CN105487075B - A kind of intelligent anticollision warning device with identification function - Google Patents
A kind of intelligent anticollision warning device with identification function Download PDFInfo
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- CN105487075B CN105487075B CN201610089065.7A CN201610089065A CN105487075B CN 105487075 B CN105487075 B CN 105487075B CN 201610089065 A CN201610089065 A CN 201610089065A CN 105487075 B CN105487075 B CN 105487075B
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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
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Abstract
The invention discloses a kind of intelligent anticollision warning devices with identification function, including warning device and the millimetre-wave radar three-dimensional environment sensory perceptual system on warning device；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation mechanism, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotary shaft.This proximity-warning device is simple and practical in structure, can realize that front is scanned without dead angle and cover, and has many advantages, such as that control is accurate, setting accuracy is high, real-time is good.
Description
Technical field
The present invention relates to alarm fields, and in particular to a kind of intelligent anticollision warning device with identification function.
Background technology
Broad street has driven urban development, is provided a convenient for the trip of people, with the development of science and technology, traffic intelligence
The concept of energyization is suggested, and more and more vehicles are mounted with intelligent anticollision warning device.
The major function of intelligent environment sensory perceptual system is to obtain vehicle and environmental information, specially vehicle by sensor
Pose and state information acquisition, structuring highway in the lane line and recognition and tracking on lane side edge, traffic sign and traffic
The recognition and tracking of signal, motor vehicle environment barrier recognition and tracking (including dynamic and static-obstacle thing, as pedestrian,
Vehicle etc.) and vehicle running surface traffic analysis etc..
Warning device, intelligent environment sensory perceptual system is arranged on it is to improve the comprehensive performances such as its safety, multifunction
Inevitable development trend at present.But present context aware systems often exist that perception dimension is insufficient, computational accuracy is not high,
The problems such as real-time is not strong.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of intelligent anticollision warning device with identification function.
The purpose of the present invention is realized using following technical scheme：
A kind of intelligent anticollision warning device with identification function, including warning device and the milli on warning device
Metre wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotating machinery dress
It sets, control unit and data processing unit；Rotation mechanism include the first rotary shaft, rotating disk and the second rotary shaft, first
Rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft pass through the first stepper motor driving rotation；By
Second rotation axis horizontal of the second stepper motor driving rotation is sleeved in bearing block, and the bearing block passes through 2 vertical arrangements
Support shaft it is affixed on the rotating pan；The midpoint of second rotary shaft is provided with interconnecting piece, and the interconnecting piece is perpendicular to
It two rotary shafts and is integrally formed with the second rotary shaft, millimetre-wave radar is vertical with interconnecting piece affixed；The millimetre-wave radar from
The intrinsic plane of scanning motion of body is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is in arrangement support shaft
Side have notch, the straight line parallel where notch in the straight line where the second rotary shaft, and any support shaft with where notch
The distance of straight line is less than 50mm；First stepper motor and the second stepper motor are controlled by microcontroller, and microcontroller is used
In receiving control command, and signal is sent to motor in order to control by control command conversion, at the same according to the initial position of device and
Goniometer that two stepper motors turn over calculates the current location of rotation mechanism, and by the current location of rotation mechanism
Feedback of status is to data processing unit；The rotation mechanism entirety is under the drive of the first stepper motor towards warning device
The period back and forth movement of 180 ° of level is done in front, at the same millimetre-wave radar under the drive of the second stepper motor towards warning device
