CN105372649A - Railroad locomotive speed measurement method based on adaptive double-path sampling filtering - Google Patents
Railroad locomotive speed measurement method based on adaptive double-path sampling filtering Download PDFInfo
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- CN105372649A CN105372649A CN201510746433.6A CN201510746433A CN105372649A CN 105372649 A CN105372649 A CN 105372649A CN 201510746433 A CN201510746433 A CN 201510746433A CN 105372649 A CN105372649 A CN 105372649A
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- China
- Prior art keywords
- new
- doppler frequency
- energy
- frequency signal
- echo data
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Classifications
-
- 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
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
-
- 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
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
Abstract
The invention discloses a railroad locomotive speed measurement method based on adaptive double-path sampling filtering. Largest frequencies corresponding to two paths of reception data frequency spectrums are solved by utilizing an FFT or BURG algorithm, namely the initial frequencies f01 and f02; the two paths of reception data are sampled by utilizing a new sampling rate fnew; energy of the two paths of reception data is compared, an error energy symbol is extracted, the sampling rate fnew is further updated, circulation is carried out till convergence to find a crossing point frequency fk, and a train speed is solved. According to the method, the convex optimization technology is utilized to process doppler signals received by antennas in two different angles, an error caused by a single doppler signal frequency spectrum substructure function can be effectively avoided, filtering extraction for the double-path doppler frequency spectrum crossing point frequency can be realized through an adaptive change data sampling rate, and thereby high-precision calculation for the railroad locomotive speed can be realized.
Description
Technical field
The present invention relates to a kind of method of Doppler signal Frequency Estimation, especially relate to a kind of railway locomotive speed-measuring method based on two-path adaptive sampling filter.
Background technology
At present, general locomotive method has speed measuring motor, pulse rotational speed, GPS positioning-speed-measuring and radar velocity measurement etc.First three methods is relatively simple, but have that precision is lower, reliability is poor, some mountain area and tunnel can produce the deficiencies such as signal blind zone.Radar velocity measurement is a kind of method of direct measuring speed, and during locomotive operation, emitting electromagnetic wave earthward all the time, according to Doppler effect principle, produces frequency difference between transmitted wave and reflection wave, can calculate the travelling speed of locomotive by measuring frequency difference.Radar velocity measurement mode is in locomotive operation monitoring, and many countries have carried out good try, but due to antenna clutter district comparatively large, and the signal of each reflector element of main beam irradiated region has independently random amplitude and phase relation, makes echo spectrum can broadening.So, accurately extract main beam Echo Doppler Frequency and there is technical barrier.
Summary of the invention
The object of this invention is to provide a kind of railway locomotive speed-measuring method based on two-path adaptive sampling filter, by changing data sampling rate, the self-adaptation centre frequency realizing two-way wave filter moves, extract two-way antenna Doppler frequency spectrum point of crossing frequency, greatly improve frequency-measurement accuracy, thus accurately estimate the speed of locomotive, to overcome the defect that prior art exists.
The object of the invention is to be achieved through the following technical solutions:
Based on a railway locomotive speed-measuring method for two-path adaptive sampling filter, it is characterized in that, comprise the following steps:
(1) different Doppler frequency signals is obtained by double antenna: by two microwave front-end antennas adopting in speed-measuring radar system respectively with 40 degree of (θ
1) and 50 degree of (θ
2) asymmetric emission angle install, radiation millimeter-wave irradiation ground respectively, double antenna obtains different Doppler frequency signals;
(2) echo data of the Doppler frequency signal that double antenna obtains is sampled respectively, and estimates according to the point of crossing frequency of following trace flow to Doppler frequency signal:
1) FFT or BURG Algorithm for Solving is first utilized to go out frequency corresponding to the echo data frequency spectrum maximal value of two-way Doppler frequency signal, i.e. initial frequency f
01and f
02;
2) new sample rate f is then utilized
new=4 (f
01+ f
02the echo data of)/2 pair two-way Doppler frequency signal is sampled;
3) energy is asked to be respectively E to the echo data of two-way Doppler frequency signal
1and E
2, and utilize pre-designed wave filter to carry out filtering to the echo data of two-way Doppler frequency signal, obtain the ENERGY E of filtered signal
f1and E
f2;
4) ENERGY E of filtered signal is compared
f1and E
f2size, obtain error energy symbol δ ';
5) error in judgement energy quantity symbol δ ' whether with initial error symbol δ whether jack per line, if: then renewal f is carried out to sampling rate
new=f
new± k (f
new/ N), wherein N is the exponent number of wave filter, and k is constant factor, then proceeds to step 2); If not: judge whether energy threshold meets, its criterion is: E
f1+ E
f2/ E
1+ E
2>=η, wherein η is scale factor, if do not met, then according to formula f
new=f
new± k (f
new/ N) sampling rate is upgraded, and proceed to step 2), if met, try to achieve the sample rate f corresponding to current time train speed
new;
6) circulate with this until restrain the point of crossing frequency f finding two-way Doppler frequency signal
k;
(3) last according to formula
try to achieve railway locomotive speed v.
