CN104076362B - A kind of railroad train runs security radar - Google Patents
A kind of railroad train runs security radar Download PDFInfo
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- CN104076362B CN104076362B CN201410320296.5A CN201410320296A CN104076362B CN 104076362 B CN104076362 B CN 104076362B CN 201410320296 A CN201410320296 A CN 201410320296A CN 104076362 B CN104076362 B CN 104076362B
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- radar
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9328—Rail vehicles
Abstract
The present invention proposes a kind of railroad train and runs security radar, including: antenna feeder module and difference comparator, emitter, receiver, phase detector, antenna turn and servo module, digital processing and signal processing module, display module and alarm module, wherein, antenna feeder module, including antenna, the first feed and the second feed, first feed and the second feed are all connected with antenna, and antenna is continuous wave duplexer, and it uses T/R isolation network to isolate between receiving and launching；With difference comparator, have 1,2, Σ, four ports of Δ；1 end and 2 ends connect the first feed and the second feed respectively, and Σ end connects emitter, and Δ end connects receiver.A kind of railroad train that the present invention proposes runs security radar, use continuous wave radar physique, and achieve transmit-receive sharing common antenna, it is to avoid the beam position launching antenna and reception antenna should be in same direction, problem to be isolated.
Description
Technical field
The present invention relates to Radar Technology field, particularly relate to a kind of railroad train and run security radar.
Background technology
Its driving safety of the train of high-speed cruising is most important, due to natural environment cause landslide, landslide,
The situations such as the roadlock that bridge is impaired or human factor is caused have a strong impact on traffic safety.Above-mentioned situation is sent
Early warning is reported, prevents the generation important in inhibiting of major accident.Train radar is monitoring train operation road conditions,
Guarantee the conventional means of train safe.
Pulse-modulated radar, it solves transceiver insulation problem with transmit-receive switch.The work of transmit-receive switch
It is in launching and receiving segmented state when both present, i.e. launches and receive and work the most simultaneously, receive
Machine only just starts to receive the echo-signal of target, poor real in the off time launching electromagnetic pulse.
The duty of continuous wave radar is then entirely different with above-mentioned situation, and it is to launch uninterruptedly
Electromagnetic wave, meanwhile receiver is also performing reception by the work of extraterrestrial target backspace electromagnetic wave.So,
Continuous wave radar more can guarantee that train safe.
Existing continuous wave radar uses and receives and launch each with one pair of antenna, utilizes the special of antenna lobe to set
Meter and two pairs of antenna institute putting positions of adjustment, also need to launch the antenna a large amount of electromagnetic absorber of periphery dosing,
Reduce with this and receive and send out interfering between passage.The beam position launching antenna and reception antenna should
In same direction, the most also isolating, so there being certain technical difficulty, being the bottleneck of continuous wave radar development.
Summary of the invention
The technical problem existed based on background technology, the present invention proposes a kind of railroad train and runs security
Radar, use continuous wave radar physique, and achieve transmit-receive sharing common antenna, it is to avoid transmitting antenna with
The beam position of reception antenna should be in same direction, problem to be isolated.
A kind of railroad train that the present invention proposes runs security radar, including:
Antenna feeder module, is all connected with including antenna, the first feed and the second feed, the first feed and the second feed
Antenna, antenna is continuous wave duplexer, and it uses T/R isolation network to carry out between receiving and launching
Isolation；
With difference comparator, have 1,2, Σ, four ports of Δ, when from Σ end input signal, 1 end and 2
End output constant amplitude in-phase signal, Δ end is without output, when inputting in-phase signal, the then output of Δ end from 1 end and 2 ends
Both difference signals, the output of Σ end and signal；1 end and 2 ends connect the first feed and the second feed, Σ respectively
End connects emitter, and Δ end connects receiver；
Emitter, uses millimeter-wave transmitter, is used for generating millimeter wave and launches signal, launch signal by and poor
The Σ end input of comparator, 1 end and 2 ends output constant amplitude in-phase signal encourage the first feed and the second feed respectively
Electromagnetic wave by aerial radiation radiation equal-wattage；
Receiver, embedded digital processes and signal processing module, for receiving and differ from the Δ end output of comparator
Signal, and signal is sampled, digitize, filter, analyze and process and image formation, and judge different
Often；
Phase detector, connects and differs from the Δ end of comparator for detecting phase place；
