CN105388452B - ULTRA-WIDEBAND RADAR multiple spot distributed object localization method based on life detection aircraft - Google Patents
ULTRA-WIDEBAND RADAR multiple spot distributed object localization method based on life detection aircraft Download PDFInfo
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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
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Abstract
ULTRA-WIDEBAND RADAR multiple spot distributed object localization method based on life detection aircraft, is related to life detection aircraft and Radar Technology field.Based on the powerful mobility for searching and rescuing aircraft, ultra wide band life detection radar is disposed on board the aircraft, using multiple spot distributed object localization method, the quick and precisely positioning of life entity is realized.Radar is placed on aircraft head in experiment, moved using flying vehicles control radar in high-altitude, according to multiple spot distributed object criterion, target position information is solved using three sphere methods.Distance measurement result under an original one receipts pattern of hair will be used to solve the secondary nonhomogeneous equation group of ternary, select optimal solution according to equation group acquired results, produce out the positional information of life entity in three dimensions.By applying adjacent diagnostic method reconnaissance probe point so that distance by radar target location is nearest and surrounds target, the validity and reliability of sublimation of life body target positioning.
Description
Technical field
The present invention relates to life detection aircraft and Radar Technology field, more particularly to one kind are many based on life detection radar
The distributed target search of point and location technology.
Background technology
Nowadays earthquake relief work increasingly becomes people's emphasis of interest, and the means limitation of earthquake relief work both at home and abroad
It is obvious with shortcoming, invented so I designs applied to carry-on Radar Technology, and this technology is innovated, make
With create come ultra wide band multiple spot Distributed probing technology so that aircraft is accurately positioned to target.
Search and rescue robot using quadrotor, based on ultra wideband narrow-pulse radar transmitter, flies with four rotors
The high maneuverability and stability of row device, but also with the powerful penetration capacity of ULTRA-WIDEBAND RADAR, can rapidly and correctly be perceived
The three-dimensional coordinate information of target, domestic and international existing life rescue Radar Products are using transmitting with receiving integrated design, hair
The distance for penetrating antenna and reception antenna is close, it is difficult to detect the life entity of different postures, false dismissed rate is high, and the area detected every time
Domain is limited.Current life rescue radar can only provide the range information for being buried life entity, it is impossible to definite positioning, this adds increased
The workload of rescue, is delayed rescue progress.
The distributed radar ripple life detectors that this problem is developed separate transmitting antenna and reception antenna, using distribution
The method of multipoint reception, improves the detection probability for being buried life entity, increases search coverage, and provide the accurate location of life entity
Information, so as to timely and effectively save trapped personnel, and can greatly reduce the workload of rescue, quickening rescue into
Degree.
Multiple spot distributed radar ripple life detectors can quickly realize the search and positioning of survivor, and the technology is at home
Still belong to blank.
Ultra wide band life detection radar system is based on a hair one and receives antenna to transmitting uwb short pulse, receives and comes from life
The fine motion information of body, so as to realize the purpose of life entity positioning.Domestic and international existing life rescue Radar Products use single-shot
It is single to receive and/or Distributed Design.The range information of life entity is buried because single-shot list is received life rescue radar and can only provided, nothing
Method is definitely positioned, this adds increased the workload of rescue, is delayed rescue progress.And distributed life rescue radar is needed to hardware
The amount of asking is larger, and cost is higher, is difficult in actual applications.Therefore need to design the thunder that transmitting antenna and reception antenna are separated
Reach, using the method for many detection point search, improve the detection probability for being buried life entity, increase search coverage, and provide life
The definite positional information of body, so as to timely and effectively save trapped personnel.
Distributed multiple target detection can obtain the distance of life entity to, orientation information, is conducive to target to be accurately positioned, is
The key technology of ultra wide band life detection radar, and lack a kind of many detections specifically designed for life rescue radar in the prior art
Point target is searched for and location technology.
The content of the invention
In view of above-mentioned technical problem, the invention provides a kind of target search based on many sensing points of life detection radar with
Localization method.
