CN104535996B - Image/laser ranging/ low-altitude frequency-modulated continuous wave radar integrated system - Google Patents
Image/laser ranging/ low-altitude frequency-modulated continuous wave radar integrated system Download PDFInfo
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- CN104535996B CN104535996B CN201510008592.6A CN201510008592A CN104535996B CN 104535996 B CN104535996 B CN 104535996B CN 201510008592 A CN201510008592 A CN 201510008592A CN 104535996 B CN104535996 B CN 104535996B
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
Abstract
The invention provides an image/laser ranging/low-altitude frequency-modulated continuous wave radar integrated system. By classifying the moment that low-altitude frequency-modulated continuous wave radar scans and detects targets accurately and the moment that the low-altitude frequency-modulated continuous wave radar scans and detects the targets with overlarge errors, or the targets are in a dead zone, the system gives out a target monitoring method of detecting the position and speed information and images of the targets through the low-altitude frequency-modulated continuous wave radar and reconfirming through a laser range finder; when the low-altitude frequency-modulated continuous wave radar scans and detects the targets with the overlarge errors, or the targets are in the dead zone, the images and laser ranging are used for monitoring, an image collecting and processing system decodes the CCD input images and compares the same regions appointed in the two adjacent images in an FPGA to obtain target-motion information or non-target-motion information; the target center, the motion offset and motion speed are directly extracted through the FPGA, and according to the target center and the motion speed, the steering and the size of a two-axle controllable holder for bearing the image/laser system are determined, and the technical problem that the low-altitude monitoring radar cannot accurately detect the flying targets often is solved.
Description
Technical field
Radar tracking system of the present invention, particularly to image/laser range finding/low latitude frequency modulated continuous wave radar integration system
System, belongs to areas of information technology.
Background technology
Low altitude radar is the necessaries of low latitude blank pipe, in the world to being developed for many years；French thmson-csf is public
Department takes the lead in, on the basis of its tiger low altitude radar, deriving from and have developed trs2105 and trs2106 mobile radara.Both
Radar is all operated in g wave band, using coherent transmitting, frequency agility, pulse compression, moving-target instruction, constant false alarm rate technology and four
Plant working method.Both are respectively provided with very high Anti-amyloid-β antibody performance and equipped with processing meanss, the feature of this processing means
It is: so that radar is well adapted for environment and automatically to make a reservation for and follow the tracks of local target.Trs 2105 is arranged on two axle trailers
On shelter in.This shelter is added to have set a folding 8m mast, supports a 3＆acute;1.6m antenna.This radar
It is operated in g wave band (550mhz), peak power is 70kw, mean power is 1kw, operating distance 65/100 km, antenna rotation rate
5.5～11 rpm, can be from 60 targets of motion tracking.In order to improve the operating distance of radar, antenna installation has arrived the height of 8m.
Trs 2106 is the modification of trs 2105, is particularly well-suited to battlefield operation, and its operating frequency is 550mhz, operating distance 50km,
Peak power 8kw, mean power 250w, 1.7 ° of horizontal beam width.This radar adopts the planar array sky that rotating speed is 30r/min
Line, can be from 90 targets of motion tracking.France has succeeded in developing three coordinate low-altitude surveillance radar rac and flir again at present.Rac radar
It is operated in g/h wave band (4～8ghz), there is provided operating distance Atmospheric attenuation, transmission power, resolution in the range of 100km
Optimal compromise and between antenna size and Small object (as the Small object of super low altitude flight in serious clutter environment) detection.rac
The ultralow pair employing a kind of modernization distinguishes Planar Phased Array Antenna, has used the advanced skill such as digital pulse compression and moving-target detection
Art, has very strong capacity of resisting disturbance.Up to 100km, detectable speed is the target of 900m/s to its operating distance, distance essence
Spend for 5m, orientation/elevation accuracy is less than 0.1 rad.
Pluto (Pluto) radar that Italian Sai Lainiya company develops is the low-altitude surveillance thunder to empty and coastal defence
Reach, for detecting the aircraft of hollow, low latitude and super low altitude flight.It can be used alone, also can be combined to make in air defense network low
Empty " mending blind " radar.The feature of pluto radar is suitable for observing and predicting the azimuth-range of the treetop level target in hollow, low latitude；Adopt
With Phase-coded pulse compression to obtain high range resolution ratio and precision.Due to employing clutter environment in Echo Processing certainly
Adapt to, thus this radar can identify target in strong clutter environment.Its operation wavelength is 10cm, and transmitter can be by fixation
Frequency, random or pre-programmed frequency agile and adaptive frequency selection mode work, and peak power is more than 135kw, to low latitude
The detection range of target is up to 110km.