Do vertical 180 ° of period back and forth movement in front；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data are adopted
Collection subelement receives the distance value ρ of itself and target that millimetre-wave radar measurement obtains, while receiving the vertical rotation of microcontroller transmission
Itself scan angle theta of corner α and horizontal rotation angle beta and millimetre-wave radar；If millimetre-wave radar millimetre-wave radar is to a certain mesh
Target reading is (ρ, α, β, θ), and is defined：α=0 ° when radar is horizontal, when radar is horizontal top
α values are that just, α values are negative when radar is horizontal lower section, the β when the second rotary shaft is vertical with direction immediately ahead of warning device
=0 °, when radar is located at the right side of β=0 °, β is positive value, and when radar is located at the left side of β=0 °, β is negative value；When millimeter wave thunder
θ=0 ° when itself scanning direction reached is vertical with plane where millimetre-wave radar, when itself scanning direction is located at the top of θ=0 °
When θ be positive value, when itself scanning direction is located at the lower section of θ=0 ° θ be negative value；
Preferably, delay revise subelemen includes range measurement correcting module, horizontal sweep correcting module and vertical scanning
Correcting module：Range measurement correcting module, the measured value for the value ρ that adjusts the distance, which be directed in detections of radar wave two-way process, to be prolonged
The amendment of Shi Xiaoying, the modifying factor exported are：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar, and ρ≤m；For reaction detection target and millimeter wave thunder
Influence of the distance to delay effect between reaching, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target
The time that detections of radar wave is sent out, t2The time returned for detections of radar wave；|t1-t2| it represents detections of radar wave and travels to and fro between mesh
Time needed between mark and radar；T1For the horizontal rotation period of millimetre-wave radar, T2For the vertical revolution of millimetre-wave radar
Phase；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For t2When β value；θ1For t1When θ values, θ2For t2When
θ values；T1=2s, T2The sampling interval of=2.4s, millimetre-wave radar are 2 °/s；
Coordinate exports subelement：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then multi-scattering centers targets
RCS is expressed as the function of azimuth of target：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial means
This warning device has the beneficial effect that：New millimetre-wave radar three-dimensional environment sensory perceptual system is devised, to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components are coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Equal correcting modules so that the coordinate setting function of radar is more accurate, and real-time is stronger；Give accurate coordinate calculating side
Method provides the foundation to automatically control with control errors；For the Novel rotary mechanical device, uses new RCS and play volt
Property measuring device so that the measurement of the RCS coefficient of variation is more accurate, more advantageous to target identification；The components such as rotating disk, rotary shaft
Size can flexibly choose as the case may be, the applicability for various different size of warning devices provides condition；With milli
Metre wave radar replaces traditional light wave radar, and decaying when being propagated using atmospheric window is small, is influenced by natural light and infrared source
It is small, alarm can be effectively identified and sent out to target under atrocious weather situation, reliable guarantee is provided for safety traffic,
With superiority such as high resolution, high-precision, miniature antenna bores.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not constitute any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is a kind of structure diagram of the intelligent anticollision warning device with identification function；
Fig. 2 is the structural schematic diagram of rotation mechanism；
Fig. 3 is millimetre-wave radar itself scanning schematic diagram；
Schematic diagram when Fig. 4 is detections of radar target；
Fig. 5 is the structure diagram of data processing unit.
Reference numeral：Millimetre-wave radar -1；Rotating disk -2；First rotary shaft -3；Second rotary shaft -4；Bearing block -5；Branch
Support axis -6；Interconnecting piece -7；First stepper motor -8；Second stepper motor -9；Rotation mechanism -10；Control unit -11；Number
According to processing unit -12；Data acquisition unit 13；Be delayed revise subelemen -14；Coordinate exports subelement -15；Notch -16；Mesh
Mark -17；- 18 in front of warning device.
Specific implementation mode
The invention will be further described with the following Examples.