The invention has the beneficial effects as follows:
The LDA signal processor that the present invention utilizes convex optimisation technique to receive two different angles antennas, effectively can avoid the error that single Doppler signal frequency spectrum roadbed function causes, and realized the filtering extraction of two-way Doppler frequency spectrum point of crossing frequency by adaptively changing data sampling rate, thus high precision measuring and calculating railway locomotive speed.
Accompanying drawing explanation
Fig. 1 is that the present invention adopts double antenna radar velocity measurement schematic diagram.
Embodiment
As shown in Figure 1, a kind of railway locomotive speed-measuring method based on two-path adaptive sampling filter, comprises the following steps:
(1) different Doppler frequency signals is obtained by double antenna: installed with the asymmetric emission angle of 40 degree and 50 degree respectively by two the microwave front-end antennas adopted in speed-measuring radar system, radiation millimeter-wave irradiation ground respectively, double antenna obtains different Doppler frequency signals;
(2) echo data of the Doppler frequency signal that double antenna obtains is sampled respectively, and estimates according to the point of crossing frequency of following trace flow to Doppler frequency signal:
1) FFT or BURG Algorithm for Solving is first utilized to go out frequency corresponding to the echo data frequency spectrum maximal value of two-way Doppler frequency signal, i.e. initial frequency f
01and f
02;
2) new sample rate f is then utilized
new=4 (f
01+ f
02the echo data of)/2 pair two-way Doppler frequency signal is sampled;
3) energy is asked to be respectively E to the echo data of two-way Doppler frequency signal
1and E
2, and utilize pre-designed wave filter to carry out filtering to the echo data of two-way Doppler frequency signal, obtain the ENERGY E of filtering signal
f1and E
f2;
4) ENERGY E of filtering signal is compared
f1and E
f2size, obtain error energy symbol δ ';
5) error in judgement energy quantity symbol δ ' whether with initial error symbol δ whether jack per line, if: then renewal f is carried out to sampling rate
new=f
new± k (f
new/ N), wherein N is the exponent number of wave filter, and k is constant factor, then proceeds to step 2); If not: judge whether energy threshold meets, its criterion is: E
f1+ E
f2/ E
1+ E
2>=η, wherein η is scale factor, if do not met, then according to formula f
new=f
new± k (f
new/ N) sampling rate is upgraded, and proceed to step 2), if met, try to achieve the sample rate f corresponding to current time train speed
new;
6) circulate with this until restrain the point of crossing frequency f finding two-way Doppler frequency signal
k;
(3) last according to formula
(λ is wavelength), tries to achieve railway locomotive speed v.