German aeg-telefunken company have developed trm-3d and trm-l low-altitude surveillance radar.Trm-l has 2d type and 3d
Type.System that employs tranmitting frequency agile, pulse recurrence frequency agile, polarization agile and pulse compression and impulse phase coding
Etc. technology, thus there is high Anti-amyloid-β antibody performance.It passes through advanced signal processing method and realizes to antiradiation missile and low
The high probability of empty aircraft detects, and an additional channel ensure that the reliable detection to helicopter, antenna synthesis secondary lobe suppression and
Iff function, can set up 12m high.The power consumption of this radar is 38kw, to the operating distance of radar cross section 3m2 target is
60km, detection probability 80%；Operating distance to radar cross section 1m2 target is 46km, detection probability 80%；The data renewal time presses
The difference of working method takes 2～4s.
Raytheon Co. of the U.S. newly have developed mobile radara mrsr at present, and itt-gilfillan company is developing entirely solid
State phased array low latitude gap-filler radar star.Mrsr is a kind of height motor-driven, 3d, multi-function monitoring radar, is operated in i/j frequency range, side
Position machine is swept, and the elevation angle adopts phase-array scanning, can capture and follow the tracks of the low target that the upper all tactics in 360 ° of orientation highly go up.Should
Radar employs the advanced technology such as low noise solid state transmitter and ultra low sidelobe antenna and low probability of intercept waveform, enables radar
Enough detect and follow the tracks of modern battlefield environment low-to-medium altitude dash forward anti-target.Mrsr has good capacity of resisting disturbance, many due to it
Wave beam work characteristics, thus also have the function of inveigling the target-seeking device of antiradiation missile.This radar maneuverability, simple to operate, entirely
System is contained in a railway carriage it is only necessary to a people operates.
" giraffe " series radar of Sweden is typical low-altitude surveillance radar, and the antenna of this serial radar is all high by frame,
It is mainly used in tackling low latitude threat.Ericsson company of Sweden starts the end of the fifties to develop pulse Doppler radar system, " long
Neck deer " basic model radar is initially for ground force of Sweden rbs-70 short range sam system design.This radar was in 1978
Produce, be named as ps-70/r, export entitled bofors.Development with new tactical thinking and armed helicopter wide
General application, the said firm updates " giraffe " radar, starts to be proposed on the basis of basic model radar in March, 1988
" giraffe " radar series so as to develop into the c3i system with commander's control function from search radar.This series includes 6
Plant the radar of model: " giraffe " 40 type, " giraffe " 50at type, " giraffe " 75 type and " giraffe " 100 type, " long-neck
Deer " 3d type and carrier operation version " giraffe ".Such radar be mainly used for tackling air-supported threat, especially tackle serious miscellaneous
Treetop level target in wave interference environment and in the case of serious electromagnetic interference.
However, radar will face problems with when low flyer being detected, following the tracks of: 1) terrain and its features blocks: by
Radar wave in straightline propagation can only could find target in certain horizon range, and the earth is a spheroid, and " earth is bent
Rate " can reduce the effective detection range of radar significantly.When the electromagnetic wave of radar emission runs into the barriers such as mountain range, hills and forest
When, barrier can cause shielding action to radar, forms clutter and blind area.The radar antenna masking that landform, atural object cause
Angle substantially reduces the effective detection range to low target for the radar；2) landform multipath effect.The direct wave of radar electromagnetic wave,
The group credit union of ground (sea) echo and objective emission ripple produces multi-path interference effect, leads to beam splitting on the elevation angle；3) strong
Surface clutter.Want detecting low-altitude objective, radar will certainly receive the background clutter that strong ground (sea) is reflected, this is and target
Echo is in the surface echo of identical radar resolution cell；4), when setting up rational detection covering, General Two-Dimensional detects in side
It is narrow beam on position, the elevation angle is cosecant square wave beam.Therefore, low-altitude surveillance radar is usually unable to correct detection airbound target.
