CN103116159A - Multi-mode self-positioning networking radar life detection method and device - Google Patents
Multi-mode self-positioning networking radar life detection method and device Download PDFInfo
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- CN103116159A CN103116159A CN2013100192280A CN201310019228A CN103116159A CN 103116159 A CN103116159 A CN 103116159A CN 2013100192280 A CN2013100192280 A CN 2013100192280A CN 201310019228 A CN201310019228 A CN 201310019228A CN 103116159 A CN103116159 A CN 103116159A
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Abstract
The invention discloses a multi-mode self-positioning networking radar life detection method and a multi-mode self-positioning networking radar life detection device. The method includes the steps: more than two radar life detection components are assembled into a life detection network; each radar life detection component determines a self position through a positioning system; each radar life detection component determines the position of a to-be-detected life body on a self-radar-echo by emitting and receiving an ultra wide band pulse signal; a one-dimensional (1D) multi-target detection way, a three-dimensional (3D) high-precision detection way, a detection way combining the two ways are adopted to conduct target detection to obtain a coordinate of the to-be-tested radar life body. The device comprises a satellite difference positioning unit, a detection control and display system, and more than two sets of radar life detection units, wherein the more than two sets of radar life detection units form the life detection network. The method and the device have the advantages of being convenient to operate, superior in performance, high in positioning precision, capable of improving efficiency of searching and rescuing victims and the like.
Description
Technical field
The present invention is mainly concerned with life and searches and rescues apparatus field, refers in particular to the self-align radar network life detection of a kind of multi-mode method and apparatus.
Background technology
Disaster has the moment generation, destroys the characteristics such as violent, that monitoring and prediction is difficult, social influence is far-reaching.For example, the disasters such as destructive strong earthquake, landslide cause huge harm and loss for national economic development and people's property safety.Both at home and abroad many times disaster example proves, after calamity, loss is extremely important the emergency relief technical merit for disaster mitigation.
At present domestic also very weak at disaster emergency relief technical elements, mainly rely on manpower, rescue dogs and ordinary life sniffer to carry out life detection, with looking for survivors.But the detection efficiency of the conventional search and rescue modes such as above-mentioned manpower and rescue dogs is lower, affected by surrounding enviroment larger, can't satisfy the needs such as timely, rapid.All there are the shortcomings such as the search volume scope is little, search speed slow, shortage 3D station-keeping ability in existing common life detecting device, and then the trapped personnel that can not meet far away ruins pile things on after calamity carries out on a large scale the actual demand of search and rescue fast.
Summary of the invention
The technical problem to be solved in the present invention just is: the self-align radar network life detection of the multi-mode method and apparatus that for the technical matters that prior art exists, the invention provides that a kind of principle is simple, easy to operate, superior performance, bearing accuracy are high, applied widely, can improve disaster personnel search efficiency.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
The self-align radar network life detection of a kind of multi-mode method the steps include:
Step 10: two above radar life probe assemblies are formed the life detection network;
Step 20: every radar life probe assembly is determined the position of self by positioning system;
Step 30: every radar life probe assembly is determined the position of life entity to be detected on radar return separately by transmitting and receiving ultra-wideband impulse signal;
Step 40: adopt the combined detection mode of 1D multiple target detection, 3D detected with high accuracy or above dual mode to carry out target detection, obtain the coordinate of life entity to be detected.
As a further improvement on the present invention:
When adopting 1D multiple target detection method, each radar life probe assembly is fixedly put out according to the topological mode of equidistant same level height and start simultaneously, each radar life probe assembly has search coverage separately, the search coverage part superposition of adjacent each radar life probe assembly is to guarantee there is not the detection leak in zone that the single detection network covered.