Embodiment 1：
A kind of intelligent anticollision warning device with identification function as shown in Figs 1-4, including warning device and be mounted on
Millimetre-wave radar three-dimensional environment sensory perceptual system on warning device；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave thunder
Up to 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 include the first rotary shaft 3,
Rotating disk 2 and the second rotary shaft 4, the first rotary shaft 3 is arranged vertically and, first rotary shaft 3 affixed with the center of rotating disk 2
It is driven and is rotated by the first stepper motor 8；By 4 horizontal set of the second rotary shaft of the second stepper motor 9 driving rotation in bearing
In seat 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；In second rotary shaft 4
Interconnecting piece 7 is provided at point, the interconnecting piece 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimeter wave
Radar 1 is vertical with interconnecting piece 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is flat where rotating disk 2
Face, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16 in the side of arrangement support shaft 6, straight where notch 16
Line is parallel to the straight line where the second rotary shaft 4, and any support shaft 6 is less than 50mm at a distance from 16 place straight line of notch；Institute
It states the first stepper motor 8 and the second stepper motor 9 is controlled by microcontroller, microcontroller is used to receive control command, and will
Signal is sent to motor, while the angle turned over according to the initial position of device and two stepper motors in order to control for control command conversion
Degree calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing
Unit 12；The rotation mechanism 10 is whole to do level under the drive of the first stepper motor 8 towards in front of warning device 18
180 ° of period back and forth movement, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards in front of warning device 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 includes that data acquisition unit 13, delay revise subelemen 14 and coordinate are defeated
Go out subelement 15, data acquisition unit 13 receives the distance value ρ that millimetre-wave radar 1 measures obtained itself and target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller is sent are received, to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, setting a certain target 17 that millimetre-wave radar 1 measures
Reading be (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are that just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition sets top；When the second rotary shaft 4 and alarm
β=0 ° when direction is vertical immediately ahead of device, when millimetre-wave radar 1 is located at the right side of β=0 °, β is positive value, when millimetre-wave radar 1
β is negative value when positioned at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
When θ=0 °, when itself scanning direction is located at the top of θ=0 ° θ be positive value, when itself scanning direction is located at the lower section of θ=0 °
When θ be negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Set different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, on the contrary use negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
The time required between target 17 and millimetre-wave radar 1 is travelled to and fro between up to detection wave；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar is 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, the sight due to each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, it is that warning device devises new millimetre-wave radar three-dimensional environment sensory perceptual system, to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components are coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Equal correcting modules so that the coordinate setting function of radar is more accurate, and T is arranged1=2s, T2=2.4s, between the sampling of millimetre-wave radar
It is divided into 2 °/s, is realizing that measurement error is less than 1% while detection without dead angle, is measuring delay rate and be less than 0.5%, and real-time
It is stronger；Accurate Coordinate calculation method is given, is provided the foundation with control errors to automatically control；It makes a connection for the novel rotary
Tool device uses new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to target identification
It is more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, for various different size of alarm dresses
The applicability set provides condition；Replace traditional light wave radar, decaying when being propagated using atmospheric window with millimetre-wave radar
It is small, it is influenced by natural light and infrared source small, can effectively be identified concurrent responding to target under atrocious weather situation
Report provides reliable guarantee for safety traffic, has the superiority such as high resolution, high-precision, miniature antenna bore, achieves and expect not
The effect arrived.
Embodiment 2：
A kind of intelligent anticollision warning device with identification function as shown in Figs 1-4, including warning device and be mounted on
Millimetre-wave radar three-dimensional environment sensory perceptual system on warning device；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave thunder
Up to 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 include the first rotary shaft 3,
Rotating disk 2 and the second rotary shaft 4, the first rotary shaft 3 is arranged vertically and, first rotary shaft 3 affixed with the center of rotating disk 2
It is driven and is rotated by the first stepper motor 8；By 4 horizontal set of the second rotary shaft of the second stepper motor 9 driving rotation in bearing
In seat 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；In second rotary shaft 4
Interconnecting piece 7 is provided at point, the interconnecting piece 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimeter wave
Radar 1 is vertical with interconnecting piece 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is flat where rotating disk 2
Face, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16 in the side of arrangement support shaft 6, straight where notch 16
Line is parallel to the straight line where the second rotary shaft 4, and any support shaft 6 is less than 50mm at a distance from 16 place straight line of notch；Institute
It states the first stepper motor 8 and the second stepper motor 9 is controlled by microcontroller, microcontroller is used to receive control command, and will
Signal is sent to motor, while the angle turned over according to the initial position of device and two stepper motors in order to control for control command conversion
Degree calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing
Unit 12；The rotation mechanism 10 is whole to do level under the drive of the first stepper motor 8 towards in front of warning device 18
180 ° of period back and forth movement, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards in front of warning device 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 includes that data acquisition unit 13, delay revise subelemen 14 and coordinate are defeated
Go out subelement 15, data acquisition unit 13 receives the distance value ρ that millimetre-wave radar 1 measures obtained itself and target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller is sent are received, to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, setting a certain target 17 that millimetre-wave radar 1 measures
Reading be (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are that just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition sets top；When the second rotary shaft 4 and alarm
β=0 ° when direction is vertical immediately ahead of device, when millimetre-wave radar 1 is located at the right side of β=0 °, β is positive value, when millimetre-wave radar 1
β is negative value when positioned at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
When θ=0 °, when itself scanning direction is located at the top of θ=0 ° θ be positive value, when itself scanning direction is located at the lower section of θ=0 °
When θ be negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Set different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, on the contrary use negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
The time required between target 17 and millimetre-wave radar 1 is travelled to and fro between up to detection wave；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar is 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, the sight due to each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, it is that warning device devises new millimetre-wave radar three-dimensional environment sensory perceptual system, to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components are coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Equal correcting modules so that the coordinate setting function of radar is more accurate, and T is arranged1=2.2s, T2=2.6s, the sampling of millimetre-wave radar
Between be divided into 1.5 °/s, realizing that measurement error is less than 0.8% while detection without dead angle, measuring delay rate less than 0.4%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation with control errors to automatically control；It is novel for this
Rotation mechanism uses new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of warning device provides condition；Replace traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Decaying it is small, influenced by natural light and infrared source it is small, can under atrocious weather situation to target carry out effectively identification simultaneously
Alarm is sent out, reliable guarantee is provided for safety traffic, there are the superiority such as high resolution, high-precision, miniature antenna bore, achieve
Unexpected effect.