Antenna turn and servo module, connect receiver, phase detector and antenna feeder module, respectively according to connecing
The analysis result of receipts machine is inferred the angle of followed the tracks of target deviation guidance axis thus is driven antenna turn, according to
To the phase detection result of echo-signal, phase detector judges that antenna turns to, and be adjusted so that antenna ripple
Bundle is directing forwardly rail all the time；
Display module, connects receiver, shows image formation result；
Alarm module, connects receiver, reports to the police according to abnormal results；
Described railroad train runs the echo model of security Embedded in Radar correspondence varying environment and transports as safety
Row background, when echo model and radar, real detection target echo contrasts and offsets, and overflows if any signal,
I.e. detect angel signal, process carry out with memory database comparison through digital processing, image formation
Threaten target identification, and start warning system；
Described railroad train runs the method that security radar uses and beam search, difference beam are followed the tracks of；
During transmitting, it is added to and differs from the Σ end of comparator from the signal that emitter is next, therefore 1 end, 2 ends export constant amplitudes
In-phase signal, the first feed and the second feed are by cophase detector, and pass through the electromagnetism of aerial radiation equal-wattage
Ripple, the field intensity homophase that two wave beams produce at spatial points is added, and is formed and launches and wave beam FΣ(θ)；
During reception, the echo impulse E of two wave beams1、E2Received by the first feed and the second feed simultaneously, receive
The signal amplitude arrived produces difference along with the degree of target deviation antenna axis, but phase place is identical, two echoes
Pulse signal is added separately to and differs from 1 end and 2 ends of comparator, the output of Σ end and signal EΣ, the output of Δ end is poor
Signal EΔ；
E1、E2、EΣ、EΔAmplitude relation be:
E1=kFΣ(θ)F(δ-θ)
E2=kFΣ(θ) F (δ+θ), F (θ) are the directivity function of wave beam, and θ is target direction, and δ is two echoes
The drift angle of pulsed beam relative antenna axis, k is proportionality coefficient；
EΣ=| EΣ|=E1+E2
|EΔ|=| E1-E2|
Receiver is to difference signal EΔProcess, infer the angle of followed the tracks of target deviation guidance axis according to its amplitude
Degree, thus command antenna turn drives antenna turn with servo-drive system, it addition, by the phase to echo-signal
Position detection, it determines turning to of antenna, makes antenna beam be directing forwardly rail all the time.
Preferably, antenna is parabola antenna.
Preferably, emitter uses solid state transmitter.
Preferably, the operating frequency of the millimeter wave that emitter is launched is 35GHz, 94GHz, 140GHz or 220
GHz。
Preferably, emitter uses GaN power device.
Preferably, receiver is Digital Intermediate Frequency Receiving System, including the high-speed ADC module being sequentially connected with, number
Word down coversion and filtering extraction processing module, digital signal processing module.
The present invention uses continuous wave radar system, can monitor remote, the close-target on track simultaneously, detection
Distance up to 50～4000m, monitors distance, it is provided that enough pre-warning times；The present invention uses transmitting-receiving altogether
With common antenna, it is to avoid the beam position launching antenna and reception antenna should be in same direction, each other also
Technical problem to be isolated.The present invention uses millimeter-wave technology, and it has and penetrates cloud, mist, sand and dust, battlefield
The ability of the smoke of gunpowder and high-resolution, and antijamming capability is strong；Antenna volume used by millimeter wave is little, lightweight,
Wave beam is narrow, secondary lobe is low, gain is high, and ground mapping and supervision are had very fine angular resolution, can be to train rail
On foreign matter carry out extreme low-altitude search；There is stronger Doppler frequency sensitivity, target can be measured and advance
Speed, has speed measuring function accurately concurrently to the train advanced.Millimeter wave also has anti-" antiradiation missile " energy
Power, can time use.
Accompanying drawing explanation
Fig. 1 is the structure chart that a kind of railroad train that the present invention proposes runs security radar.
Detailed description of the invention
With reference to Fig. 1, a kind of railroad train that the present invention proposes runs security radar, including: antenna feeder module,
With difference comparator, emitter, receiver, phase detector, antenna turn and servo module, digital processing
With signal processing module, display module and alarm module.
Antenna feeder module, is all connected with including antenna, the first feed and the second feed, the first feed and the second feed
Antenna, antenna is continuous wave duplexer, and it uses T/R isolation network to carry out between receiving and launching
Isolation.The present invention uses transmit-receive sharing common antenna, it is to avoid launch the beam position of antenna and reception antenna
Should be in same direction, technical problem to be isolated.Concrete, antenna is parabola antenna, energy
Preferably radiation and reception beam signal.