To achieve the above object, target search and localization method of the present invention based on many sensing points of life detection radar, bag
Include following steps：
Step A：For all N number of sensing point ON, respectively to n-th of sensing point OnThe life detection radar echo data at place
Breath signal detection process is carried out, the distance between the life entity and radar value R is obtainedn, wherein, n=1,2,3 ... ... N；
Step B, selects 4 sensing point O1、O2、O3、O4, by its position (x1, y1, z1)、(x2, y2, z2)、(x3, y3, z3)、
(x4, y4, z4) and it is corresponding apart from detected value R1、R2、R3、R4, life detection radar location matrix S (x are built respectivelyn, yn, zn)
With detected value vector (R1, R2, R3, R4) model；The judgement of virtual value situation and classification are carried out to above-mentioned detected value vector model, will
Virtual value situation falls into 5 types situation：4th, 3,2,1, there is virtual value in 0 sensing point, according to many sensing point criterions,
Detected value vector model is solved using three location at spherical surface methods or Vector triangle respectively；Finally give life entity space bit
Put A1；
When virtual value situation is that 4 sensing points have virtual value, 3 detections are chosen from detected value vector model every time
The detection Value Data of point, is solved using three location at spherical surface methods, if solution is present, calculates the probability P each solvedq, wherein q≤4
And q ∈ N+, and the larger solution of probability is taken as the life entity locus A of this 4 sensing points of correspondence1；If solution is not present, lead to
Cross Vector triangle and find out wrong data, the wrong data is set to 0 in detected value vector model, re-start virtual value situation
Judge；
When virtual value situation is that 3 sensing points have virtual value, if solution is present, solution is unique, that is, corresponds to this 4 detections
The life entity locus A of point1；If solution is not present, wrong data is found out by Vector triangle, by the wrong data in inspection
Set to 0 in measured value vector model, re-start the judgement of virtual value situation；
When virtual value situation is that 2 sensing points have virtual value, life entity locus can not be drawn, according to triangle
Shape rule and closest principle output detection value vector model, detected value vector now is (Rs, Rt, 0,0) or (Rs, 0,0,
0), wherein s, t=1,2,3,4；Reselection goes out other different two or 3 sensing points, rebuilds life detection radar position
Put matrix S (xn, yn, zn) and detected value vector (R1’, R2’, R3’, R4’) model, and the newly-established detected value vector model of counterweight enters
Row virtual value situation judges and classified；
When virtual value situation is that 1 sensing point has virtual value, output detection value vector model (Rs, 0,0,0), wherein
S=1,2,3,4；Reselection goes out other 3 different sensing points, rebuilds life detection radar location matrix S (xn, yn, zn)
With detected value vector (R1’, R2’, R3’, R4’) model, and the newly-established detected value vector model of counterweight carries out virtual value situation judgement
And classification, detected value vector model is solved using three location at spherical surface methods or Vector triangle respectively；
When virtual value situation is that 0 sensing point has virtual value, other four different sensing points are chosen again, respectively
Build life detection radar location matrix S (xn, yn, zn) and detected value vector (R1, R2, R3, R4) model, and to above-mentioned detected value
Vector model carries out the judgement of virtual value situation and classification, and three location at spherical surface methods or triangle are applied respectively to detected value vector model
Shape rule is solved；
Life entity locus A is finally given by step B1；
Step C：According to gained life entity locus A in step B1, by A1As new sensing point, according to closest original
Then other 3 different sensing points of reselection and combine gained A1, repeat step B, obtain life entity locus A2；
Step D, repeat step C, finally gives A1、A2.…AM, work as until final 4 sensing points can be positioned and surrounded
Secondary life entity locus AM, and apart from as time life entity locus AMRecently, the proper secondary life body locus A of instituteMAs
Final life entity locus.
The step C specific methods：
Step C1：According to gained life entity locus A in step B1, fixed range A1And by A1It is used as the spy of virtual value
Measuring point Op, wherein p=1,2,3,4, retain it apart from detected value Rm, choose 3 sensing point O according to closest principle in additioni、Oj、
Ok, wherein i, j, k=5,6,7 ... N, i ≠ j ≠ k ≠ p, repeat step B obtain new life entity locus A2；
Or step C2：Repeat step C1, using closest principle reconnaissance probe point and positions life entity target, obtains new
Life entity locus A3、A4、A5…..AM, as detected value vector model (R1, R2, R3, R4) when without value situation being 0, and Op、Oi、
Oj、OkIt is from AM4 nearest effective sensing points, and surround AM, obtain final life entity locus AM。
The closest principle refers to when choosing sensing point, Oi、Oj、OkWith OpIt is empty with life entity obtained by preceding one-time positioning
Between position AmFor in cornerwise rectangular area, and for apart from OpNearest sensing point.
The technology is searched for positioning for single goal.Based on search and rescue aircraft powerful mobility, on board the aircraft
Ultra wide band life detection radar is disposed, using multiple spot distributed object localization method, the quick and precisely positioning of life entity is realized.It is real
Test and radar is placed on aircraft head, moved, sentenced according to multiple spot distributed object in high-altitude using flying vehicles control radar
Other criterion, target position information is solved using three sphere methods.Distance measurement result under an original one receipts pattern of hair will be used for
The secondary nonhomogeneous equation group of ternary is solved, optimal solution is selected according to equation group acquired results, produces out life entity in three dimensions
In positional information.By applying adjacent diagnostic method reconnaissance probe point so that distance by radar target location is nearest and surrounds target,
The validity and reliability of sublimation of life body target positioning.