When carrying out 1D multiple target detection method, the effective detection range of establishing the radar life probe assembly is D, and the centre distance of radar life probe assembly is set to
The area of effective coverage of single radar life probe assembly is 2D
2, being 2/ π times of non-network list radar life probe assembly, significant depth is
For the detection network that comprises N platform radar life probe assembly, the area of effective coverage that single is surveyed is 2ND
2
When adopting 3D detected with high accuracy method, utilize the radar life probe assembly of three above location awares to survey simultaneously the distance of certain life entity, and adopt Newton iteration to resolve the coordinate that obtains life entity to be detected; The concrete flow process of carrying out is:
The three-dimensional coordinate that is provided with three radar life probe assemblies is (X
A, Y
A, Z
A), (X
B, Y
B, Z
B), (X
C, Y
C, Z
C), life entity to be detected is respectively D apart from the distance of radar life probe assembly
A, D
B, D
C, can obtain the position (X of life entity by resolving twice system of equations of following ternary
T, Y
T, Z
T):
(X
A-X
T)
2+(Y
A-Y
T)
2+(Z
A-Z
T)
2＝D
A 2
(X
B-X
T)
2+(Y
B-Y
T)
2+(Z
B-Z
T)
2＝D
B 2
(X
C-X
T)
2+(Y
C-Y
T)
2+(Z
C-Z
T)
2＝D
C 2
Above-mentioned equation can adopt the Newton iteration method to resolve, and concrete grammar is as follows:
(1) initialization life entity position is [0,0,0], iteration round k=0 is set and starts iterative process;
(2) the above-mentioned system of equations of linearization is for viewing distance [D
A, D
B, D
C] respectively to X
T, Y
T, Z
TAsk the local derviation value
And can get Jacobi matrix G by row even row, and try to achieve the difference b between three measuring distances and calculating distance;
(3) calculate [Δ X, Δ Y, Δ Z]=(G
TG)
-1G
Tb；
(4) upgrade [X
k, Y
k, Z
k]=[X
K-1, Y
K-1, X
K-1]+[Δ X, Δ Y, Δ Z], and according to new calculating apart from upgrading b;
(5) upgrade iteration round k value, k=k+1, judgement Δ X
2+ Δ Y
2+ Δ Z
2Whether satisfy less than Δ D
2If, do not satisfy iterative process enters step (3), if satisfy stop iteration, and the three-dimensional position that obtains life entity to be detected is [X
k-1, Y
k-1, X
k-1].
Further, every radar life probe assembly positioning system is via satellite accurately located, and adopts the difference localization method.
the present invention further provides a kind of life detecting device that is used for realizing above-mentioned life detection method, comprise satellite difference locating base station unit, survey and control and display system, and two groups of above radar life probe units, described satellite difference locating base station unit is used for coordinating the radar life probe unit to complete the self-align of radar life probe unit, described radar life probe unit comprises the WiFi data transmit-receive module, satellite positioning module and radar life are surveyed transmitting-receiving and processing module, described radar life is surveyed transmitting-receiving and processing module is utilized the radar detection life signal, described satellite positioning module is used for and satellite difference locating base station unit matching, described WiFi data transmit-receive module is used for being connected with display system and sending the data-signal that detects to detection control and display system with surveying to control, described two groups of above radar life probe units form the life detection network by the WiFi data transmit-receive module, described detection control and display system are used for completing the WiFi networking and transmitting-receiving operation, target localization resolve operation and result of detection shows operation.
Described satellite difference locating base station unit adopts the global position system of GPS or Big Dipper series.
Described detection control and display system are a terminal device with WiFi module.
Described terminal device is PDA, panel computer or PC.
Compared with prior art, the invention has the advantages that:
1, simple, easy to operate, the superior performance of the principle of the invention, in case after the generation the condition of a disaster, many ULTRA-WIDEBAND RADAR life detection unit can be carried out flexible networking, emission and return pulse signal, with utilize to survey control after satellite difference locating base station unit matching and display system is resolved and obtained actual range or 3 and tie up the position, and finally determine the position of trapped personnel, thereby carry out in time, effectively sue and labour, thereby greatly improve the efficient that the disaster personnel search and rescue, improve the integral body rescue effect that life is searched and rescued equipment.
2, the present invention not only can equally carry out one dimension according to common ULTRA-WIDEBAND RADAR life-detection instrument and surveys, but the networking location of completing the three-dimensional coordinate of trapped personnel also, and bearing accuracy is high.
Description of drawings
Fig. 1 is the composition structural representation of life detecting device of the present invention.
Fig. 2 is the principle process schematic diagram of life detection method of the present invention.