Embodiment 3：
A kind of intelligent anticollision warning device with identification function as shown in Figs 1-4, including warning device and be mounted on
Millimetre-wave radar three-dimensional environment sensory perceptual system on warning device；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave thunder
Up to 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 include the first rotary shaft 3,
Rotating disk 2 and the second rotary shaft 4, the first rotary shaft 3 is arranged vertically and, first rotary shaft 3 affixed with the center of rotating disk 2
It is driven and is rotated by the first stepper motor 8；By 4 horizontal set of the second rotary shaft of the second stepper motor 9 driving rotation in bearing
In seat 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；In second rotary shaft 4
Interconnecting piece 7 is provided at point, the interconnecting piece 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimeter wave
Radar 1 is vertical with interconnecting piece 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is flat where rotating disk 2
Face, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16 in the side of arrangement support shaft 6, straight where notch 16
Line is parallel to the straight line where the second rotary shaft 4, and any support shaft 6 is less than 50mm at a distance from 16 place straight line of notch；Institute
It states the first stepper motor 8 and the second stepper motor 9 is controlled by microcontroller, microcontroller is used to receive control command, and will
Signal is sent to motor, while the angle turned over according to the initial position of device and two stepper motors in order to control for control command conversion
Degree calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing
Unit 12；The rotation mechanism 10 is whole to do level under the drive of the first stepper motor 8 towards in front of warning device 18
180 ° of period back and forth movement, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards in front of warning device 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 includes that data acquisition unit 13, delay revise subelemen 14 and coordinate are defeated
Go out subelement 15, data acquisition unit 13 receives the distance value ρ that millimetre-wave radar 1 measures obtained itself and target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller is sent are received, to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, setting a certain target 17 that millimetre-wave radar 1 measures
Reading be (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are that just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition sets top；When the second rotary shaft 4 and alarm
β=0 ° when direction is vertical immediately ahead of device, when millimetre-wave radar 1 is located at the right side of β=0 °, β is positive value, when millimetre-wave radar 1
β is negative value when positioned at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
When θ=0 °, when itself scanning direction is located at the top of θ=0 ° θ be positive value, when itself scanning direction is located at the lower section of θ=0 °
When θ be negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Set different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, on the contrary use negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter
Influence of the distance to delay effect between wave radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay get over
Greatly；t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| it represents
Detections of radar wave travels to and fro between the time required between target 17 and millimetre-wave radar 1；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar is 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, the sight due to each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, it is that warning device devises new millimetre-wave radar three-dimensional environment sensory perceptual system, to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components are coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Equal correcting modules so that the coordinate setting function of radar is more accurate, and T is arranged1=2.4s, T2=2.7s, the sampling of millimetre-wave radar
Between be divided into 1.8 °/s, realizing that measurement error is less than 0.7% while detection without dead angle, measuring delay rate less than 0.4%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation with control errors to automatically control；It is novel for this
Rotation mechanism uses new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of warning device provides condition；Replace traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Decaying it is small, influenced by natural light and infrared source it is small, can under atrocious weather situation to target carry out effectively identification simultaneously
Alarm is sent out, reliable guarantee is provided for safety traffic, there are the superiority such as high resolution, high-precision, miniature antenna bore, achieve
Unexpected effect.