It can be seen from the above technical proposal that target search and positioning of the present invention based on many sensing points of life detection radar
Technology has the advantages that：
(1) in actual radar system, it is contemplated that Cost Problems, the present invention chooses 4 spies every time from multiple sensing points
Measuring point places radar, and builds life detection radar location matrix and detected value vector model；
(2) because the life rescue radar false dismissed rate of transceiver is high, the present invention is by many sensing point criterions to life
Life body position is solved, and carries out Primary Location to life entity according to the probability of solution；
(3) because life rescue radar system positioning accuracy is low, the present invention is repeatedly re-searched for by closest principle
Sensing point, improves the reliability that target is finally positioned.
Brief description of the drawings
Fig. 1 is to be used for the flow chart of many sensing point criteria theorems according to the embodiment of the present invention.
Fig. 2 is the 4 sensing point positions selected in the present embodiment and life entity true location coordinate, and stain is that life entity is true
Real position coordinates；
Fig. 3 is the result of detection when virtual value situation is 4 in the present embodiment；
Fig. 4 be in the present embodiment when virtual value situation is 3, if solution is present, resulting unique solution；
Fig. 5 be the present embodiment in using closest principle constantly search out come desired result；
Fig. 6 is the progressive search process first step result in the present embodiment using closest principle；
Fig. 7 is the progressive search process second step result in the present embodiment using closest principle；
Fig. 8 is the step result of progressive search process the 3rd in the present embodiment using closest principle；
Fig. 9 is the step result of progressive search process the 4th in the present embodiment using closest principle；
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.It should be noted that in accompanying drawing or specification description, similar or identical portion
Divide and all use identical figure number.The implementation for not illustrating or describing in accompanying drawing, is those of ordinary skill in art
Known form.In addition, though the demonstration of the parameter comprising particular value can be provided herein, it is to be understood that parameter is without definite etc.
In corresponding value, but corresponding value can be similar in acceptable error margin or design constraint.Mentioned in embodiment
Direction term, is only the direction of refer to the attached drawing such as " on ", " under ", "front", "rear", "left", "right".Therefore, the side used
Protection scope of the present invention is intended to be illustrative and not intended to limit to term.
The present invention solves target position information according to distributed criterion using three sphere methods.An original hair one is received
Distance measurement result under pattern will be used to solve the secondary nonhomogeneous equation group of ternary, be selected according to equation group acquired results optimal
Solution, produces out the positional information of life entity in three dimensions.Pass through apply closest principle reconnaissance probe point so that radar away from
And encirclement target, the validity and reliability of sublimation of life body target positioning nearest from target location.
There is provided a kind of target based on many sensing points of life detection radar in one exemplary embodiment of the present invention
Search and location technology.Fig. 1 is to be used for the feeble respiration signal enhancing method of life detection radar according to the embodiment of the present invention
Flow chart.Fig. 1 is refer to, the feeble respiration signal enhancing method that the present embodiment is used for life detection radar includes：
Step A：For all N number of sensing point ON, respectively to n-th of sensing point OnThe life detection radar echo data at place
Breath signal detection process is carried out, the distance between the life entity and radar value R is obtainedn, wherein, n=1,2,3 ..., N, choosing
Select 4 sensing point O1、O2、O3、O4, by its position (x1, y1, z1)、(x2, y2, z2)、(x3, y3, z3)、(x4, y4, z4) and correspondingly
Apart from detected value R1、R2、R3、R4, life detection radar location matrix S (x are built respectivelyn, yn, zn) and detected value vector (R1,
R2, R3, R4) model；
In the present embodiment, in order to carry out experimental verification, 4 known sensing point positions are selected in advance, flight is as placed on
Radar site on device, and it is as shown in Figure 2 to design life entity true location coordinate.