Fig. 3 is the topological structure schematic diagram of a kind of self-align networking in concrete Application Example.
Fig. 4 is the topological structure schematic diagram of another kind of self-align networking in concrete Application Example.
Fig. 5 adopts the principle schematic of 1D multiple target detection in concrete Application Example.
Fig. 6 adopts the principle schematic of 3D multiple target detection in concrete Application Example.
Embodiment
Below with reference to Figure of description and specific embodiment, the present invention is described in further details.
As shown in Figure 2, the self-align radar network life detection of multi-mode of the present invention method the steps include:
Step 10: with two or two above radar life probe assemblies composition life detection networks; Comprise wireless communication components in the radar life probe assembly, for example: the WiFi transmitting-receiving subassembly.Carry out wireless signal and detect the wireless channel set up in the radar life probe assembly between any two under the support of agreement, for example: can set up between any two wireless channel by the method that manually arranges.
Step 20: every radar life probe assembly is determined the position of self by positioning system; Every radar life probe assembly positioning system (for example: GPS or the Big Dipper) via satellite positions, and can adopt the difference localization method.
Step 30: every radar life probe assembly is determined the position of life entity to be detected on radar return separately by transmitting and receiving ultra-wideband impulse signal, and adoptable Detection Techniques comprise Equivalent Sampling Technology or sampling gate technology.
Step 40: adopt the combined detection mode of 1D multiple target detection, 3D detected with high accuracy or above dual mode to carry out target detection, obtain the coordinate of life entity to be detected.
The self-align radar network life detection of multi-mode of the present invention method can be supported the combination of 1D multiple target detection pattern, 3D detected with high accuracy pattern and two kinds of detection modes.Wherein, each position in 1D multiple goal/3D high precision combined detection method adjacent some (be generally 2 or more than) radar life probe assembly forms 3D to be surveyed sub-network and surveys with the high precision 3D that completes certain zonule, each survey sub-network consist of large-area detection global network to calamity after the on-the-spot covering of completing blanket type.
Life detection network in the present invention is the flexible and changeable self-organizing network of a kind of topological structure, and wherein topological structure can be changed by the user voluntarily according to functional requirement.
The running parameter of topological structure comprises: the quantity of network node and the spatial relation between network node.
Network node quantity is supported 2 above radar life probe assemblies, and wherein 2 assemblies are supported the 1D multiple target detection, can support 1D multiple target detection or 3D detected with high accuracy for 3; Can support simultaneously the combination of 1D multiple target detection, 3D detected with high accuracy or two groups of detection modes more than 3.
Spatial relation comprises distance between network node and the graphics relationship between network node, and distance and graphics relationship all can arrange according to surveying field demand.When carrying out multiple target detection, the setting of network node distance and graphics relationship should consider to reduce the coincidence of radar life probe assembly search coverage.
In concrete application example, each radar life probe assembly consists of Ad Hoc network by wireless network, can carry out sharing of detection data and other data between network node, and can carry out exchanges data by certain or some node in network and other equipment.Every radar life probe assembly positions by the gps satellite positioning system, and adopts the difference localization method.Every radar life probe assembly is determined the position of life entity to be detected on radar return separately by transmitting and receiving ultra-wideband impulse signal, and the Detection Techniques that adopt comprise Equivalent Sampling Technology or sampling gate technology.
As shown in Figure 3, be the topological structure that adopts 3 assemblies to form in instantiation, each radar life probe assembly is communicated by letter in twos by self-organizing network.Because the distance between each radar life probe assembly is relatively near, have apparent in view detection overlapping region, therefore can be mainly used in 3D detected with high accuracy scene.
As shown in Figure 4, be the topological structure that adopts 4 assemblies to form in instantiation, each radar life probe assembly is communicated by letter in twos by self-organizing network.Because the distance of each radar life probe assembly is relatively far away, the search coverage of each radar life probe assembly does not exist overlapping substantially, therefore can be mainly used in 1D multiple target detection scene.In other embodiments, the topological structure of 2 assemblies is similar to topological structure shown in Figure 4.
Be appreciated that and adopt method of the present invention, can also form other any type of radar life probe assembly topological structures.