Content of the invention
Usually it is unable to the technological deficiency of correct detection airbound target in order to solve low-altitude surveillance radar, the invention provides figure
Picture/laser ranging/low latitude frequency modulated continuous wave radar integral system, this system is visited by scanning to low latitude frequency modulated continuous wave radar
Survey target more accurate when and low latitude frequency modulated continuous wave radar scanning probe target error is excessive or classification when dead band, give
Low latitude frequency modulated continuous wave radar detects the target monitoring that the position of target and velocity information, image and laser range finder confirm again
Method；When low latitude frequency modulated continuous wave radar scanning probe target error is excessive or when dead band, is monitored by image and laser ranging,
Image collection processing system decodes to ccd input picture, and the same area specified in adjacent two field pictures is compared in fpga
Relatively, obtain and have or not target movable information；By fpga extracting directly target's center, motion excursion amount and speed, and according to target
Center and movement velocity determine the steering of the controlled head of two axles and size carrying image/laser system, solve low-altitude surveillance
Radar is usually unable to the technical problem of correct detection airbound target.
The present invention solves its technical problem and employed technical scheme comprise that, a kind of image/laser range finding/low latitude Continuous Wave with frequency modulation
Radar integral system, its feature includes following characteristics:
1) frequency modulated continuous wave radar integral system in image/laser range finding/low latitude is by low latitude frequency modulated continuous wave radar, multichannel
Visible ray ccd and infrared ccd, visible ray ccd and infrared ccd fixed focus lens, visible ray ccd and infrared ccd autozoom
Camera lens, the controlled head of two axles carrying low latitude frequency modulated continuous wave radar system, the controlled cloud of two axles of carrying image/laser system
Platform, laser range finder, the Big Dipper or gps or gnss, image collection processing system, carry the two of low latitude frequency modulated continuous wave radar system
The controlled cloud platform control system of axle, the controlled cloud platform control system of two axles carrying image/laser system and automatic zoom camera lens control
Device forms；Multichannel visible ray ccd and infrared ccd and laser range finder be all arranged on carry image/laser system two axles controlled
Rotate or pitching on head, laser range finder is installed on central authorities, and multichannel visible ray ccd and infrared ccd are installed on both sides simultaneously；Hold
The controlled head of two axles carrying image/laser system is fixedly mounted on the controlled cloud of two axles carrying low latitude frequency modulated continuous wave radar system
On the azimuth axis of platform, carry out orientation rotation with the controlled head of two axles carrying low latitude frequency modulated continuous wave radar system simultaneously but do not bow
Face upward；
2) monitoring method when low latitude frequency modulated continuous wave radar scanning probe target is more accurate is:
A) low latitude frequency modulated continuous wave radar detects position and the velocity information of target, carries the two of image/laser system
The controlled cloud platform control system of axle detects positional information and the carrying image/laser system of target according to low latitude frequency modulated continuous wave radar
The two axles controlled head installation site of system provides azimuth and the angle of site control instruction of this controlled head of two axles, autozoom mirror
Head controller is given according to the oblique distance between the two axles controlled head installation site of target location and carrying image/laser system can
See light ccd and the control instruction of infrared ccd automatic zoom camera lens so that being of moderate size of the target ccd image of acquisition, image is adopted
Collection processing system completes image acquisition and the analysis of the target centre of form, and makes alignment target center during laser range finder transmitting laser adjacent
In domain；Laser range finder launches the oblique distance that laser obtains laser range finder camera lens and target location；
B) when low latitude frequency modulated continuous wave radar detects the position of target and velocity information have error and less when, carry
The controlled cloud platform control system of two axles of image/laser system provides rotation and pitch demand controls carrying image/laser system
To target, image collection processing system completes image acquisition to two axles controlled head automatic searching and target image shape center is divided
Analysis, the controlled cloud platform control system of two axles of carrying image/laser system provides rotation again and pitch demand makes laser ranging
In alignment target center neighborhood during instrument transmitting laser；Laser range finder transmitting laser obtains laser range finder camera lens and target location
Oblique distance；
3) low latitude frequency modulated continuous wave radar scanning probe target error is excessive or is supervised by image and laser ranging when dead band
Control:
A () image collection processing system decodes to ccd input picture, the same area specified in adjacent two field pictures exists