Embodiment 4：
A kind of intelligent anticollision warning device with identification function as shown in Figs 1-4, including warning device and be mounted on
Millimetre-wave radar three-dimensional environment sensory perceptual system on warning device；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave thunder
Up to 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 include the first rotary shaft 3,
Rotating disk 2 and the second rotary shaft 4, the first rotary shaft 3 is arranged vertically and, first rotary shaft 3 affixed with the center of rotating disk 2
It is driven and is rotated by the first stepper motor 8；By 4 horizontal set of the second rotary shaft of the second stepper motor 9 driving rotation in bearing
In seat 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；In second rotary shaft 4
Interconnecting piece 7 is provided at point, the interconnecting piece 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimeter wave
Radar 1 is vertical with interconnecting piece 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is flat where rotating disk 2
Face, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16 in the side of arrangement support shaft 6, straight where notch 16
Line is parallel to the straight line where the second rotary shaft 4, and any support shaft 6 is less than 50mm at a distance from 16 place straight line of notch；Institute
It states the first stepper motor 8 and the second stepper motor 9 is controlled by microcontroller, microcontroller is used to receive control command, and will
Signal is sent to motor, while the angle turned over according to the initial position of device and two stepper motors in order to control for control command conversion
Degree calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing
Unit 12；The rotation mechanism 10 is whole to do level under the drive of the first stepper motor 8 towards in front of warning device 18
180 ° of period back and forth movement, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards in front of warning device 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 includes that data acquisition unit 13, delay revise subelemen 14 and coordinate are defeated
Go out subelement 15, data acquisition unit 13 receives the distance value ρ that millimetre-wave radar 1 measures obtained itself and target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller is sent are received, to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, setting a certain target 17 that millimetre-wave radar 1 measures
Reading be (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are that just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition sets top；When the second rotary shaft 4 and alarm
β=0 ° when direction is vertical immediately ahead of device, when millimetre-wave radar 1 is located at the right side of β=0 °, β is positive value, when millimetre-wave radar 1
β is negative value when positioned at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
When θ=0 °, when itself scanning direction is located at the top of θ=0 ° θ be positive value, when itself scanning direction is located at the lower section of θ=0 °
When θ be negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Set different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, on the contrary use negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter
Influence of the distance to delay effect between wave radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay get over
Greatly；t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| it represents
Detections of radar wave travels to and fro between the time required between target 17 and millimetre-wave radar 1；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar is 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, the sight due to each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, it is that warning device devises new millimetre-wave radar three-dimensional environment sensory perceptual system, to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components are coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Equal correcting modules so that the coordinate setting function of radar is more accurate, and T is arranged1=2.5s, T2=2.8s, the sampling of millimetre-wave radar
Between be divided into 1.3 °/s.It is realizing that measurement error is less than 0.6% while detection without dead angle, is measuring delay rate less than 0.3%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation with control errors to automatically control；It is novel for this
Rotation mechanism uses new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of warning device provides condition；Replace traditional light wave radar with millimetre-wave radar, when being propagated using atmospheric window
Decaying it is small, influenced by natural light and infrared source it is small, can under atrocious weather situation to target carry out effectively identification simultaneously
Alarm is sent out, reliable guarantee is provided for safety traffic, there are the superiority such as high resolution, high-precision, miniature antenna bore, achieve
Unexpected effect.