When the present invention adopts 1D multiple target detection method, each radar life probe assembly is fixedly put out according to the topological mode of equidistant same level height and start simultaneously, each radar life probe assembly has search coverage separately, there is not the detection leak in the search coverage part superposition of adjacent each radar life probe assembly in the zone that assurance single detection network covers.
And without surveying just being apart from method to set up of leak: the effective detection range of supposing the radar life probe assembly is D, and the centre distance of radar life probe assembly is set to
The area of effective coverage of single radar life probe assembly is 2D
2, being 2/ π times of non-network list radar life probe assembly, significant depth is
For the detection network that comprises N platform radar life probe assembly, the area of effective coverage that single is surveyed is 2ND
2But Quick High detect efficiency so, be applicable to the large tracts of land calamity after on-the-spot blanket type personnel search and rescue.
As shown in Figure 5, provided 4 1D multiple target detections that the radar life probe assembly forms, the effective detection range of separate unit radar life probe assembly is as shown in dotted line 411; Radar life probe assembly effective detecting depth is as shown in dotted line 412, and the distance of radar life probe assembly is as shown in dotted line 413.
When the present invention adopts 3D detected with high accuracy method, utilize the radar life probe assembly of three above location awares to survey simultaneously the distance of certain life entity, and adopt Newton iteration to resolve the coordinate that obtains life entity to be detected.
Suppose that it is (X that the three-dimensional coordinate of three radar life probe assemblies is arranged
A, Y
A, Z
A), (X
B, Y
B, Z
B), (X
C, Y
C, Z
C), life entity to be detected is respectively D apart from the distance of radar life probe assembly
A, D
B, D
C, can obtain the position (X of life entity by resolving twice system of equations of ternary
T, Y
T, Z
T):
(X
A-X
T)
2+(Y
A-Y
T)
2+(Z
A-Z
T)
2＝D
A 2
(X
B-X
T)
2+(Y
B-Y
T)
2+(Z
B-Z
T)
2＝D
B 2
(X
C-X
T)
2+(Y
C-Y
T)
2+(Z
C-Z
T)
2＝D
C 2
Above-mentioned equation can adopt the Newton iteration method to resolve, and concrete grammar is as follows:
(1) initialization life entity position is [0,0,0], iteration round k=0 is set and starts iterative process;
(2) the above-mentioned system of equations of linearization is for viewing distance [D
A, D
B, D
C] respectively to X
T, Y
T, Z
TAsk the local derviation value
And can get Jacobi matrix G by row even row, and try to achieve the difference b between three measuring distances and calculating distance;
(3) calculate [Δ X, Δ Y, Δ Z]=(G
TG)
-1G
Tb；
(4) upgrade [X
k, Y
k, Z
k]=[X
k-1, Y
k-1, X
k-1]+[Δ X, Δ Y, Δ Z], and according to new calculating apart from upgrading b;
(5) upgrade iteration round k value, k=k+1, judgement Δ X
2+ Δ Y
2+ Δ Z
2Whether satisfy less than Δ D
2(threshold value is according to the accuracy requirement setting), if do not satisfy iterative process enters step (3), if satisfy stop iteration, and the three-dimensional position that obtains life entity to be detected is [X
k-1, Y
k-1, X
k-1].
As shown in Figure 6, provided the 3D detected with high accuracy of the system that is consisted of by 3 radar life probe assemblies.
as shown in Figure 1, the present invention further provides a kind of device that is used for carrying out above-mentioned detection method, comprise satellite difference locating base station unit 100, survey and control and display system 300, and two groups of above radar life probe units 200, above each parts can carry out networking, wherein satellite difference locating base station unit 100 high precision that is used for coordinating radar life probe unit 200 to complete radar life probe unit 200 is self-align, radar life probe unit 200 comprises WiFi data transmit-receive module 210, satellite positioning module 220 and radar life are surveyed transmitting-receiving and processing module 230, radar life is surveyed transmitting-receiving and processing module 230 is used for utilizing the radar detection life signal, it is self-align that satellite positioning module 220 is used for coordinating with satellite difference locating base station unit 100 optional position of completing with to its work the time to carry out high precision, WiFi data transmit-receive module 210 is used for being connected with display system 300 and sending the data-signal that detects to detection control and display system 300 with surveying to control.Two groups of above radar life probe units 200 form the life detection network by WiFi data transmit-receive module 210.