Fpga is compared, and obtains and has or not target movable information；Press the image that the region setting exports with decoding chip with high-frequency clock
Data flow makees absolute difference to current frame image with the previous frame image being stored in sram, and difference result is compared with fixed threshold
Relatively, more than threshold value for there being motion pixel, otherwise for without motion pixel；To there being motion pixel to count, more than setting
Think there is moving target during threshold value, otherwise it is assumed that without motion target；
B () carries out carrying out image threshold segmentation with fpga, the setting regions comprising target is entered after moving target is detected again
Row gray-scale statistical simultaneously calculates average gray；
C () is extracted target's center, is calculated motion excursion amount and speed by fpga；
D () predicts the target's center position in next two field picture by fpga；
E the controlled cloud platform control system of two axles of () carrying image/laser system provides the azimuth of this controlled head of two axles
With angle of site control instruction so that in alignment target center neighborhood during laser range finder transmitting laser；Laser range finder transmitting swashs
Light obtains the oblique distance of laser range finder camera lens and target location；
4) the signal transmitting of low latitude frequency modulated continuous wave radar and handling process: radar transmitter is in cycle continuous timeCorresponding to generation frequency is
, corresponding generation high frequency constant amplitude continuous sine wave, add to antenna after isolator and multiple amplification, form transmission signal, launch letter
Number run into target in communication process and reflect generation echo-signal, the echo-signal receiving and local oscillation signal are mixed by receiver
Zero Beat Signal is obtained, zero Beat Signal enters signal processor after multiple amplification and matched filtering and carries out modulus change after frequency
Change, obtain digital signal, afterwards through fft convert, carry out analysis of spectrum, obtain from frequency domain radar with respect to target radial direction away from
From；WhereinFor frequency,For normal number,For positive integer；
5) low latitude frequency modulated continuous wave radar is detected target position information and is merged with the information that laser range finder records,
Fusion method is:
Wherein,For the fusion value of laser range finder camera lens and the oblique distance of target location,For low latitude Continuous Wave with frequency modulation thunder
Reach the oblique distance value recording,The oblique distance value recording for laser range finder,Record oblique distance value for low latitude frequency modulated continuous wave radar
Variance,Record the variance of oblique distance value for laser range finder.
The beneficial outcomes of the present invention are: by more accurate to low latitude frequency modulated continuous wave radar scanning probe target when and low latitude
Frequency modulated continuous wave radar scanning probe target error is excessive or classification when dead band, gives low latitude frequency modulated continuous wave radar and visits
Measure the target monitoring method that the position of target and velocity information, image and laser range finder confirm again；When low latitude, frequency modulation is continuous
It is excessive or when dead band, by image and laser ranging monitoring, image collection processing system pair that ripple radar scanning detects target error
Ccd input picture decodes, and the same area specified in adjacent two field pictures is compared in fpga, obtains and has or not target motion
Information；By fpga extracting directly target's center, motion excursion amount and speed, and held according to target's center and movement velocity determination
Carry the steering of the controlled head of two axles and the size of image/laser system, solve low-altitude surveillance radar and be usually unable to correct detection
The technical problem of airbound target.
With reference to example, the present invention is elaborated.
Specific embodiment
1) frequency modulated continuous wave radar integral system in image/laser range finding/low latitude is by low latitude frequency modulated continuous wave radar, 2 tunnels
The infrared ccd fixed focal length mirror of the visible ray ccd and infrared ccd in 2 tunnels, 1 60mm visible ray ccd fixed focus lens, 1 60mm
The infrared ccd automatic zoom camera lens of head, 1 10-200mm visible ray ccd automatic zoom camera lens, 1 10-200mm, visible ray ccd
With infrared ccd fixed focus lens, visible ray ccd and infrared ccd automatic zoom camera lens, carrying low latitude frequency modulated continuous wave radar system
The controlled head of two axles of system, the controlled head of two axles carrying image/laser system, laser range finder, the Big Dipper or gps or gnss,
Image collection processing system, the controlled cloud platform control system of two axles carrying low latitude frequency modulated continuous wave radar system, carrying image/swash
The controlled cloud platform control system of two axles of photosystem and automatic zoom camera lens controller composition；Multichannel visible ray ccd and infrared ccd and
Laser range finder is all arranged on and rotates or pitching on the controlled head of two axles carry image/laser system simultaneously, laser range finder
It is installed on central authorities, multichannel visible ray ccd and infrared ccd are installed on both sides；The controlled head of two axles carrying image/laser system is solid