Step B, carries out the judgement of virtual value situation and classification, by virtual value situation to the detected value vector model in step A
It is divided into 4,3,2,1,0 sensing point has the class situation of virtual value etc. 5, according to the distributed criterion of multiple spot, to detected value vector
Model is solved using three location at spherical surface methods or Vector triangle respectively, calculates the probability P of solutionq, wherein q=1,2,3,4, generally
Life entity locus A determined by 4 sensing points that the maximum solution correspondence of rate is selected first1；
In step B, solution is carried out to life body position by many sensing point criteria theorems and specifically included：
Sub-step B1, when virtual value situation is 4, chooses the detection of 3 sensing points from detected value vector model every time
Value Data, is solved using three location at spherical surface methods, if solution is present, calculates the probability P each solvedq, wherein q≤4 and q ∈ N+, and
The larger solution of probability is taken as the life entity locus A of this 4 sensing points of correspondence1If solution is not present, pass through triangulation method
Error detection Value Data is then found out, the data are set to 0 in detected value vector model, the judgement of virtual value situation is re-started；
In the present embodiment, when virtual value situation be 4 when, using three location at spherical surface methods solved obtained by life entity space bit
Put A1As shown in Figure 3.
Sub-step B2, when virtual value situation is 3, if solution is present, solution is unique, that is, corresponds to the life of this 4 sensing points
Body locus A1If solution is not present, error detection Value Data is found out by Vector triangle, by the data detected value to
Set to 0 in amount model, re-start the judgement of virtual value situation；
In the present embodiment, when virtual value situation is 3, solved using three location at spherical surface methods, if solution is present, gained
Life entity locus unique solution A1As shown in Figure 4.
Step C, according to gained life entity locus A in step B1, sensing point O is re-searched for according to closest principlen,
Until 4 sensing points can be positioned and surround target, and distance objective is recently, obtains final life entity locus AM；
Step C is specifically included：
Step C1：According to gained life entity locus A in step B1, fixed range A1Spy that is nearest and there is virtual value
Measuring point Op, wherein p=1,2,3,4, retain it apart from detected value Rm, choose 3 sensing point O according to closest principle in additioni, Oj,
Ok, wherein i, j, k=5,6,7 ... N, i ≠ j ≠ k ≠ p, repeat step A and B obtain new life entity locus A2；
Step C2：Repeat step C1, using closest principle reconnaissance probe point and positions life entity target, obtains new life
Order body locus A3, A4, A5..., AM, as detected value vector model (R1, R2, R3, R4) when without value situation being 0, and Op、Oi、Oj、
OkIt is from AM4 nearest effective sensing points, and surround AM, obtain final life entity locus AM。
In the present embodiment, sensing point O is re-searched for according to closest principlen, until 4 sensing points can be positioned and be wrapped
Target is enclosed, and distance objective is recently, obtains final life entity locus AM, ideally, final life entity locus AM
With being overlapped in advance to target value, as shown in Figure 5.
In the present embodiment, according to the process of the laddering search of step A, B, C as shown in Fig. 6,7,8,9, with 4 detections in figure
The center of point is the origin of coordinates, it can be seen that the distance between life entity target and 4 sensing points are being gradually shortened, i.e., with
Going deep into for search, result of detection is more and more nearer from actual value.
So far, the present embodiment is described in detail combined accompanying drawing.According to above description, those skilled in the art
The distributed target search of life detection radar multiple spot and location technology, which should be based on, to the present invention clear understanding.
In summary, instant invention overcomes the shortcoming of traditional search and rescue system, rapidly target is scanned for, and solves
The shortcoming that the life rescue radar of transceiver can not be accurately positioned, the Distributed Multi for realizing life entity locus is visited
Survey, meet the need for burying personnel's accurate location infomation detection under the occasions such as disaster assistance.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail it is bright, should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (4)
1. the ULTRA-WIDEBAND RADAR multiple spot distributed object localization method based on life detection aircraft, it is characterised in that including with
Lower step：
Step A：The N number of sensing point O of whole searched when being moved in the air for aircraft of forming a teamN, n-th is detected respectively
Point OnThe life detection radar echo data at place carries out breath signal detection process, obtains the distance between the life entity and radar
Value Rn, wherein, n=1,2,3 ... ... N；
Step B：4 aircraft of selection carry out detection of forming a team, and obtain sensing point O1、O2、O3、O4, by its position (x1, y1, z1)、
(x2, y2, z2)、(x3, y3, z3)、(x4, y4, z4) and it is corresponding apart from detected value R1、R2、R3、R4, life detection thunder is built respectively
Up to location matrix S (xn, yn, zn) and detected value vector (R1, R2, R3, R4) model；Above-mentioned detected value vector model is carried out effective