With difference comparator, have 1,2, Σ, four ports of Δ, when from Σ end input signal, 1 end and 2
End output constant amplitude in-phase signal, Δ end is without output, when inputting in-phase signal, the then output of Δ end from 1 end and 2 ends
Both difference signals, the output of Σ end and signal；1 end and 2 ends connect the first feed and the second feed, Σ respectively
End connects emitter, and Δ end connects receiver.
Emitter, uses millimeter-wave transmitter, is used for generating millimeter wave and launches signal, launch signal by and poor
The Σ end input of comparator, 1 end and 2 ends output constant amplitude in-phase signal encourage the first feed and the second feed respectively
Electromagnetic wave by aerial radiation radiation equal-wattage.Operating frequency selects at millimeter wave band, makes to be detected
Target can blur-free imaging.
The present invention uses millimeter-wave technology, and it has and penetrates cloud, mist, sand and dust, the ability of the battlefield smoke of gunpowder and height
Resolution ratio, and antijamming capability is strong.Antenna volume used by millimeter wave is little, lightweight, wave beam is narrow, secondary lobe is low,
Gain is high.Millimeter wave has very fine angular resolution to ground mapping and supervision, can enter the foreign matter on train rail
The extreme low-altitude search of row, meanwhile, also has stronger Doppler frequency sensitivity, can measure target and advance fast
Degree, has speed measuring function accurately concurrently to the train advanced.Millimeter wave also has anti-" antiradiation missile " ability,
Can time use.
The operating frequency of the millimeter wave that emitter is launched may select 35GHz, 94GHz, 140GHz or 220GHz
Several atmospheric window frequencies, in order to realize more preferable monitoring effect.When operating frequency is selected in 35 gigahertz (GHZ)s or 94
During gigahertz (GHZ), antenna aperture is generally 10～20 centimetres, has hi-Fix to target, follows the tracks of, identifies energy
Power and super blur-free imaging effect, have very high resolution to target the most in close proximity.
Receiver, embedded digital processes and signal processing module, for receiving and differ from the Δ end output of comparator
Signal, and signal is sampled, digitize, filter, analyze and process and image formation, and judge different
Often, it is tracked analyzing to search target according to the change of difference signal, grasps train operation environment in real time.
Phase detector, connects and differs from the Δ end of comparator for detecting phase place.
Antenna turn and servo module, connect receiver, phase detector and antenna feeder module, respectively according to connecing
The analysis result of receipts machine is inferred the angle of followed the tracks of target deviation guidance axis thus is driven antenna turn；According to
To the phase detection result of echo-signal, phase detector judges that antenna turns to, and be adjusted so that antenna ripple
Bundle is directing forwardly rail all the time.Antenna turn and servo module ensure the antenna direction of search, prevent skew, from
And the most real-time road conditions understanding train front, it is ensured that run safety.
Display module, connects receiver, shows image formation result, it is simple to road conditions are carried out vision
On be directly acquainted with.
Alarm module, connects receiver, reports to the police according to abnormal results, reminds attendant to note.
This railroad train runs the echo model of security Embedded in Radar correspondence varying environment as safe operation
Background, when echo model and radar, real detection target echo contrasts and offsets, and overflows if any signal, i.e.
Detecting angel signal, through digital processing, image formation processes and memory database comparison carries out prestige
Side of body target identification, and start warning system.
This railroad train runs the method that security radar uses and beam search, difference beam are followed the tracks of, train
Two, front rail has strong reflection to reclaim function, using reflected signal as tracking beacon, can ensure tracking essence
Degree.It is big and accurately that this search lighting follows the tracks of intensity, can accurate master goal situation.
During transmitting, it is added to and differs from the Σ end of comparator from the signal that emitter is next, therefore 1 end, 2 ends export constant amplitudes
In-phase signal, the first feed and the second feed are by cophase detector, and pass through the electromagnetism of aerial radiation equal-wattage
Ripple, the field intensity homophase that two wave beams produce at spatial points is added, and is formed and launches and wave beam FΣ(θ) search letter is increased
Number intensity.
In order to realize precision tracking, launching beam is made the narrowest, to the mesh being in and in the range of beam
Mark, the wave path-difference of the echo that two feeds receive is negligible, so the echo impulse phase place phase of two wave beams
With.