Satellite difference locating base station unit 100 can adopt the global position system of GPS or Big Dipper series.Surveying control and display system 300 is a terminal device with WiFi module, and can select according to actual needs is PDA, panel computer or PC, and the software systems of controlling and showing for result of detection are installed on hardware system.Detection control and display system 300 are used for completing WiFi networking and transmitting-receiving operation, target localization and resolve operation, mode of operation control operation and result of detection demonstration operation when real work.Satellite positioning module 220 in radar life probe unit 200 can adopt and the GPS of satellite difference locating base station unit 100 couplings or the locating module of Big Dipper series.
After life-detection instrument of the present invention starts, shown in Figure 6, take three radar life probe units 200 as example, satellite positioning module 220 in the first radar life probe unit 201, the second radar life probe unit 202, the 3rd radar life probe unit 203 and satellite difference locating base station unit 100 start, and cooperatively interact and calculate the exact position of the first radar life probe unit 201, the second radar life probe unit 202, the 3rd radar life probe unit 203.Simultaneously, WiFi data transmit-receive module 210 (as the WiFiRX/TX unit) in the first radar life probe unit 201, the second radar life probe unit 202, the 3rd radar life probe unit 203 and WiFi networking and the transmitting/receiving program surveyed in control and display system 300 start and complete the first radar life probe unit 201, the second radar life probe unit 202, the 3rd radar life probe unit 203 and the networking of surveying control and display system 300, are used for the transmitting-receiving of locator data and detection data.
In work, the radar life of the first radar life probe unit 201, the second radar life probe unit 202, the 3rd radar life probe unit 203 is surveyed transmitting-receiving and processing module 230 generation/receiving radar signals, and obtains range information between the detection of a target 400 to first radar life probe units 201, the second radar life probe unit 202, the 3rd radar life probe unit 203 by processing.the first radar life probe unit 201, the second radar life probe unit 202, the 3rd radar life probe unit 203 is given range information to survey by the WiFi self-organizing network and is controlled and display system 300, the target localization of surveying in control and display system 300 resolves program Binding distance information and the first radar life probe unit 201, the second radar life probe unit 202, the positional information of the 3rd radar life probe unit 203 obtains the three-dimensional coordinate of the detection of a target 400 by COMPREHENSIVE CALCULATING, and show on detection control and display system 300 by result of detection.
As from the foregoing, after adopting said structure and method, 3 dimension coordinates that can complete each radar life probe unit 200 resolve, and then complete networking by 3 above radar life probe units 200, resolving of 3 dimension coordinates of the formation detection of a target 400, can accurately calculate 3 dimension coordinates of the detection of a target 400 like this, precision usually can reach decimeter grade, thereby greatly improves the efficient that the disaster personnel search and rescue.
Be only below the preferred embodiment of the present invention, protection scope of the present invention also not only is confined to above-described embodiment, and all technical schemes that belongs under thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art, the some improvements and modifications not breaking away under principle of the invention prerequisite should be considered as protection scope of the present invention.
Claims (9)
1. the self-align radar network life detection of a multi-mode method, is characterized in that, step is:
Step 10: two above radar life probe assemblies are formed the life detection network;
Step 20: every radar life probe assembly is determined the position of self by positioning system;
Step 30: every radar life probe assembly is determined the position of life entity to be detected on radar return separately by transmitting and receiving ultra-wideband impulse signal;
Step 40: adopt the combined detection mode of 1D multiple target detection, 3D detected with high accuracy or above dual mode to carry out target detection, obtain the coordinate of life entity to be detected.
2. the self-align radar network life detection of multi-mode according to claim 1 method, it is characterized in that, when adopting 1D multiple target detection method, each radar life probe assembly is fixedly put out according to the topological mode of equidistant same level height and start simultaneously, each radar life probe assembly has search coverage separately, the search coverage part superposition of adjacent each radar life probe assembly is to guarantee there is not the detection leak in zone that the single detection network covered.