Claims (1)
1., based on a railway locomotive speed-measuring method for two-path adaptive sampling filter, it is characterized in that, comprise the following steps:
(1) different Doppler frequency signals is obtained by double antenna: installed with the asymmetric emission angle of 40 degree and 50 degree respectively by two the microwave front-end antennas adopted in speed-measuring radar system, radiation millimeter-wave irradiation ground respectively, double antenna obtains different Doppler frequency signals;
(2) echo data of the Doppler frequency signal that double antenna obtains is sampled respectively, and estimates according to the point of crossing frequency of following trace flow to Doppler frequency signal:
1) FFT or BURG Algorithm for Solving is first utilized to go out frequency corresponding to the echo data frequency spectrum maximal value of two-way Doppler frequency signal, i.e. initial frequency f
01and f
02;
2) new sample rate f is then utilized
new=k (f
01+ f
02the echo data of)/2 pair two-way Doppler frequency signal is sampled;
3) energy is asked to be respectively E to the echo data of two-way Doppler frequency signal
1and E
2, and utilize pre-designed wave filter to carry out filtering to the echo data of two-way Doppler frequency signal, obtain the ENERGY E of filtering signal
f1and E
f2;
4) ENERGY E of filtering signal is compared
f1and E
f2size, obtain error energy symbol δ ';
5) error in judgement energy quantity symbol δ ' whether with initial error symbol δ whether jack per line, if: then renewal f is carried out to sampling rate
new=f
new± k (f
new/ N), wherein N is the exponent number of wave filter, and k is constant factor, then proceeds to step 2); If not: judge whether energy threshold meets, its criterion is: E
f1+ E
f2/ E
1+ E
2>=η, wherein η is scale factor, if do not met, then according to formula f
new=f
new± k (f
new/ N) sampling rate is upgraded, and proceed to step 2), if met, try to achieve the sample rate f corresponding to current time train speed
new;
6) circulate with this until restrain the point of crossing frequency f finding two-way Doppler frequency signal
k;
(3) last according to formula
try to achieve railway locomotive speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510746433.6A CN105372649A (en) | 2015-11-03 | 2015-11-03 | Railroad locomotive speed measurement method based on adaptive double-path sampling filtering |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510746433.6A CN105372649A (en) | 2015-11-03 | 2015-11-03 | Railroad locomotive speed measurement method based on adaptive double-path sampling filtering |
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| CN105372649A true CN105372649A (en) | 2016-03-02 |
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ID=55375002
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| CN201510746433.6A Pending CN105372649A (en) | 2015-11-03 | 2015-11-03 | Railroad locomotive speed measurement method based on adaptive double-path sampling filtering |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112098990A (en) * | 2020-11-19 | 2020-12-18 | 长沙莫之比智能科技有限公司 | Method for detecting and tracking medium and high speed vehicle by vehicle-mounted high-resolution millimeter wave radar |
| CN112557420A (en) * | 2019-09-26 | 2021-03-26 | 深圳市雷立科技有限公司 | Probe of microwave moisture meter |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101320086A (en) * | 2008-06-27 | 2008-12-10 | 北京航空航天大学 | Echo signal processing equipment and method of Doppler speed measuring laser radar |
| CN101738601A (en) * | 2009-11-27 | 2010-06-16 | 西安电子科技大学 | System and method for measuring speed of locomotive based on radar near field echo power spectrum characteristics |
| CN102401896A (en) * | 2011-08-26 | 2012-04-04 | 湖南湘依铁路机车电器股份有限公司 | Method for calculating Doppler signal spectrum |
| CN104076352A (en) * | 2014-06-27 | 2014-10-01 | 电子科技大学 | Low-interception speed measurement method and radar device |
| EP2884299A1 (en) * | 2013-12-16 | 2015-06-17 | Autoliv Development AB | Speed determination of a target |
-
2015
- 2015-11-03 CN CN201510746433.6A patent/CN105372649A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101320086A (en) * | 2008-06-27 | 2008-12-10 | 北京航空航天大学 | Echo signal processing equipment and method of Doppler speed measuring laser radar |
| CN101738601A (en) * | 2009-11-27 | 2010-06-16 | 西安电子科技大学 | System and method for measuring speed of locomotive based on radar near field echo power spectrum characteristics |
| CN102401896A (en) * | 2011-08-26 | 2012-04-04 | 湖南湘依铁路机车电器股份有限公司 | Method for calculating Doppler signal spectrum |
| EP2884299A1 (en) * | 2013-12-16 | 2015-06-17 | Autoliv Development AB | Speed determination of a target |
| CN104076352A (en) * | 2014-06-27 | 2014-10-01 | 电子科技大学 | Low-interception speed measurement method and radar device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112557420A (en) * | 2019-09-26 | 2021-03-26 | 深圳市雷立科技有限公司 | Probe of microwave moisture meter |
| CN112098990A (en) * | 2020-11-19 | 2020-12-18 | 长沙莫之比智能科技有限公司 | Method for detecting and tracking medium and high speed vehicle by vehicle-mounted high-resolution millimeter wave radar |
| CN112098990B (en) * | 2020-11-19 | 2021-02-02 | 长沙莫之比智能科技有限公司 | Method for detecting and tracking medium and high speed vehicle by vehicle-mounted high-resolution millimeter wave radar |
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Application publication date: 20160302 |