During reception, the echo impulse E of two wave beams1、E2Received by the first feed and the second feed simultaneously, receive
The signal amplitude arrived produces difference along with the degree of target deviation antenna axis, but phase place is identical, two phase places
Identical echo pulse signal is added separately to and differs from 1 end and 2 ends of comparator, the output of Σ end and signal EΣ,
Δ end output difference signal EΔ。
E1、E2、EΣ、EΔAmplitude relation be:
E1=kFΣ(θ)F(δ-θ) (1)
E2=kFΣ(θ)F(δ+θ) (2)
F (θ) is the directivity function of wave beam, and θ is target direction, and δ is two echo impulse wave beam relative antenna
The drift angle of axis, k is proportionality coefficient relevant with factors such as radar parameter, target range, target properties.
EΣ=| EΣ|=E1+E2 (3)
Formula (1) (2) is substituted into (3), available
|EΔ|=| E1-E2| (5)
Receiver is to difference signal EΔProcess, infer the angle of followed the tracks of target deviation guidance axis according to its amplitude
Degree, thus command antenna turn drives antenna turn with servo-drive system, it addition, by the phase to echo-signal
Position detection, it determines turning to of antenna, makes antenna beam be directing forwardly rail all the time.
Concrete, in this radar emitter use solid state transmitter and use GaN (gallium nitride,
Gallium nitride) power device.GaN energy gap is big, breakdown electric field is high, saturated electron drift velocity is fast, thermal conductance
Rate is high, chemical stability is good, and has extremely strong capability of resistance to radiation.Utilize consolidating designed by GaN power device
State transmitter power density is big, working band width, the linearity are good, volume is little, cooling part is manufactured into
This is low.
Concrete, in this radar, receiver is Digital Intermediate Frequency Receiving System, including the high-speed ADC being sequentially connected with
(Analog to Digital Converter, analog-digital converter) module, Digital Down Convert and filtering extraction
Processing module, digital signal processing module.The analog if signal of input first passes through high-speed ADC module,
Intermediate frequency carries out bandpass sampling digitlization, then carries out Digital Down Convert, changes signal interested to base band,
Do sample rate conversion simultaneously and filtering processes, entered baseband signal by follow-up dedicated digital signal processor afterwards
Process.
Train front railway road conditions are detected, to launched electromagnetic wave by the present invention by launching continuous wave
Echo-signal is analyzed and imaging, train operation produces the non-safety information threatened and reports to the police.Prevent
The generation of driving accident, it is ensured that safe train operation.The present invention uses continuous wave radar system, can be with tracking
Remote, close-target on road are monitored simultaneously, and detecting distance up to 50～4000m, monitors distance, it is provided that foot
Enough pre-warning times.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention not office
Being limited to this, any those familiar with the art is in the technical scope that the invention discloses, according to this
The technical scheme of invention and inventive concept thereof in addition equivalent or change, all should contain the protection in the present invention
Within the scope of.
Claims (6)
1. a railroad train runs security radar, it is characterised in that including:
Antenna feeder module, is all connected with including antenna, the first feed and the second feed, the first feed and the second feed
Antenna, antenna is continuous wave duplexer, and it uses T/R isolation network to carry out between receiving and launching
Isolation；
With difference comparator, have 1,2, Σ, four ports of Δ, when from Σ end input signal, 1 end and 2
End output constant amplitude in-phase signal, Δ end is without output, when inputting in-phase signal, the then output of Δ end from 1 end and 2 ends
Both difference signals, the output of Σ end and signal；1 end and 2 ends connect the first feed and the second feed, Σ respectively
End connects emitter, and Δ end connects receiver；
Emitter, uses millimeter-wave transmitter, is used for generating millimeter wave and launches signal, launch signal by and poor
The Σ end input of comparator, 1 end and 2 ends output constant amplitude in-phase signal encourage the first feed and the second feedback respectively
The source electromagnetic wave by aerial radiation equal-wattage；
Receiver, embedded digital processes and signal processing module, for receiving and differ from the Δ end output of comparator
Signal, and signal is sampled, digitize, filter, analyze and process and image formation, and judge different
Often；
Phase detector, connects and differs from the Δ end of comparator for detecting phase place；
Antenna turn and servo module, connect receiver, phase detector and antenna feeder module, respectively according to connecing
The analysis result of receipts machine is inferred the angle of followed the tracks of target deviation guidance axis thus is driven antenna turn, according to
To the phase detection result of echo-signal, phase detector judges that antenna turns to, and be adjusted so that antenna ripple
Bundle is directing forwardly rail all the time；
Display module, connects receiver, shows image formation result；
Alarm module, connects receiver, reports to the police according to abnormal results；
Described railroad train runs the echo model of security Embedded in Radar correspondence varying environment and transports as safety
Row background, when echo model and radar, real detection target echo contrasts and offsets, and overflows if any signal,
I.e. detect angel signal, process carry out with memory database comparison through digital processing, image formation
Threaten target identification, and start warning system；
Described railroad train runs the method that security radar uses and beam search, difference beam are followed the tracks of；
During transmitting, the signal come from emitter is added to and differs from the Σ end of comparator, therefore 1 end, 2 end outputs etc.