Dingan County is contained on the azimuth axis of the controlled head of two axles carrying low latitude frequency modulated continuous wave radar system, and low latitude frequency modulation is continuous with carrying
The controlled head of two axles of wave radar system carries out orientation rotation but not pitching simultaneously；
2) monitoring method when low latitude frequency modulated continuous wave radar scanning probe target is more accurate is:
A) low latitude frequency modulated continuous wave radar detects position and the velocity information of target, carries the two of image/laser system
The controlled cloud platform control system of axle detects positional information and the carrying image/laser system of target according to low latitude frequency modulated continuous wave radar
The two axles controlled head installation site of system provides azimuth and the angle of site control instruction of this controlled head of two axles, autozoom mirror
Head controller is given according to the oblique distance between the two axles controlled head installation site of target location and carrying image/laser system can
See light ccd and the control instruction of infrared ccd automatic zoom camera lens so that being of moderate size of the target ccd image of acquisition, image is adopted
Collection processing system completes image acquisition and the analysis of the target centre of form, and makes alignment target center during laser range finder transmitting laser adjacent
In domain；Laser range finder launches the oblique distance that laser obtains laser range finder camera lens and target location；
B) when low latitude frequency modulated continuous wave radar detects the position of target and velocity information have error and less when, carry
The controlled cloud platform control system of two axles of image/laser system provides rotation and pitch demand controls carrying image/laser system
To target, image collection processing system completes image acquisition to two axles controlled head automatic searching and target image shape center is divided
Analysis, the controlled cloud platform control system of two axles of carrying image/laser system provides rotation again and pitch demand makes laser ranging
In alignment target center neighborhood during instrument transmitting laser；Laser range finder transmitting laser obtains laser range finder camera lens and target location
Oblique distance；
3) low latitude frequency modulated continuous wave radar scanning probe target error is excessive or is supervised by image and laser ranging when dead band
Control:
A () image collection processing system decodes to ccd input picture, the same area specified in adjacent two field pictures exists
Fpga is compared, and obtains and has or not target movable information；Press the image that the region setting exports with decoding chip with high-frequency clock
Data flow makees absolute difference to current frame image with the previous frame image being stored in sram, and difference result is compared with fixed threshold
Relatively, more than threshold value for there being motion pixel, otherwise for without motion pixel；To there being motion pixel to count, more than setting
Think there is moving target during threshold value, otherwise it is assumed that without motion target；
B () carries out carrying out image threshold segmentation with fpga, the setting regions comprising target is entered after moving target is detected again
Row gray-scale statistical simultaneously calculates average gray；
C () is extracted target's center, is calculated motion excursion amount and speed by fpga；
D () predicts the target's center position in next two field picture by fpga；
E the controlled cloud platform control system of two axles of () carrying image/laser system provides the azimuth of this controlled head of two axles
With angle of site control instruction so that in alignment target center neighborhood during laser range finder transmitting laser；Laser range finder transmitting swashs
Light obtains the oblique distance of laser range finder camera lens and target location；
4) the signal transmitting of low latitude frequency modulated continuous wave radar and handling process: radar transmitter is in cycle continuous timeCorresponding to generation frequency is,
Corresponding generation high frequency constant amplitude continuous sine wave, adds to antenna after isolator and multiple amplification, forms transmission signal, transmission signal
Run into target and reflect generation echo-signal in communication process, the echo-signal receiving is mixed with local oscillation signal by receiver
After obtain zero Beat Signal, zero Beat Signal through multiple amplify and matched filtering after enter signal processor and carry out modulus change
Change, obtain digital signal, afterwards through fft convert, carry out analysis of spectrum, obtain from frequency domain radar with respect to target radial direction away from
From；WhereinFor frequency；
5) low latitude frequency modulated continuous wave radar is detected target position information and is merged with the information that laser range finder records,
Fusion method is:
Wherein,For the fusion value of laser range finder camera lens and the oblique distance of target location,For low latitude Continuous Wave with frequency modulation thunder
Reach the oblique distance value recording,The oblique distance value recording for laser range finder,Record oblique distance value for low latitude frequency modulated continuous wave radar
Variance,Record the variance of oblique distance value for laser range finder.