Embodiment 5：
A kind of intelligent anticollision warning device with identification function as shown in Figs 1-4, including warning device and be mounted on
Millimetre-wave radar three-dimensional environment sensory perceptual system on warning device；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimeter wave thunder
Up to 1, rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 include the first rotary shaft 3,
Rotating disk 2 and the second rotary shaft 4, the first rotary shaft 3 is arranged vertically and, first rotary shaft 3 affixed with the center of rotating disk 2
It is driven and is rotated by the first stepper motor 8；By 4 horizontal set of the second rotary shaft of the second stepper motor 9 driving rotation in bearing
In seat 5, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；In second rotary shaft 4
Interconnecting piece 7 is provided at point, the interconnecting piece 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimeter wave
Radar 1 is vertical with interconnecting piece 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is flat where rotating disk 2
Face, and scanning range angle is ± 30 °；The rotating disk 2 has notch 16 in the side of arrangement support shaft 6, straight where notch 16
Line is parallel to the straight line where the second rotary shaft 4, and any support shaft 6 is less than 50mm at a distance from 16 place straight line of notch；Institute
It states the first stepper motor 8 and the second stepper motor 9 is controlled by microcontroller, microcontroller is used to receive control command, and will
Signal is sent to motor, while the angle turned over according to the initial position of device and two stepper motors in order to control for control command conversion
Degree calculates the current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back to data processing
Unit 12；The rotation mechanism 10 is whole to do level under the drive of the first stepper motor 8 towards in front of warning device 18
180 ° of period back and forth movement, while millimetre-wave radar 1 is done under the drive of the second stepper motor 9 towards in front of warning device 20
Vertical 180 ° of period back and forth movement；
As shown in figure 5, data processing unit 12 includes that data acquisition unit 13, delay revise subelemen 14 and coordinate are defeated
Go out subelement 15, data acquisition unit 13 receives the distance value ρ that millimetre-wave radar 1 measures obtained itself and target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta and millimetre-wave radar 1 scan angle theta of itself that microcontroller is sent are received, to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, setting a certain target 17 that millimetre-wave radar 1 measures
Reading be (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are that just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition sets top；When the second rotary shaft 4 and alarm
β=0 ° when direction is vertical immediately ahead of device, when millimetre-wave radar 1 is located at the right side of β=0 °, β is positive value, when millimetre-wave radar 1
β is negative value when positioned at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
When θ=0 °, when itself scanning direction is located at the top of θ=0 ° θ be positive value, when itself scanning direction is located at the lower section of θ=0 °
When θ be negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Set different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, on the contrary use negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for vertical rotary angle α imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Wherein m is the maximum detectable range of millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
The time required between target 17 and millimetre-wave radar 1 is travelled to and fro between up to detection wave；t1For the horizontal rotation week of millimetre-wave radar 1
Phase, t2For the vertical swing circle of millimetre-wave radar 1；α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For
t2When β value；θ1For t1When θ values, θ2For t2When θ values；T1=2s, T2=2.4s, sampling interval of millimetre-wave radar is 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations system to target
Number measures, and radar cross section (RCS) value characterizes the ability of reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, the sight due to each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIndicate the
I scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is the identification completed to target.
In this embodiment, it is that warning device devises new millimetre-wave radar three-dimensional environment sensory perceptual system, to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, strong antijamming capability；Profit
Other components are coordinated to realize Automatic Control function with step-by-step motor, it is easy to control accurate；For new-type rotating radar system
The characteristics of system and delay effect devise range measurement correcting module, horizontal sweep correcting module, vertical scanning correcting module
Equal correcting modules so that the coordinate setting function of radar is more accurate, T1=2.6s, T2=2.9s, the sampling interval of millimetre-wave radar
For 1.2 °/s, is realizing that measurement error is less than 0.5% while detection without dead angle, measuring delay rate and be less than 0.2%, and in real time
Property is stronger；Accurate Coordinate calculation method is given, is provided the foundation with control errors to automatically control；For the Novel rotary
Mechanical device uses new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, knows to target
It is more not advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of alarms
The applicability of device provides condition；Replace traditional light wave radar, declining when being propagated using atmospheric window with millimetre-wave radar
Reduce, influenced by natural light and infrared source small, target effectively can be identified and be sent out under atrocious weather situation
Alarm provides reliable guarantee for safety traffic, has the superiority such as high resolution, high-precision, miniature antenna bore, achieve imaginary