Width in-phase signal, the first feed and the second feed are by cophase detector, and pass through the electricity of aerial radiation equal-wattage
Magnetic wave, the field intensity homophase that two wave beams produce at spatial points is added, and is formed and launches and wave beam FΣ(θ)；
During reception, the echo impulse E of two wave beams1、E2Received by the first feed and the second feed simultaneously, receive
The signal amplitude arrived produces difference along with the degree of target deviation antenna axis, but phase place is identical, two echoes
Pulse signal is added separately to and differs from 1 end and 2 ends of comparator, the output of Σ end and signal EΣ, the output of Δ end is poor
Signal EΔ；
E1、E2、EΣ、EΔAmplitude relation be:
E1=kFΣ(θ)F(δ-θ)
E2=kFΣ(θ) F (δ+θ), F (θ) are the directivity function of wave beam, and θ is target direction, and δ is two echoes
The drift angle of pulsed beam relative antenna axis, k is proportionality coefficient；
EΣ=| EΣ|=E1+E2
|EΔ|=| E1-E2|
Receiver is to difference signal EΔProcess, infer the angle of followed the tracks of target deviation guidance axis according to its amplitude
Degree, thus command antenna turn drives antenna turn with servo-drive system, it addition, by the phase to echo-signal
Position detection, it determines turning to of antenna, makes antenna beam be directing forwardly rail all the time.
2. railroad train as claimed in claim 1 runs security radar, it is characterised in that antenna is
Parabola antenna.
3. railroad train as claimed in claim 1 runs security radar, it is characterised in that emitter
Use solid state transmitter.
4. railroad train as claimed in claim 3 runs security radar, it is characterised in that emitter
The operating frequency of the millimeter wave launched is 35GHz, 94GHz, 140GHz or 220GHz.
5. railroad train as claimed in claim 4 runs security radar, it is characterised in that emitter
Use GaN power device.
6. the railroad train as described in any one of claim 1 to 5 runs security radar, and its feature exists
In, receiver is Digital Intermediate Frequency Receiving System, including the high-speed ADC module being sequentially connected with, Digital Down Convert
And filtering extraction processing module, digital signal processing module.
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| EP2925091B1 (en) * | 2014-03-27 | 2019-09-04 | Tridonic GmbH & Co KG | Spotlight LED module and light module |
| JP6392152B2 (en) * | 2015-03-24 | 2018-09-19 | パナソニック株式会社 | Radar device and traveling vehicle detection method |
| CN105572670A (en) * | 2015-12-11 | 2016-05-11 | 无锡市雷华科技有限公司 | Flying bird detection radar system |
| CN105974380B (en) * | 2016-06-01 | 2018-06-19 | 上海铁路通信有限公司 | A kind of vehicle-mounted speed measuring radar Anneta module detection circuit |
| CN107991672A (en) * | 2016-10-26 | 2018-05-04 | 上海雪狸传感技术有限公司 | A kind of shallow surface penetrating radar imaging system |
| CN108909621B (en) * | 2018-07-12 | 2020-10-16 | 芜湖博高光电科技股份有限公司 | Protection method of millimeter wave detection vehicle door outer anti-collision safety system |
| CN111098890B (en) * | 2019-12-18 | 2023-04-07 | 中铁电气化局集团有限公司 | Train collision avoidance method and device based on millimeter wave radar |
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| CN101210968B (en) * | 2006-12-26 | 2010-12-08 | 北京航空航天大学 | Headspace blind-supplementary assistant radar for ground-to-space information radar |
| CN102680976B (en) * | 2011-03-15 | 2014-03-12 | 深圳光启高等理工研究院 | Vehicle-mounted radar system |
| CN102608605A (en) * | 2012-03-08 | 2012-07-25 | 常州博瑞毫米波雷达科技有限责任公司 | Intelligent vehicle-mounted anticollision millimeter-wave radar system |
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