Claims (1)
1. a kind of image/laser range finding/low latitude frequency modulated continuous wave radar integral system, its feature includes following characteristics:
1) frequency modulated continuous wave radar integral system in image/laser range finding/low latitude is from low latitude frequency modulated continuous wave radar, multichannel
Light ccd and infrared ccd, visible ray ccd and infrared ccd fixed focus lens, visible ray ccd and infrared ccd automatic zoom camera lens,
The controlled head of two axles carrying low latitude frequency modulated continuous wave radar system, the controlled head of two axles carrying image/laser system, laser
Diastimeter, the Big Dipper or gps or gnss, image collection processing system, carry low latitude frequency modulated continuous wave radar system two axles controlled
Cloud platform control system, the controlled cloud platform control system of two axles carrying image/laser system and automatic zoom camera lens controller composition；
Multichannel visible ray ccd and infrared ccd and laser range finder are all arranged on the controlled head of two axles carry image/laser system together
When rotate or pitching, laser range finder is installed on central authorities, and multichannel visible ray ccd and infrared ccd are installed on both sides；Carrying image/
The controlled head of two axles of laser system is fixedly mounted on the side of the controlled head of two axles carrying low latitude frequency modulated continuous wave radar system
On the axle of position, carry out orientation rotation but not pitching with the controlled head of two axles carrying low latitude frequency modulated continuous wave radar system simultaneously；
2) monitoring method when low latitude frequency modulated continuous wave radar scanning probe target is more accurate is:
A) low latitude frequency modulated continuous wave radar detects position and the velocity information of target, and two axles carrying image/laser system can
Control cloud platform control system detects positional information and the carrying image/laser system of target according to low latitude frequency modulated continuous wave radar
Two axles controlled head installation site provides azimuth and the angle of site control instruction of this controlled head of two axles, automatic zoom camera lens control
According to target location, the oblique distance and the two axles controlled head installation site carrying image/laser system between provides visible ray to device processed
The control instruction of ccd and infrared ccd automatic zoom camera lens is so that being of moderate size, at image acquisition of the target ccd image that obtains
Reason system completes image acquisition and the analysis of the target centre of form, and makes alignment target center neighborhood during laser range finder transmitting laser
Interior；Laser range finder launches the oblique distance that laser obtains laser range finder camera lens and target location；
B) when low latitude frequency modulated continuous wave radar detects the position of target and velocity information have error and less when, carry image/
The controlled cloud platform control system of two axles of laser system provides rotation and two axles of pitch demand control carrying image/laser system can
Control head automatic searching to target, image collection processing system completes image acquisition and target image shape center analysis, carry
The controlled cloud platform control system of two axles of image/laser system provides rotation again and pitch demand makes laser range finder transmitting swash
In the neighborhood of light time alignment target center；Laser range finder launches the oblique distance that laser obtains laser range finder camera lens and target location；
3) low latitude frequency modulated continuous wave radar scanning probe target error is excessive or is monitored by image and laser ranging when dead band:
(a) image collection processing system to ccd input picture decode, by the same area specified in adjacent two field pictures in fpga
It is compared, obtain and have or not target movable information；Press the view data that the region setting exports with decoding chip with high-frequency clock
Stream makees absolute difference to current frame image with the previous frame image being stored in sram, and difference result is compared with fixed threshold,
It is to have motion pixel more than threshold value, otherwise for without motion pixel；To there being motion pixel to count, more than given threshold
When think there is moving target, otherwise it is assumed that without motion target；
B () carries out carrying out image threshold segmentation with fpga, carry out ash to the setting regions comprising target again after moving target is detected
Degree counts and calculates average gray；
C () is extracted target's center, is calculated motion excursion amount and speed by fpga；
D () predicts the target's center position in next two field picture by fpga；
E the controlled cloud platform control system of two axles of () carrying image/laser system provides azimuth and the height of this controlled head of two axles
Low angle control instruction is so that in alignment target center neighborhood during laser range finder transmitting laser；Laser range finder transmitting laser obtains
Obtain the oblique distance of laser range finder camera lens and target location；
4) the signal transmitting of low latitude frequency modulated continuous wave radar and handling process: radar transmitter is in cycle continuous timeCorresponding to generation frequency is,
Corresponding generation high frequency constant amplitude continuous sine wave, adds to antenna after isolator and multiple amplification, forms transmission signal, transmission signal
Run into target and reflect generation echo-signal in communication process, the echo-signal receiving is mixed with local oscillation signal by receiver
After obtain zero Beat Signal, zero Beat Signal through multiple amplify and matched filtering after enter signal processor and carry out modulus change
Change, obtain digital signal, afterwards through fft convert, carry out analysis of spectrum, obtain from frequency domain radar with respect to target radial direction away from
From；WhereinFor frequency,For normal number,For positive integer；
5) low latitude frequency modulated continuous wave radar is detected target position information and is merged with the information that laser range finder records, and merges
Method is:
Wherein,For the fusion value of laser range finder camera lens and the oblique distance of target location,Survey for low latitude frequency modulated continuous wave radar
The oblique distance value obtaining,The oblique distance value recording for laser range finder,Record the side of oblique distance value for low latitude frequency modulated continuous wave radar
Difference,Record the variance of oblique distance value for laser range finder.
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| CN111289966B (en) * | 2020-02-20 | 2022-05-10 | 上海交通大学 | Motion information measuring method based on MIMO frequency modulation continuous wave radar coherent phase tracking |
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