Less than effect.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art answer
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (1)
1. a kind of intelligent anticollision warning device with identification function, characterized in that including warning device and mounted on alarm dress
The millimetre-wave radar three-dimensional environment sensory perceptual system set；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation
Turn mechanical device, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotation
Axis, the first rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft is driven by the first stepper motor
Rotation；It is sleeved in bearing block by the second rotation axis horizontal of the second stepper motor driving rotation, the bearing block is perpendicular by 2
The support shaft directly arranged is affixed on the rotating pan；The midpoint of second rotary shaft is provided with interconnecting piece, and the interconnecting piece hangs down
It is directly integrally formed in the second rotary shaft and with the second rotary shaft, millimetre-wave radar is vertical with interconnecting piece affixed；The millimeter wave thunder
Itself the intrinsic plane of scanning motion reached is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is being arranged
There is notch in the side of support shaft, the straight line parallel where notch in the straight line where the second rotary shaft, and any support shaft with cut
The distance of straight line is less than 50mm where mouthful；First stepper motor and the second stepper motor are controlled by microcontroller, single
Piece machine is for receiving control command, and signal is sent to motor in order to control by control command conversion, while according to the initial of device
The goniometer that position and two stepper motors turn over calculates the current location of rotation mechanism, and working as rotation mechanism
Front position feedback of status is to data processing unit；The rotation mechanism entirety is under the drive of the first stepper motor towards report
Do the period back and forth movement of 180 ° of level in front of alarm device, at the same millimetre-wave radar under the drive of the second stepper motor towards report
Vertical 180 ° of period back and forth movement is done in front of alarm device；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data acquisition
Unit receives the distance value ρ of itself and target that millimetre-wave radar measurement obtains, while receiving the vertical rotary angle α of microcontroller transmission
With itself scan angle theta for rotating horizontally angle beta and millimetre-wave radar；If millimetre-wave radar be to the reading of a certain target (ρ, α,
β, θ), and define：α=0 ° when radar is horizontal, when radar is horizontal top, α values are just, at radar
α values are negative when below horizontal position, β=0 ° when the second rotary shaft is vertical with direction immediately ahead of warning device, when radar position
β is positive value when the right side of β=0 °, and when radar is located at the left side of β=0 °, β is negative value；When itself scanning of millimetre-wave radar
θ=0 ° when direction is vertical with plane where millimetre-wave radar, when itself scanning direction is located at the top of θ=0 °, θ is positive value, when
θ is negative value when itself scanning direction is located at the lower section of θ=0 °；
The revise subelemen that is delayed includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module：Away from
From correcting module is measured, the measured value for the value ρ that adjusts the distance be directed to delay effect in detections of radar wave two-way process and repaiies
Just, the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for carrying out vertical rotary angle α for delay effect in detections of radar wave two-way process
It corrects, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes negative
Number；
Horizontal sweep correcting module, for being carried out for delay effect in detections of radar wave two-way process to rotating horizontally angle beta
It corrects, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative
Number；
Wherein m is the maximum detectable range of millimetre-wave radar, and ρ≤m；For reaction detection target and millimetre-wave radar it
Between influence of the distance to delay effect, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target radar
The time that detection wave is sent out, t2The time returned for detections of radar wave；|t1-t2| represent detections of radar wave travel to and fro between target and
Time needed between radar；T1For the horizontal rotation period of millimetre-wave radar, T2For the vertical swing circle of millimetre-wave radar；
α1For t1When α values, α2For t2When α values；β1For t1When β value, β2For t2When β value；θ1For t1When θ values, θ2For t2When θ
Value；T1=2s, T2The sampling interval of=2.4s, millimetre-wave radar are 2 °/s；
Coordinate exports subelement：The object space coordinate exported after being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes that target RCS fluctuation characteristics measure subelement, for the RCS sequence variations coefficient of target into
Row measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then the RCS tables of multi-scattering centers target
It is shown as the function of azimuth of target：
Wherein, σiIndicate that i-th of scattering center RCS, α+θ indicates target with respect to the azimuth of millimetre-wave radar, RiIt indicates i-th
Scattering center is with respect to radar center distance；λ is the parameter being manually set；
Then RCS sequence variations coefficient is expressed as：Wherein σ (k) indicates kth time detection target
RCS values, RCS serial means
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| JPH06167566A (en) * | 1992-09-29 | 1994-06-14 | Mitsubishi Electric Corp | Radar device |
| CN1147858A (en) * | 1994-05-06 | 1997-04-16 | 无线电探测有限公司 | Locator |
| CN102490868A (en) * | 2011-12-02 | 2012-06-13 | 大连海事大学 | Anti-collision radar device of navigation mark |
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