3. the self-align radar network life detection of multi-mode according to claim 2 method, it is characterized in that, when carrying out 1D multiple target detection method, the effective detection range of establishing the radar life probe assembly is D, and the centre distance of radar life probe assembly is set to
The area of effective coverage of single radar life probe assembly is 2D
2, being 2/ π times of non-network list radar life probe assembly, significant depth is
For the detection network that comprises N platform radar life probe assembly, the area of effective coverage that single is surveyed is 2ND
2
4. the self-align radar network life detection of multi-mode according to claim 1 method, it is characterized in that, when adopting 3D detected with high accuracy method, utilize the radar life probe assembly of three above location awares to survey simultaneously the distance of certain life entity, and adopt Newton iteration to resolve the coordinate that obtains life entity to be detected; The concrete flow process of carrying out is:
The three-dimensional coordinate that is provided with three radar life probe assemblies is (X
A, Y
A, Z
A), (X
B, Y
B, Z
B), (X
C, Y
C, Z
C), life entity to be detected is respectively D apart from the distance of radar life probe assembly
A, D
B, D
C, can obtain the position (X of life entity by resolving twice system of equations of following ternary
T, Y
T, Z
T):
(X
A-X
T)
2+(Y
A-Y
T)
2+(Z
A-Z
T)
2＝D
A 2
(X
B-X
T)
2+(Y
B-Y
T)
2+(Z
B-Z
T)
2＝D
B 2
(X
C-X
T)
2+(Y
C-Y
T)
2+(Z
C-Z
T)
2＝D
C 2
Above-mentioned equation can adopt the Newton iteration method to resolve, and concrete grammar is as follows:
(1) initialization life entity position is [0,0,0], iteration round k=0 is set and starts iterative process;
(2) the above-mentioned system of equations of linearization is for viewing distance [D
A, D
B, D
C] respectively to X
T, Y
T, Z
TAsk the local derviation value
And press row Lian Liede Jacobi matrix G, and try to achieve the difference b between three measuring distances and calculating distance;
(3) calculate [Δ X, Δ Y, Δ Z]=(G
TG)
-1G
Tb；
(4) upgrade [X
k, Y
k, Z
k]=[X
k-1, Y
k-1, X
k-1]+[Δ X, Δ Y, Δ Z], and according to new calculating apart from upgrading b;
(5) upgrade iteration round k value, k=k+1, judgement Δ X
2+ Δ Y
2+ Δ Z
2Whether satisfy less than Δ D
2If, do not satisfy iterative process enters step (3), if satisfy stop iteration, and the three-dimensional position that obtains life entity to be detected is [X
k-1, Y
k-1, X
k-1].
5. the self-align radar network life detection of the described multi-mode of any one method according to claim 1～4, is characterized in that, every radar life probe assembly positioning system is via satellite accurately located, and adopts the difference localization method.
6. life detecting device that is used for realizing any one life detection method in the claims 1～5, it is characterized in that, comprise satellite difference locating base station unit (100), survey and control and display system (300), and two groups of above radar life probe units (200), described satellite difference locating base station unit (100) is used for coordinating radar life probe unit (200) to complete the self-align of radar life probe unit (200), described radar life probe unit (200) comprises WiFi data transmit-receive module (210), satellite positioning module (220) and radar life are surveyed transmitting-receiving and processing module (230), described radar life is surveyed transmitting-receiving and processing module (230) is utilized the radar detection life signal, described satellite positioning module (220) is used for coordinating with satellite difference locating base station unit (100), described WiFi data transmit-receive module (210) is used for being connected with display system (300) and sending the data-signal that detects to detection control and display system (300) with surveying to control, described two groups of above radar life probe units (200) form the life detection network by WiFi data transmit-receive module (210), described detection control and display system (300) are used for completing the WiFi networking and transmitting-receiving operation, target localization resolve operation and result of detection shows operation.
7. life detecting device according to claim 6, is characterized in that, described satellite difference locating base station unit (100) adopts the global position system of GPS or Big Dipper series.
8. life detecting device according to claim 6, is characterized in that, described detection control and display system (300) are a terminal device with WiFi module.
9. life detecting device according to claim 8, is characterized in that, described terminal device is PDA, panel computer or PC.
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