Value situation judges and classified, and virtual value situation is fallen into 5 types situation：4th, 3,2,1, there is virtual value, root in 0 sensing point
According to many sensing point criterions, detected value vector model is solved using three location at spherical surface methods or Vector triangle respectively；
Finally give life entity locus A1；
Step C：According to gained life entity locus A in step B1, by A1As new sensing point, according to closest principle again
Select other 3 different sensing points and combine gained A1, repeat step B, obtain life entity locus A2；
Step D, repeat step C, finally gives A1、A2.…AM, until final 4 sensing points can be positioned and be surrounded when secondary
Order body locus AM, and apart from as time life entity locus AMRecently, the proper secondary life body locus A of instituteMIt is as final
Life entity locus；
According to many sensing point criterions in step B, three location at spherical surface methods or triangle are applied respectively to detected value vector model
The method that rule is solved is as follows：
When virtual value situation is that 4 sensing points have virtual value, 3 sensing points are chosen from detected value vector model every time
Value Data is detected, is solved using three location at spherical surface methods, if solution is present, the probability P each solved is calculatedq, wherein q≤4 and q ∈
N+, and the larger solution of probability is taken as the life entity locus A of this 4 sensing points of correspondence1；If solution is not present, pass through triangle
Shape rule finds out wrong data, and the wrong data is set to 0 in detected value vector model, re-starts the judgement of virtual value situation；
When virtual value situation is that 3 sensing points have virtual value, if solution is present, solution is unique, that is, corresponds to this 4 sensing points
Life entity locus A1；If solution is not present, wrong data is found out by Vector triangle, by the wrong data in detection
Set to 0 in value vector model, re-start the judgement of virtual value situation；
When virtual value situation is that 2 sensing points have virtual value, life entity locus can not be drawn, according to triangulation method
Then with closest principle output detection value vector model, detected value vector now is (Rs, Rt, 0,0) or (Rs, 0,0,0), its
Middle s, t=1,2,3,4；Reselection goes out other different two or 3 sensing points, rebuilds life detection radar location matrix
S(xn, yn, zn) and detected value vector (R1’, R2’, R3’, R4’) model, and the newly-established detected value vector model progress of counterweight is effective
Value situation judges and classified；
When virtual value situation is that 1 sensing point has virtual value, output detection value vector model (Rs, 0,0,0), wherein s=1,
2,3,4；Reselection goes out other 3 different sensing points, rebuilds life detection radar location matrix S (xn, yn, zn) and inspection
Measured value vector (R1’, R2’, R3’, R4’) model, and the newly-established detected value vector model of counterweight carry out the judgement of virtual value situation and point
Class, is solved using three location at spherical surface methods or Vector triangle respectively to detected value vector model；
When virtual value situation is that 0 sensing point has virtual value, other four different sensing points are chosen again, are built respectively
Life detection radar location matrix S (xn, yn, zn) and detected value vector (R1, R2, R3, R4) model, and to above-mentioned detected value vector
Model carries out the judgement of virtual value situation and classification, and three location at spherical surface methods or Vector triangle are applied respectively to detected value vector model
Solved.
2. according to the method for claim 1, it is characterised in that the step C specific methods：
Step C1：According to gained life entity locus A in step B1,As sensing point Op, wherein p=1,2,3,4, protect
It is stayed apart from detected value Rm, choose 3 sensing point O according to closest principle in additioni、Oj、Ok, wherein i, j, k=5,6,7 ... N,
I ≠ j ≠ k ≠ p, repeat step B, obtain new life entity locus A2；
Or step C2：Repeat step C1, using closest principle reconnaissance probe point and positions life entity target, obtains new life
Body locus A3、A4、A5.....AM, as detected value vector model (R1, R2, R3, R4) when without value situation being 0, and Op、Oi、Oj、
OkIt is from AM4 nearest effective sensing points, and surround AM, obtain final life entity locus AM。
3. according to the method for claim 2, it is characterised in that the step C specific methods：
The closest principle refers to when choosing sensing point, Oi、Oj、OkWith OpWith life entity locus obtained by preceding one-time positioning
AmFor in cornerwise rectangular area, and for apart from OpNearest sensing point.
4. according to the method described in claim any one of 1-3, it is characterised in that described based on the distribution of life detection radar multiple spot
The target search of formula is searched for positioning with localization method for single goal.
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| CN106970367B (en) * | 2017-03-31 | 2019-09-06 | 中国科学院电子学研究所 | Feeble respiration signal detecting method based on life detection radar multipoint observation data |
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| US6469732B1 (en) * | 1998-11-06 | 2002-10-22 | Vtel Corporation | Acoustic source location using a microphone array |
| EP2197219B1 (en) * | 2008-12-12 | 2012-10-24 | Nuance Communications, Inc. | Method for determining a time delay for time delay compensation |
| CN102103200B (en) * | 2010-11-29 | 2012-12-05 | 清华大学 | Acoustic source spatial positioning method for distributed asynchronous acoustic sensor |
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