating detecting angle of target using long range radar, and system with the apparatus | |
| CN111435163B (en) | Ground point cloud data filtering method, device, detection system and storage medium | |
| WO2018137135A1 (en) | System and method of radar-based obstacle avoidance for unmanned aerial vehicles | |
| CN105572664A (en) | Networking navigation radar target tracking system based on data fusion | |
| CN110516621B (en) | Method and device for detecting barrier-free driving area, vehicle and storage medium | |
| CN109407086B (en) | Aircraft trajectory generation method and system and trapping system target guiding method | |
| CN110596708A (en) | Vehicle distance detection method and device, vehicle and storage medium | |
| CN111670379A (en) | Echo signal processing method, device and storage medium | |
| US11249171B2 (en) | Method of determining an alignment error of an antenna and vehicle with an antenna and a detection device | |
| KR101152250B1 (en) | False detection ellimination device for vehicle radar and method thereof | |
| CN112105950A (en) | Detection method of detection object, detection equipment and millimeter wave radar | |
| CN114460955B (en) | Forward obstacle detection method and device, unmanned aerial vehicle and readable storage medium | |
| WO2022061758A1 (en) | Method for estimating speed of object using point cloud radar, point cloud radar, and system | |
| KR102062899B1 (en) | Method and apparatus for detecting target | |
| CN109471075A (en) | A kind of radar neutralization automatic testing method | |
| CN111406224A (en) | Target reliability determination method, target identification system, vehicle and storage medium | |
| CN114942437A (en) | Front side target detection method for front vehicle | |
| CN114545925A (en) | Compound robot control method and compound robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |