CN105644455A - Full-automatic wheel type manned device with environment perception capacity - Google Patents

Abstract

The invention discloses a full-automatic wheel type manned device with the environment perception capacity. The full-automatic wheel type manned device comprises a manned car and a millimeter-wave radar three-dimensional environment perception system installed on the manned car. The millimeter-wave radar three-dimensional environment perception system comprises a millimeter-wave radar, a rotating mechanical device, a control unit and a data processing unit. The rotating mechanical device comprises a first rotating shaft, a rotating plate and a second rotating shaft. According to the full-automatic wheel type manned device with the environment perception capacity, the structure is simple and practical, and no-dead-angle scanning and coverage in the front can be achieved; in addition, the full-automatic wheel type manned device has the advantages of being precise in control, high in positioning precision, good in real-time performance and the like.

Description

Full-automatic wheeled manned device with environment perception capability

Technical Field

The invention relates to the field of passenger carrying, in particular to a full-automatic wheel type passenger carrying device with environment sensing capability.

Background

The wide street has driven the urban development, provides convenience for people's trip, and along with the development of science and technology, the notion of traffic intellectuality is proposed, also more and more to intelligent vehicle's research.

The intelligent vehicle environment sensing system mainly has the functions of acquiring vehicle and environment information through a sensor, specifically acquiring pose and state information of the vehicle, recognizing and tracking lane lines and lane edges in a structured road, recognizing and tracking traffic signs and traffic signals, recognizing and tracking obstacles around the vehicle (including dynamic and static obstacles such as pedestrians and obstacle vehicles) and analyzing traffic conditions of a running road surface of the vehicle.

The manned device mainly refers to a manned vehicle as a public mobile service device, and the situation that an intelligent vehicle environment sensing system is arranged on the manned device to improve the safety, the multi-functionalization and other comprehensive performances of the manned vehicle is a necessary development trend at present. However, the existing environment sensing system often has the problems of insufficient sensing dimension, low calculation precision, low real-time performance and the like.

Disclosure of Invention

In view of the above problems, the present invention provides a fully automatic wheeled manned device with environmental awareness.

The purpose of the invention is realized by adopting the following technical scheme:

a full-automatic wheel type manned device with environment sensing capability comprises a manned vehicle and a millimeter wave radar three-dimensional environment sensing system arranged on the manned vehicle; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar, a rotating mechanical device, a control unit and a data processing unit; the rotating mechanical device comprises a first rotating shaft, a rotating disk and a second rotating shaft, the first rotating shaft is vertically arranged and fixedly connected with the center of the rotating disk, and the first rotating shaft is driven to rotate by a first stepping motor; a second rotating shaft driven by a second stepping motor to rotate is horizontally sleeved in a bearing seat, and the bearing seat is fixedly connected to the rotating disc through 2 supporting shafts which are vertically arranged; a connecting part is arranged at the middle point of the second rotating shaft, the connecting part is perpendicular to the second rotating shaft and is integrally formed with the second rotating shaft, and the millimeter wave radar is vertically and fixedly connected with the connecting part; the inherent scanning plane of the millimeter wave radar is perpendicular to the plane where the rotating disc is located, and the scanning range angle is +/-30 degrees; the rotary disc is provided with notches at one side where the supporting shafts are arranged, the straight line where the notches are located is parallel to the straight line where the second rotating shaft is located, and the distance between any supporting shaft and the straight line where the notches are located is less than 50 mm; the first stepping motor and the second stepping motor are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device is fed back to the data processing unit; the whole rotating mechanical device is driven by the first stepping motor to do periodic reciprocating motion of 180 degrees horizontally towards the advancing direction of the vehicle, and meanwhile, the millimeter wave radar is driven by the second stepping motor to do periodic reciprocating motion of 180 degrees vertically towards the advancing direction of the vehicle;

the data processing unit comprises a data acquisition subunit, a delay correction subunit and a coordinate output subunit; the data acquisition subunit receives a distance value rho between the millimeter wave radar and a target, which is obtained by measurement of the millimeter wave radar, and simultaneously receives a vertical rotation angle alpha and a horizontal rotation angle beta which are sent by the singlechip and a self-scanning angle theta of the millimeter wave radar; let the lidar read (ρ, α, β, θ) for a target, and define: when the radar is in a horizontal position, α is 0 °, when the radar is above the horizontal position, α is positive, when the radar is below the horizontal position, β is 0 °, when the second rotation axis is perpendicular to a direction directly in front of the people carrier, β is a positive value when the radar is located on the right side of β is 0 °, and β is a negative value when the radar is located on the left side of β is 0 °; when the self-scanning direction of the millimeter wave radar is vertical to the plane where the millimeter wave radar is located, theta is equal to 0 degrees, when the self-scanning direction is located above theta equal to 0 degrees, theta is a positive value, and when the self-scanning direction is located below theta equal to 0 degrees, theta is a negative value;

preferably, the delay correction subunit includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:

when | α₁+θ₁|＞|α₂+θ₂| and | β₂|＞|β₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

a vertical rotation correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α₁|＞|α₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

a horizontal rotation correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β₁|＞|β₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

wherein m is the maximum detectable distance of the millimeter wave radar, anThe time delay detection device is used for reflecting the influence of the distance between a detection target and a millimeter wave radar on the time delay effect, the time delay is smaller when the target is closer to the radar, and otherwise, the time delay is larger; t is t₁Time of emission of detection wave for the target radar, t₂Detecting the time of wave return for the radar; | t₁-t₂L represents the time required for the radar to detect a wave to and from the target and the radar; t is₁Is the horizontal rotation period, T, of the millimeter wave radar₂α being the vertical rotation period of the millimeter wave radar₁Is t₁α value of (g) α₂Is t₂α value of Times β₁Is t₁β value of (g) β₂Is t₂β value of time theta₁Is t₁Value of theta of time theta₂Is t₂The value of θ of time; t is₁＝2s，T₂2.4s, the sampling interval of the millimeter wave radar is 2 degrees/s;

a coordinate output subunit: the target space coordinate output after being corrected by the delay correction subunit is as follows:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\cos ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ y={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\sin ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ z={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\sin ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\end{array}\right.$

wherein, $\stackrel{\‾}{\mathrm{\α}}=\frac{{\mathrm{\α}}_1+{\mathrm{\α}}_2}{2},\stackrel{\‾}{\mathrm{\β}}=\frac{{\mathrm{\β}}_1+{\mathrm{\β}}_2}{2},\stackrel{\‾}{\mathrm{\θ}}=\frac{{\mathrm{\θ}}_1+{\mathrm{\θ}}_2}{2}.$

the data processing unit further comprises a target RCS fluctuation characteristic measurement subunit, which is used for measuring the RCS sequence variation coefficient of the target:

for complex targets in the optical region, assuming that they consist of N scattering centers, the RCS of a multiple scattering center target is expressed as a function of the azimuth of the target:

$\mathrm{\σ}(\mathrm{\α}+\mathrm{\θ})=|\underset{i=1}{\overset{N}{\Σ}}\sqrt{{\mathrm{\σ}}_i}\exp (-\frac{4\mathrm{\π}}{\mathrm{\λ}}{R}_{i}cos(\mathrm{\α}+\mathrm{\θ}\left)\right){|}^2$

wherein σ_iDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, R_iRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;

the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence mean

This manned device's beneficial effect does: a new millimeter wave radar three-dimensional environment sensing system is designed, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, and the millimeter wave radar three-dimensional environment sensing system is simple in structure, economical, durable and strong in anti-interference capability; the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics of a novel rotary radar system and a delay effect, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and the real-time performance is stronger; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of manned devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a thermal radiation source is small, the road surface can be effectively identified and obstacles can be avoided under severe weather conditions, reliable guarantee is provided for safe driving, and the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like.

Drawings

The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.

FIG. 1 is a block diagram of a fully automated wheeled personal transport device with environmental awareness;

FIG. 2 is a schematic view of the structure of the rotating mechanism;

FIG. 3 is a schematic diagram of a millimeter wave radar self-scan;

FIG. 4 is a schematic illustration of the radar when detecting a target;

fig. 5 is a block diagram of the structure of the data processing unit.

Reference numerals: millimeter wave radar-1; a rotating disc-2; a first rotation axis-3; a second rotation axis-4; a bearing seat-5; a support shaft-6; a connecting part-7; a first stepper motor-8; a second stepper motor-9; rotating machinery-10; a control unit-11; a data processing unit-12; a data acquisition subunit 13; a delay correction subunit-14; a coordinate output subunit-15; incision-16; target-17; vehicle heading-18.

Detailed Description

The invention is further described with reference to the following examples.

Example 1:

1-4, the full-automatic wheeled manned device with environment sensing capability comprises a manned vehicle and a millimeter wave radar three-dimensional environment sensing system arranged on the manned vehicle; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar 1, a rotating mechanical device 10, a control unit 11 and a data processing unit 12; the rotating mechanical device 10 comprises a first rotating shaft 3, a rotating disk 2 and a second rotating shaft 4, wherein the first rotating shaft 3 is vertically arranged and fixedly connected with the center of the rotating disk 2, and the first rotating shaft 3 is driven to rotate by a first stepping motor 8; a second rotating shaft 4 driven by a second stepping motor 9 to rotate is horizontally sleeved in a bearing seat 5, and the bearing seat 5 is fixedly connected to the rotating disc 2 through 2 supporting shafts 6 which are vertically arranged; a connecting part 7 is arranged at the middle point of the second rotating shaft 4, the connecting part 7 is perpendicular to the second rotating shaft 4 and is integrally formed with the second rotating shaft 4, and the millimeter wave radar 1 is vertically and fixedly connected with the connecting part 7; the inherent scanning plane of the millimeter wave radar 1 is perpendicular to the plane of the rotating disc 2, and the scanning range angle is +/-30 degrees; the rotary disc 2 is provided with a notch 16 at one side where the supporting shafts 6 are arranged, the straight line where the notch 16 is located is parallel to the straight line where the second rotating shaft 4 is located, and the distance between any supporting shaft 6 and the straight line where the notch 16 is located is less than 50 mm; the first stepping motor 8 and the second stepping motor 9 are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device 10 is fed back to the data processing unit 12; the whole rotating mechanical device 10 is driven by the first stepping motor 8 to do periodic reciprocating motion of 180 degrees horizontally towards the vehicle advancing direction 18, and meanwhile, the millimeter wave radar 1 is driven by the second stepping motor 9 to do periodic reciprocating motion of 180 degrees vertically towards the vehicle advancing direction 20;

as shown in fig. 5, the data processing unit 12 includes a data acquisition subunit 13, a delay correction subunit 14, and a coordinate output subunit 15, where the data acquisition subunit 13 receives a distance value ρ between the millimeter wave radar 1 and a target, which is obtained by measurement, and also receives a vertical rotation angle α and a horizontal rotation angle β sent by the single chip microcomputer, and a scanning angle θ of the millimeter wave radar 1, so as to obtain complete millimeter wave radar data and a position of a scanning plane; as shown in fig. 5, the reading of a certain target 17 measured by the millimeter wave radar 1 is assumed to be (ρ, α, β, θ), and defines: when the millimeter wave radar 1 is in the horizontal position, alpha is 0 degrees, when the millimeter wave radar 1 is above the horizontal position, the alpha value is positive, and when the millimeter wave radar 1 is below the horizontal position, the alpha value is negative; β is 0 ° when the second rotation axis 4 is perpendicular to the direction directly ahead of the passenger vehicle, β is a positive value when the millimeter wave radar 1 is located on the right side of β 0 °, and β is a negative value when the millimeter wave radar 1 is located on the left side of β 0 °; when the self-scanning direction of the millimeter wave radar 1 is perpendicular to the plane in which the millimeter wave radar 1 is located, θ is 0 °, and is a positive value when the self-scanning direction is located above θ 0 °, and is a negative value when the self-scanning direction is located below θ 0 °. As can be seen from fig. 3, the rotation angle β of the first rotation axis 3 is the rotation angle of the millimeter wave radar 1 in the horizontal direction.

Preferably, the time delay effect means that, because the device adopts a three-dimensional double-rotation technical scheme, a certain offset of the position of the radar occurs already in the process from sending to returning of a radar detection wave, although the time is short, when the rotation speed is high, the error of the part is still not negligible, which is different from other fixed radar detection devices, and therefore a special time delay correction coefficient must be introduced. The delay correction subunit 14 includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:

when | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂When | is, it is stated that the rotation of the device is moving toward the target point, and the actual value measured at this time is small, so the above formula adopts positive sign, and λ is the case_ρ> 1, otherwise, negative sign is adopted, in which case lambda_ρLess than 1; at the same time, due to t₁-t₂Is a small value, so the specific correction value of this correction module depends entirely on the rotation period T of the motor, the faster the rotation T, the smaller the absolute value of the difference between the correction factor and 1, and vice versa.

A vertical rotation correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α₁|＞|α₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

a horizontal rotation correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β₁|＞|β₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

wherein m is the maximum detectable distance of the millimeter wave radar 1, anThe time delay device is used for reflecting the influence of the distance between the detection target 17 and the millimeter wave radar 1 on the time delay effect, the time delay is smaller when the target 17 is closer to the millimeter wave radar 1, and otherwise, the time delay is larger; t is t₁Time of emission of radar detection wave for the target 17, t₂For the time the radar detects the wave return, then | t₁-t₂| represents the time required for the radar detection wave to travel to and from the target 17 and the millimeter wave radar 1; t is t₁Is the horizontal rotation period, t, of the millimeter wave radar 1₂α being the vertical rotation period of the millimeter wave radar 1₁Is t₂α value of (g) α₂Is t₂α value of Times β₁Is t₁β value of (g) β₂Is t₂β value of time theta₁Is t₁Value of theta of time theta₂Is t₂The value of θ of time; t is₁＝2s，T₂The sampling interval of the millimeter wave radar is 2.4s, which is 2 °/s.

Coordinate output subunit 15: the target space coordinate output after being corrected by the delay correction subunit is as follows:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\cos ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ y={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\sin ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ z={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\sin ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\end{array}\right.$

wherein, $\stackrel{\‾}{\mathrm{\α}}=\frac{{\mathrm{\α}}_1+{\mathrm{\α}}_2}{2},\stackrel{\‾}{\mathrm{\β}}=\frac{{\mathrm{\β}}_1+{\mathrm{\β}}_2}{2},\stackrel{\‾}{\mathrm{\θ}}=\frac{{\mathrm{\θ}}_1+{\mathrm{\θ}}_2}{2}.$

the data processing unit also comprises a target RCS fluctuation characteristic measuring subunit used for measuring the RCS sequence variation coefficient of the target, the radar cross-sectional area (RCS) value represents the capability of receiving the target reflection signal in the antenna direction, and different target types can be distinguished by comparing and judging through measuring the target RCS fluctuation characteristic.

For a complex target in an optical area, N scattering centers are assumed to form the complex target, and according to the radar scattering theory, a radar echo can be regarded as echo vector synthesis of multiple scattering centers. Therefore, the radar target RCS is very sensitive to the attitude angle change of the target, the time series of the target RCS is essentially the change of the RCS along with the azimuth angle of the target, and is a fluctuation quantity, and the RCS of the multi-scattering center target is expressed as a function of the azimuth angle of the target:

$\mathrm{\σ}(\mathrm{\α}+\mathrm{\θ})=|\underset{i=1}{\overset{N}{\Σ}}\sqrt{{\mathrm{\σ}}_i}\exp (-\frac{4\mathrm{\π}}{\mathrm{\λ}}{R}_{i}cos(\mathrm{\α}+\mathrm{\θ}\left)\right){|}^2$

wherein σ_iDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, R_iRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;

the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence meanAnd inputting the sequence variation coefficient and the azimuth angle as characteristic parameters into a target identification system to finish the identification of the target.

In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the manned device, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, the structure is simple, economical and durable, and the anti-interference capability is strong; the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics and the time delay effect of a novel rotary radar system, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and T is set₁＝2s，T₂2.4s, the sampling interval of the millimeter wave radar is 2 degrees/s, the measurement error is less than 1 percent, the measurement delay rate is less than 0.5 percent, and the real-time performance is stronger while the detection without dead angles is realized; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of manned devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a heat radiation source is small, the road surface can be effectively identified and obstacles can be avoided under severe weather conditions, reliable guarantee is provided for safe driving, the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like, and unexpected effects are achieved.

Example 2:

1-4, the full-automatic wheeled manned device with environment sensing capability comprises a manned vehicle and a millimeter wave radar three-dimensional environment sensing system arranged on the manned vehicle; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar 1, a rotating mechanical device 10, a control unit 11 and a data processing unit 12; the rotating mechanical device 10 comprises a first rotating shaft 3, a rotating disk 2 and a second rotating shaft 4, wherein the first rotating shaft 3 is vertically arranged and fixedly connected with the center of the rotating disk 2, and the first rotating shaft 3 is driven to rotate by a first stepping motor 8; a second rotating shaft 4 driven by a second stepping motor 9 to rotate is horizontally sleeved in a bearing seat 5, and the bearing seat 5 is fixedly connected to the rotating disc 2 through 2 supporting shafts 6 which are vertically arranged; a connecting part 7 is arranged at the middle point of the second rotating shaft 4, the connecting part 7 is perpendicular to the second rotating shaft 4 and is integrally formed with the second rotating shaft 4, and the millimeter wave radar 1 is vertically and fixedly connected with the connecting part 7; the inherent scanning plane of the millimeter wave radar 1 is perpendicular to the plane of the rotating disc 2, and the scanning range angle is +/-30 degrees; the rotary disc 2 is provided with a notch 16 at one side where the supporting shafts 6 are arranged, the straight line where the notch 16 is located is parallel to the straight line where the second rotating shaft 4 is located, and the distance between any supporting shaft 6 and the straight line where the notch 16 is located is less than 50 mm; the first stepping motor 8 and the second stepping motor 9 are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device 10 is fed back to the data processing unit 12; the whole rotating mechanical device 10 is driven by the first stepping motor 8 to do periodic reciprocating motion of 180 degrees horizontally towards the vehicle advancing direction 18, and meanwhile, the millimeter wave radar 1 is driven by the second stepping motor 9 to do periodic reciprocating motion of 180 degrees vertically towards the vehicle advancing direction 20;

as shown in fig. 5, the data processing unit 12 includes a data acquisition subunit 13, a delay correction subunit 14, and a coordinate output subunit 15, where the data acquisition subunit 13 receives a distance value ρ between the millimeter wave radar 1 and a target, which is obtained by measurement, and also receives a vertical rotation angle α and a horizontal rotation angle β sent by the single chip microcomputer, and a scanning angle θ of the millimeter wave radar 1, so as to obtain complete millimeter wave radar data and a position of a scanning plane; as shown in fig. 5, the reading of a certain target 17 measured by the millimeter wave radar 1 is assumed to be (ρ, α, β, θ), and defines: when the millimeter wave radar 1 is in the horizontal position, alpha is 0 degrees, when the millimeter wave radar 1 is above the horizontal position, the alpha value is positive, and when the millimeter wave radar 1 is below the horizontal position, the alpha value is negative; β is 0 ° when the second rotation axis 4 is perpendicular to the direction directly ahead of the passenger vehicle, β is a positive value when the millimeter wave radar 1 is located on the right side of β 0 °, and β is a negative value when the millimeter wave radar 1 is located on the left side of β 0 °; when the self-scanning direction of the millimeter wave radar 1 is perpendicular to the plane in which the millimeter wave radar 1 is located, θ is 0 °, and is a positive value when the self-scanning direction is located above θ 0 °, and is a negative value when the self-scanning direction is located below θ 0 °. As can be seen from fig. 3, the rotation angle β of the first rotation axis 3 is the rotation angle of the millimeter wave radar 1 in the horizontal direction.

Preferably, the time delay effect means that, because the device adopts a three-dimensional double-rotation technical scheme, a certain offset of the position of the radar occurs already in the process from sending to returning of a radar detection wave, although the time is short, when the rotation speed is high, the error of the part is still not negligible, which is different from other fixed radar detection devices, and therefore a special time delay correction coefficient must be introduced. The delay correction subunit 14 includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:

when | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂When | is, it is stated that the rotation of the device is moving toward the target point, and the actual value measured at this time is small, so the above formula adopts positive sign, and λ is the case_ρ> 1, otherwise, negative sign is adopted, in which case lambda_ρLess than 1; at the same time, due to t₁-t₂Is a small value, so the specific correction value of this correction module depends entirely on the rotation period T of the motor, the faster the rotation T, the smaller the absolute value of the difference between the correction factor and 1, and vice versa.

A vertical rotation correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α₁|＞|α₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

a horizontal rotation correction module for performing radar detection on the horizontal rotation angle βCorrection of delay effects during round trip of a test wave, correction factor for its outputWhen | β₁|＞|β₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

wherein m is the maximum detectable distance of the millimeter wave radar 1, anThe time delay device is used for reflecting the influence of the distance between the detection target 17 and the millimeter wave radar 1 on the time delay effect, the time delay is smaller when the target 17 is closer to the millimeter wave radar 1, and otherwise, the time delay is larger; t is t₁Time of emission of radar detection wave for the target 17, t₂For the time the radar detects the wave return, then | t₁-t₂| represents the time required for the radar detection wave to travel to and from the target 17 and the millimeter wave radar 1; t is t₁Is the horizontal rotation period, t, of the millimeter wave radar 1₂α being the vertical rotation period of the millimeter wave radar 1₁Is t₁α value of (g) α₂Is t₂α value of Times β₁Is t₁β value of (g) β₂Is t₂β value of time theta₁Is t₁Value of theta of time theta₂Is t₂The value of θ of time; t is₁＝2s，T₂The sampling interval of the millimeter wave radar is 2.4s, which is 2 °/s.

Coordinate output subunit 15: the target space coordinate output after being corrected by the delay correction subunit is as follows:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\cos ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ y={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\sin ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ z={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\sin ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\end{array}\right.$

wherein, $\stackrel{\‾}{\mathrm{\α}}=\frac{{\mathrm{\α}}_1+{\mathrm{\α}}_2}{2},\stackrel{\‾}{\mathrm{\β}}=\frac{{\mathrm{\β}}_1+{\mathrm{\β}}_2}{2},\stackrel{\‾}{\mathrm{\θ}}=\frac{{\mathrm{\θ}}_1+{\mathrm{\θ}}_2}{2}.$

the data processing unit also comprises a target RCS fluctuation characteristic measuring subunit used for measuring the RCS sequence variation coefficient of the target, the radar cross-sectional area (RCS) value represents the capability of receiving the target reflection signal in the antenna direction, and different target types can be distinguished by comparing and judging through measuring the target RCS fluctuation characteristic.

For a complex target in an optical area, N scattering centers are assumed to form the complex target, and according to the radar scattering theory, a radar echo can be regarded as echo vector synthesis of multiple scattering centers. Therefore, the radar target RCS is very sensitive to the attitude angle change of the target, the time series of the target RCS is essentially the change of the RCS along with the azimuth angle of the target, and is a fluctuation quantity, and the RCS of the multi-scattering center target is expressed as a function of the azimuth angle of the target:

$\mathrm{\σ}(\mathrm{\α}+\mathrm{\θ})=|\underset{i=1}{\overset{N}{\Σ}}\sqrt{{\mathrm{\σ}}_i}\exp (-\frac{4\mathrm{\π}}{\mathrm{\λ}}{R}_{i}cos(\mathrm{\α}+\mathrm{\θ}\left)\right){|}^2$

wherein σ_iDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, R_iRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;

the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence meanAnd inputting the sequence variation coefficient and the azimuth angle as characteristic parameters into a target identification system to finish the identification of the target.

In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the manned device, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, the structure is simple, economical and durable, and the anti-interference capability is strong;the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics and the time delay effect of a novel rotary radar system, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and T is set₁＝2.2s，T₂2.6s, the sampling interval of the millimeter wave radar is 1.5 degrees/s, the measurement error is less than 0.8 percent, the measurement delay rate is less than 0.4 percent, and the real-time performance is stronger while the detection without dead angles is realized; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of manned devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a heat radiation source is small, the road surface can be effectively identified and obstacles can be avoided under severe weather conditions, reliable guarantee is provided for safe driving, the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like, and unexpected effects are achieved.

Example 3:

1-4, the full-automatic wheeled manned device with environment sensing capability comprises a manned vehicle and a millimeter wave radar three-dimensional environment sensing system arranged on the manned vehicle; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar 1, a rotating mechanical device 10, a control unit 11 and a data processing unit 12; the rotating mechanical device 10 comprises a first rotating shaft 3, a rotating disk 2 and a second rotating shaft 4, wherein the first rotating shaft 3 is vertically arranged and fixedly connected with the center of the rotating disk 2, and the first rotating shaft 3 is driven to rotate by a first stepping motor 8; a second rotating shaft 4 driven by a second stepping motor 9 to rotate is horizontally sleeved in a bearing seat 5, and the bearing seat 5 is fixedly connected to the rotating disc 2 through 2 supporting shafts 6 which are vertically arranged; a connecting part 7 is arranged at the middle point of the second rotating shaft 4, the connecting part 7 is perpendicular to the second rotating shaft 4 and is integrally formed with the second rotating shaft 4, and the millimeter wave radar 1 is vertically and fixedly connected with the connecting part 7; the inherent scanning plane of the millimeter wave radar 1 is perpendicular to the plane of the rotating disc 2, and the scanning range angle is +/-30 degrees; the rotary disc 2 is provided with a notch 16 at one side where the supporting shafts 6 are arranged, the straight line where the notch 16 is located is parallel to the straight line where the second rotating shaft 4 is located, and the distance between any supporting shaft 6 and the straight line where the notch 16 is located is less than 50 mm; the first stepping motor 8 and the second stepping motor 9 are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device 10 is fed back to the data processing unit 12; the whole rotating mechanical device 10 is driven by the first stepping motor 8 to do periodic reciprocating motion of 180 degrees horizontally towards the vehicle advancing direction 18, and meanwhile, the millimeter wave radar 1 is driven by the second stepping motor 9 to do periodic reciprocating motion of 180 degrees vertically towards the vehicle advancing direction 20;

as shown in fig. 5, the data processing unit 12 includes a data acquisition subunit 13, a delay correction subunit 14, and a coordinate output subunit 15, where the data acquisition subunit 13 receives a distance value ρ between the millimeter wave radar 1 and a target, which is obtained by measurement, and also receives a vertical rotation angle α and a horizontal rotation angle β sent by the single chip microcomputer, and a scanning angle θ of the millimeter wave radar 1, so as to obtain complete millimeter wave radar data and a position of a scanning plane; as shown in fig. 5, the reading of a certain target 17 measured by the millimeter wave radar 1 is assumed to be (ρ, α, β, θ), and defines: when the millimeter wave radar 1 is in the horizontal position, alpha is 0 degrees, when the millimeter wave radar 1 is above the horizontal position, the alpha value is positive, and when the millimeter wave radar 1 is below the horizontal position, the alpha value is negative; β is 0 ° when the second rotation axis 4 is perpendicular to the direction directly ahead of the passenger vehicle, β is a positive value when the millimeter wave radar 1 is located on the right side of β 0 °, and β is a negative value when the millimeter wave radar 1 is located on the left side of β 0 °; when the self-scanning direction of the millimeter wave radar 1 is perpendicular to the plane in which the millimeter wave radar 1 is located, θ is 0 °, and is a positive value when the self-scanning direction is located above θ 0 °, and is a negative value when the self-scanning direction is located below θ 0 °. As can be seen from fig. 3, the rotation angle β of the first rotation axis 3 is the rotation angle of the millimeter wave radar 1 in the horizontal direction.

Preferably, the time delay effect means that, because the device adopts a three-dimensional double-rotation technical scheme, a certain offset of the position of the radar occurs already in the process from sending to returning of a radar detection wave, although the time is short, when the rotation speed is high, the error of the part is still not negligible, which is different from other fixed radar detection devices, and therefore a special time delay correction coefficient must be introduced. The delay correction subunit 14 includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:

when | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂When | is, it is stated that the rotation of the device is moving toward the target point, and the actual value measured at this time is small, so the above formula adopts positive sign, and λ is the case_ρ> 1, otherwise, negative sign is adopted, in which case lambda_ρLess than 1; at the same time, due to t₁-t₂Is a small value, so the specific correction value of this correction module depends entirely on the rotation period T of the motor, the faster the rotation T, the smaller the absolute value of the difference between the correction factor and 1, and vice versa.

A vertical rotation correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α₁|＞|α₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

a horizontal rotation correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β₁|＞|β₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

wherein m is the maximum detectable distance of the millimeter wave radar 1, anThe time delay device is used for reflecting the influence of the distance between the detection target 17 and the millimeter wave radar 1 on the time delay effect, the time delay is smaller when the target 17 is closer to the millimeter wave radar 1, and otherwise, the time delay is larger; t is t₁Time of emission of radar detection wave for the target 17, t₂For the time the radar detects the wave return, then | t₁-t₂| represents the time required for the radar detection wave to travel to and from the target 17 and the millimeter wave radar 1; t is t₁Is the horizontal rotation period, t, of the millimeter wave radar 1₂α being the vertical rotation period of the millimeter wave radar 1₁Is t₁α value of (g) α₂Is t₂α value of Times β₁Is t₁β value of (g) β₂Is t₂β value of time theta₁Is t₁Value of theta of time theta₂Is t₂The value of θ of time; t is₁＝2s，T₂The sampling interval of the millimeter wave radar is 2.4s, which is 2 °/s.

Coordinate output subunit 15: the target space coordinate output after being corrected by the delay correction subunit is as follows:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\cos ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ y={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\sin ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ z={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\sin ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\end{array}\right.$

wherein, $\stackrel{\‾}{\mathrm{\α}}=\frac{{\mathrm{\α}}_1+{\mathrm{\α}}_2}{2},\stackrel{\‾}{\mathrm{\β}}=\frac{{\mathrm{\β}}_1+{\mathrm{\β}}_2}{2},\stackrel{\‾}{\mathrm{\θ}}=\frac{{\mathrm{\θ}}_1+{\mathrm{\θ}}_2}{2}.$

the data processing unit also comprises a target RCS fluctuation characteristic measuring subunit used for measuring the RCS sequence variation coefficient of the target, the radar cross-sectional area (RCS) value represents the capability of receiving the target reflection signal in the antenna direction, and different target types can be distinguished by comparing and judging through measuring the target RCS fluctuation characteristic.

For a complex target in an optical area, N scattering centers are assumed to form the complex target, and according to the radar scattering theory, a radar echo can be regarded as echo vector synthesis of multiple scattering centers. Therefore, the radar target RCS is very sensitive to the attitude angle change of the target, the time series of the target RCS is essentially the change of the RCS along with the azimuth angle of the target, and is a fluctuation quantity, and the RCS of the multi-scattering center target is expressed as a function of the azimuth angle of the target:

$\mathrm{\σ}(\mathrm{\α}+\mathrm{\θ})=|\underset{i=1}{\overset{N}{\Σ}}\sqrt{{\mathrm{\σ}}_i}\exp (-\frac{4\mathrm{\π}}{\mathrm{\λ}}{R}_{i}cos(\mathrm{\α}+\mathrm{\θ}\left)\right){|}^2$

wherein σ_iDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, R_iRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;

the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence meanInputting the sequence variation coefficient and azimuth angle as characteristic parameters into a targetAnd the target recognition system completes the recognition of the target.

In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the manned device, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, the structure is simple, economical and durable, and the anti-interference capability is strong; the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics and the time delay effect of a novel rotary radar system, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and T is set₁＝2.4s，T₂2.7s, the sampling interval of the millimeter wave radar is 1.8 degrees/s, the measurement error is less than 0.7 percent, the measurement delay rate is less than 0.4 percent, and the real-time performance is stronger while the detection without dead angles is realized; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of manned devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a heat radiation source is small, the road surface can be effectively identified and obstacles can be avoided under severe weather conditions, reliable guarantee is provided for safe driving, the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like, and unexpected effects are achieved.

Example 4:

1-4, the full-automatic wheeled manned device with environment sensing capability comprises a manned vehicle and a millimeter wave radar three-dimensional environment sensing system arranged on the manned vehicle; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar 1, a rotating mechanical device 10, a control unit 11 and a data processing unit 12; the rotating mechanical device 10 comprises a first rotating shaft 3, a rotating disk 2 and a second rotating shaft 4, wherein the first rotating shaft 3 is vertically arranged and fixedly connected with the center of the rotating disk 2, and the first rotating shaft 3 is driven to rotate by a first stepping motor 8; a second rotating shaft 4 driven by a second stepping motor 9 to rotate is horizontally sleeved in a bearing seat 5, and the bearing seat 5 is fixedly connected to the rotating disc 2 through 2 supporting shafts 6 which are vertically arranged; a connecting part 7 is arranged at the middle point of the second rotating shaft 4, the connecting part 7 is perpendicular to the second rotating shaft 4 and is integrally formed with the second rotating shaft 4, and the millimeter wave radar 1 is vertically and fixedly connected with the connecting part 7; the inherent scanning plane of the millimeter wave radar 1 is perpendicular to the plane of the rotating disc 2, and the scanning range angle is +/-30 degrees; the rotary disc 2 is provided with a notch 16 at one side where the supporting shafts 6 are arranged, the straight line where the notch 16 is located is parallel to the straight line where the second rotating shaft 4 is located, and the distance between any supporting shaft 6 and the straight line where the notch 16 is located is less than 50 mm; the first stepping motor 8 and the second stepping motor 9 are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device 10 is fed back to the data processing unit 12; the whole rotating mechanical device 10 is driven by the first stepping motor 8 to do periodic reciprocating motion of 180 degrees horizontally towards the vehicle advancing direction 18, and meanwhile, the millimeter wave radar 1 is driven by the second stepping motor 9 to do periodic reciprocating motion of 180 degrees vertically towards the vehicle advancing direction 20;

as shown in fig. 5, the data processing unit 12 includes a data acquisition subunit 13, a delay correction subunit 14, and a coordinate output subunit 15, where the data acquisition subunit 13 receives a distance value ρ between the millimeter wave radar 1 and a target, which is obtained by measurement, and also receives a vertical rotation angle α and a horizontal rotation angle β sent by the single chip microcomputer, and a scanning angle θ of the millimeter wave radar 1, so as to obtain complete millimeter wave radar data and a position of a scanning plane; as shown in fig. 5, the reading of a certain target 17 measured by the millimeter wave radar 1 is assumed to be (ρ, α, β, θ), and defines: when the millimeter wave radar 1 is in the horizontal position, alpha is 0 degrees, when the millimeter wave radar 1 is above the horizontal position, the alpha value is positive, and when the millimeter wave radar 1 is below the horizontal position, the alpha value is negative; β is 0 ° when the second rotation axis 4 is perpendicular to the direction directly ahead of the passenger vehicle, β is a positive value when the millimeter wave radar 1 is located on the right side of β 0 °, and β is a negative value when the millimeter wave radar 1 is located on the left side of β 0 °; when the self-scanning direction of the millimeter wave radar 1 is perpendicular to the plane in which the millimeter wave radar 1 is located, θ is 0 °, and is a positive value when the self-scanning direction is located above θ 0 °, and is a negative value when the self-scanning direction is located below θ 0 °. As can be seen from fig. 3, the rotation angle β of the first rotation axis 3 is the rotation angle of the millimeter wave radar 1 in the horizontal direction.

Preferably, the time delay effect means that, because the device adopts a three-dimensional double-rotation technical scheme, a certain offset of the position of the radar occurs already in the process from sending to returning of a radar detection wave, although the time is short, when the rotation speed is high, the error of the part is still not negligible, which is different from other fixed radar detection devices, and therefore a special time delay correction coefficient must be introduced. The delay correction subunit 14 includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:

when | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂When | is, it is stated that the rotation of the device is moving toward the target point, and the actual value measured at this time is small, so the above formula adopts positive sign, and λ is the case_ρ> 1, otherwise, negative sign is adopted, in which case lambda_ρLess than 1; at the same time, due to t₁-t₂Is a very small value, so that the specific correction value of the correction module depends entirely on the rotation of the motorIn the period T, the faster the rotation T, the smaller the absolute value of the difference between the correction coefficient and 1, and vice versa.

A vertical rotation correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α₁|＞|α₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

a horizontal rotation correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β₁|＞|β₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

wherein m is the maximum detectable distance of the millimeter wave radar 1, anThe time delay device is used for reflecting the influence of the distance between the detection target 17 and the millimeter wave radar 1 on the time delay effect, the time delay is smaller when the target 17 is closer to the millimeter wave radar 1, and otherwise, the time delay is larger; t is t₁Time of emission of radar detection wave for the target 17, t₂For the time the radar detects the wave return, then | t₁-t₂| represents the time required for the radar detection wave to travel to and from the target 17 and the millimeter wave radar 1; t is t₁Is the horizontal rotation period, t, of the millimeter wave radar 1₂α being the vertical rotation period of the millimeter wave radar 1₁Is t₁α value of (g) α₂Is t₂α value of Times β₁Is t₁β value of (g) β₂Is t₂β value of time theta₁Is t₁Value of theta of time theta₂Is t₂The value of θ of time; t is₁＝2s，T₂The sampling interval of the millimeter wave radar is 2.4s, which is 2 °/s.

Coordinate output subunit 15: the target space coordinate output after being corrected by the delay correction subunit is as follows:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\cos ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ y={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\sin ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ z={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\sin ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\end{array}\right.$

wherein, $\stackrel{\‾}{\mathrm{\α}}=\frac{{\mathrm{\α}}_1+{\mathrm{\α}}_2}{2},\stackrel{\‾}{\mathrm{\β}}=\frac{{\mathrm{\β}}_1+{\mathrm{\β}}_2}{2},\stackrel{\‾}{\mathrm{\θ}}=\frac{{\mathrm{\θ}}_1+{\mathrm{\θ}}_2}{2}.$

the data processing unit also comprises a target RCS fluctuation characteristic measuring subunit used for measuring the RCS sequence variation coefficient of the target, the radar cross-sectional area (RCS) value represents the capability of receiving the target reflection signal in the antenna direction, and different target types can be distinguished by comparing and judging through measuring the target RCS fluctuation characteristic.

For a complex target in an optical area, N scattering centers are assumed to form the complex target, and according to the radar scattering theory, a radar echo can be regarded as echo vector synthesis of multiple scattering centers. Therefore, the radar target RCS is very sensitive to the attitude angle change of the target, the time series of the target RCS is essentially the change of the RCS along with the azimuth angle of the target, and is a fluctuation quantity, and the RCS of the multi-scattering center target is expressed as a function of the azimuth angle of the target:

$\mathrm{\σ}(\mathrm{\α}+\mathrm{\θ})=|\underset{i=1}{\overset{N}{\Σ}}\sqrt{{\mathrm{\σ}}_i}\exp (-\frac{4\mathrm{\π}}{\mathrm{\λ}}{R}_{i}cos(\mathrm{\α}+\mathrm{\θ}\left)\right){|}^2$

wherein σ_iDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, R_iRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;

the RCS sequence coefficient of variation is then expressed as: $S_{\mathrm{\σ}}=\frac{{\[{\mathrm{\Σ}}_{k=1}^N{\left(\mathrm{\σ}\right(k)-\stackrel{\‾}{\mathrm{\σ}})}^2/(N-1)\]}^{1/2}}{\stackrel{\‾}{\mathrm{\σ}}},$ where σ (k) represents the RCS value of the kth detected target, the RCS sequence meanAnd inputting the sequence variation coefficient and the azimuth angle as characteristic parameters into a target identification system to finish the identification of the target.

In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the manned device, so that dead-angle-free scanning coverage of 180 degrees in the horizontal direction and 180 degrees in the vertical direction in front is realized, the structure is simple, economical and durable, and the anti-interference capability is strong; the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics and the time delay effect of a novel rotary radar system, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designedTo make the coordinate positioning function of the radar more accurate, set T₁＝2.5s，T₂The sampling interval of the millimeter wave radar is 1.3 °/s, 2.8 s. When the detection without dead angles is realized, the measurement error is less than 0.6%, the measurement delay rate is less than 0.3%, and the real-time performance is stronger; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of manned devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a heat radiation source is small, the road surface can be effectively identified and obstacles can be avoided under severe weather conditions, reliable guarantee is provided for safe driving, the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like, and unexpected effects are achieved.

Example 5:

1-4, the full-automatic wheeled manned device with environment sensing capability comprises a manned vehicle and a millimeter wave radar three-dimensional environment sensing system arranged on the manned vehicle; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar 1, a rotating mechanical device 10, a control unit 11 and a data processing unit 12; the rotating mechanical device 10 comprises a first rotating shaft 3, a rotating disk 2 and a second rotating shaft 4, wherein the first rotating shaft 3 is vertically arranged and fixedly connected with the center of the rotating disk 2, and the first rotating shaft 3 is driven to rotate by a first stepping motor 8; a second rotating shaft 4 driven by a second stepping motor 9 to rotate is horizontally sleeved in a bearing seat 5, and the bearing seat 5 is fixedly connected to the rotating disc 2 through 2 supporting shafts 6 which are vertically arranged; a connecting part 7 is arranged at the middle point of the second rotating shaft 4, the connecting part 7 is perpendicular to the second rotating shaft 4 and is integrally formed with the second rotating shaft 4, and the millimeter wave radar 1 is vertically and fixedly connected with the connecting part 7; the inherent scanning plane of the millimeter wave radar 1 is perpendicular to the plane of the rotating disc 2, and the scanning range angle is +/-30 degrees; the rotary disc 2 is provided with a notch 16 at one side where the supporting shafts 6 are arranged, the straight line where the notch 16 is located is parallel to the straight line where the second rotating shaft 4 is located, and the distance between any supporting shaft 6 and the straight line where the notch 16 is located is less than 50 mm; the first stepping motor 8 and the second stepping motor 9 are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device 10 is fed back to the data processing unit 12; the whole rotating mechanical device 10 is driven by the first stepping motor 8 to do periodic reciprocating motion of 180 degrees horizontally towards the vehicle advancing direction 18, and meanwhile, the millimeter wave radar 1 is driven by the second stepping motor 9 to do periodic reciprocating motion of 180 degrees vertically towards the vehicle advancing direction 20;

as shown in fig. 5, the data processing unit 12 includes a data acquisition subunit 13, a delay correction subunit 14, and a coordinate output subunit 15, where the data acquisition subunit 13 receives a distance value ρ between the millimeter wave radar 1 and a target, which is obtained by measurement, and also receives a vertical rotation angle α and a horizontal rotation angle β sent by the single chip microcomputer, and a scanning angle θ of the millimeter wave radar 1, so as to obtain complete millimeter wave radar data and a position of a scanning plane; as shown in fig. 5, the reading of a certain target 17 measured by the millimeter wave radar 1 is assumed to be (ρ, α, β, θ), and defines: when the millimeter wave radar 1 is in the horizontal position, alpha is 0 degrees, when the millimeter wave radar 1 is above the horizontal position, the alpha value is positive, and when the millimeter wave radar 1 is below the horizontal position, the alpha value is negative; β is 0 ° when the second rotation axis 4 is perpendicular to the direction directly ahead of the passenger vehicle, β is a positive value when the millimeter wave radar 1 is located on the right side of β 0 °, and β is a negative value when the millimeter wave radar 1 is located on the left side of β 0 °; when the self-scanning direction of the millimeter wave radar 1 is perpendicular to the plane in which the millimeter wave radar 1 is located, θ is 0 °, and is a positive value when the self-scanning direction is located above θ 0 °, and is a negative value when the self-scanning direction is located below θ 0 °. As can be seen from fig. 3, the rotation angle β of the first rotation axis 3 is the rotation angle of the millimeter wave radar 1 in the horizontal direction.

Preferably, the time delay effect means that, because the device adopts a three-dimensional double-rotation technical scheme, a certain offset of the position of the radar occurs already in the process from sending to returning of a radar detection wave, although the time is short, when the rotation speed is high, the error of the part is still not negligible, which is different from other fixed radar detection devices, and therefore a special time delay correction coefficient must be introduced. The delay correction subunit 14 includes a distance measurement correction module, a horizontal scanning correction module, and a vertical scanning correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:

when | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂When | is, it is stated that the rotation of the device is moving toward the target point, and the actual value measured at this time is small, so the above formula adopts positive sign, and λ is the case_ρ> 1, otherwise, negative sign is adopted, in which case lambda_ρLess than 1; at the same time, due to t₁-t₂Is a small value, so the specific correction value of this correction module depends entirely on the rotation period T of the motor, the faster the rotation T, the smaller the absolute value of the difference between the correction factor and 1, and vice versa.

A vertical rotation correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α₁|＞|α₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

level ofA rotation correction module for correcting the delay effect of the radar detection wave during the round trip process for the horizontal rotation angle β and outputting a correction factorWhen | β₁|＞|β₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

wherein m is the maximum detectable distance of the millimeter wave radar 1, anThe time delay device is used for reflecting the influence of the distance between the detection target 17 and the millimeter wave radar 1 on the time delay effect, the time delay is smaller when the target 17 is closer to the millimeter wave radar 1, and otherwise, the time delay is larger; t is t₁Time of emission of radar detection wave for the target 17, t₂For the time the radar detects the wave return, then | t₁-t₂| represents the time required for the radar detection wave to travel to and from the target 17 and the millimeter wave radar 1; t is t₁Is the horizontal rotation period, t, of the millimeter wave radar 1₂α being the vertical rotation period of the millimeter wave radar 1₁Is t₁α value of (g) α₂Is t₂α value of Times β₁Is t₁β value of (g) β₂Is t₂β value of time theta₁Is t₁Value of theta of time theta₂Is t₂The value of θ of time; t is₁＝2s，T₂The sampling interval of the millimeter wave radar is 2.4s, which is 2 °/s.

Coordinate output subunit 15: the target space coordinate output after being corrected by the delay correction subunit is as follows:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\cos ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ y={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\sin ({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}})\\ z={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\sin ({\mathrm{\λ}}_{\mathrm{\α}}\×(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\left)\right)\end{array}\right.$

wherein, $\stackrel{\‾}{\mathrm{\α}}=\frac{{\mathrm{\α}}_1+{\mathrm{\α}}_2}{2},\stackrel{\‾}{\mathrm{\β}}=\frac{{\mathrm{\β}}_1+{\mathrm{\β}}_2}{2},\stackrel{\‾}{\mathrm{\θ}}=\frac{{\mathrm{\θ}}_1+{\mathrm{\θ}}_2}{2}.$

the data processing unit also comprises a target RCS fluctuation characteristic measuring subunit used for measuring the RCS sequence variation coefficient of the target, the radar cross-sectional area (RCS) value represents the capability of receiving the target reflection signal in the antenna direction, and different target types can be distinguished by comparing and judging through measuring the target RCS fluctuation characteristic.

For a complex target in an optical area, N scattering centers are assumed to form the complex target, and according to the radar scattering theory, a radar echo can be regarded as echo vector synthesis of multiple scattering centers. Therefore, the radar target RCS is very sensitive to the attitude angle change of the target, the time series of the target RCS is essentially the change of the RCS along with the azimuth angle of the target, and is a fluctuation quantity, and the RCS of the multi-scattering center target is expressed as a function of the azimuth angle of the target:

$\mathrm{\σ}(\mathrm{\α}+\mathrm{\θ})=|\underset{i=1}{\overset{N}{\Σ}}\sqrt{{\mathrm{\σ}}_i}\exp (-\frac{4\mathrm{\π}}{\mathrm{\λ}}{R}_{i}cos(\mathrm{\α}+\mathrm{\θ}\left)\right){|}^2$

wherein σ_iDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, R_iRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;

the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence meanAnd inputting the sequence variation coefficient and the azimuth angle as characteristic parameters into a target identification system to finish the identification of the target.

In the embodiment, a novel millimeter wave radar three-dimensional environment sensing system is designed for the manned device, so that the front 180 degrees in horizontal and 180 degrees in vertical directions are realizedNo dead angle scanning coverage, simple structure, economy, durability and strong anti-interference capability; the stepping motor is matched with other components to realize a full-automatic control function, and the control is convenient and accurate; aiming at the characteristics and the time delay effect of a novel rotary radar system, correction modules such as a distance measurement correction module, a horizontal scanning correction module, a vertical scanning correction module and the like are designed, so that the coordinate positioning function of the radar is more accurate, and T is₁＝2.6s，T₂2.9s, the sampling interval of the millimeter wave radar is 1.2 degrees/s, the measurement error is less than 0.5 percent, the measurement delay rate is less than 0.2 percent, and the real-time performance is stronger while the detection without dead angles is realized; an accurate coordinate calculation method is provided, and a basis is provided for automatic control and error control; aiming at the novel rotating mechanical device, a novel RCS fluctuation characteristic measuring device is adopted, so that the measurement of the RCS variation coefficient is more accurate and more beneficial to target identification; the sizes of the rotating disc, the rotating shaft and other parts can be flexibly selected according to specific conditions, so that conditions are provided for the applicability of manned devices with different sizes; the millimeter wave radar replaces the traditional light wave radar, the attenuation is small when the millimeter wave radar is used for transmitting through an atmospheric window, the influence of natural light and a heat radiation source is small, the road surface can be effectively identified and obstacles can be avoided under severe weather conditions, reliable guarantee is provided for safe driving, the millimeter wave radar has the advantages of high resolution, high precision, small antenna caliber and the like, and unexpected effects are achieved.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (2)

1. A full-automatic wheel type manned device with environment sensing capability is characterized by comprising a manned vehicle and a millimeter wave radar three-dimensional environment sensing system arranged on the manned vehicle; the millimeter wave radar three-dimensional environment sensing system comprises a millimeter wave radar, a rotating mechanical device, a control unit and a data processing unit; the rotating mechanical device comprises a first rotating shaft, a rotating disk and a second rotating shaft, the first rotating shaft is vertically arranged and fixedly connected with the center of the rotating disk, and the first rotating shaft is driven to rotate by a first stepping motor; a second rotating shaft driven by a second stepping motor to rotate is horizontally sleeved in a bearing seat, and the bearing seat is fixedly connected to the rotating disc through 2 supporting shafts which are vertically arranged; a connecting part is arranged at the middle point of the second rotating shaft, the connecting part is perpendicular to the second rotating shaft and is integrally formed with the second rotating shaft, and the millimeter wave radar is vertically and fixedly connected with the connecting part; the inherent scanning plane of the millimeter wave radar is perpendicular to the plane where the rotating disc is located, and the scanning range angle is +/-30 degrees; the rotary disc is provided with notches at one side where the supporting shafts are arranged, the straight line where the notches are located is parallel to the straight line where the second rotating shaft is located, and the distance between any supporting shaft and the straight line where the notches are located is less than 50 mm; the first stepping motor and the second stepping motor are both controlled by a single chip microcomputer, the single chip microcomputer is used for receiving a control command, converting the control command into a control signal and sending the control signal to the motors, meanwhile, the current position of the rotating mechanical device is calculated according to the initial position of the device and the rotating angles of the two stepping motors, and the current position state of the rotating mechanical device is fed back to the data processing unit; the whole rotating mechanical device is driven by the first stepping motor to do periodic reciprocating motion of 180 degrees horizontally towards the advancing direction of the vehicle, and meanwhile, the millimeter wave radar is driven by the second stepping motor to do periodic reciprocating motion of 180 degrees vertically towards the advancing direction of the vehicle;

the data processing unit comprises a data acquisition subunit, a delay correction subunit and a coordinate output subunit; the data acquisition subunit receives a distance value rho between the millimeter wave radar and a target, which is obtained by measurement of the millimeter wave radar, and simultaneously receives a vertical rotation angle alpha and a horizontal rotation angle beta which are sent by the singlechip and a self-scanning angle theta of the millimeter wave radar; let the lidar read (ρ, α, β, θ) for a target, and define: when the radar is in a horizontal position, α is 0 °, when the radar is above the horizontal position, α is positive, when the radar is below the horizontal position, β is 0 °, when the second rotation axis is perpendicular to a direction directly in front of the people carrier, β is a positive value when the radar is located on the right side of β is 0 °, and β is a negative value when the radar is located on the left side of β is 0 °; when the self-scanning direction of the millimeter wave radar is vertical to the plane where the millimeter wave radar is located, theta is equal to 0 degrees, theta is a positive value when the self-scanning direction is located above theta equal to 0 degrees, and theta is a negative value when the self-scanning direction is located below theta equal to 0 degrees.

2. The fully automatic wheeled passenger device with environmental awareness capability of claim 1, wherein the delay correction subunit comprises a distance measurement correction module, a horizontal scan correction module and a vertical scan correction module: the distance measurement correction module is used for correcting the delay effect in the round trip process of the radar detection wave on the measured value of the distance value rho, and the output correction factor is as follows:

when | α₁+θ₁|＞|α₂+θ₂| and | β₁|＞|β₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

a vertical rotation correction module for correcting the vertical rotation angle α for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | α₁|＞|α₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

a horizontal rotation correction module for correcting the horizontal rotation angle β for the delay effect during the round trip of the radar detection wave and outputting a correction factorWhen | β₁|＞|β₂If not, taking the positive sign of the formula, otherwise, taking the negative sign of the formula;

wherein m is the maximum detectable distance of the millimeter wave radar, and rho is less than or equal to m;the time delay detection device is used for reflecting the influence of the distance between a detection target and a millimeter wave radar on the time delay effect, the time delay is smaller when the target is closer to the radar, and otherwise, the time delay is larger;t₁time of emission of detection wave for the target radar, t₂Detecting the time of wave return for the radar; | t₁-t₂L represents the time required for the radar to detect a wave to and from the target and the radar; t is₁Is the horizontal rotation period, T, of the millimeter wave radar₂α being the vertical rotation period of the millimeter wave radar₁Is t₁α value of (g) α₂Is t₂α value of Times β₁Is t₁β value of (g) β₂Is t₂β value of time theta₁Is t₁Value of theta of time theta₂Is t₂The value of θ of time; t is₁＝2s，T₂2.4s, the sampling interval of the millimeter wave radar is 2 degrees/s;

a coordinate output subunit: the target space coordinate output after being corrected by the delay correction subunit is as follows:

$(x,y,z)=\left\{\begin{array}{c}x={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos \left({\mathrm{\λ}}_{\mathrm{\α}}\×\left(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\right)\right)\cos \left({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}}\right)\\ y={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\×\cos \left({\mathrm{\λ}}_{\mathrm{\α}}\×\left(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\right)\right)\sin \left({\mathrm{\λ}}_{\mathrm{\β}}\×\stackrel{\‾}{\mathrm{\β}}\right)\\ z={\mathrm{\λ}}_{\mathrm{\ρ}}\×\mathrm{\ρ}\sin \left({\mathrm{\λ}}_{\mathrm{\α}}\×\left(\stackrel{\‾}{\mathrm{\α}}+\stackrel{\‾}{\mathrm{\θ}}\right)\right)\end{array}\right.$

wherein, $\stackrel{\‾}{\mathrm{\α}}=\frac{{\mathrm{\α}}_1+{\mathrm{\α}}_2}{2},\stackrel{\‾}{\mathrm{\β}}=\frac{{\mathrm{\β}}_1+{\mathrm{\β}}_2}{2},\stackrel{\‾}{\mathrm{\θ}}=\frac{{\mathrm{\θ}}_1+{\mathrm{\θ}}_2}{2};$

the data processing unit further comprises a target RCS fluctuation characteristic measurement subunit, which is used for measuring the RCS sequence variation coefficient of the target:

for complex targets in the optical region, assuming that they consist of N scattering centers, the RCS of a multiple scattering center target is expressed as a function of the azimuth of the target:

$\mathrm{\σ}(\mathrm{\α}+\mathrm{\θ})=|\underset{i=1}{\overset{N}{\Σ}}\sqrt{{\mathrm{\σ}}_i}\exp (-\frac{4\mathrm{\π}}{\mathrm{\λ}}{R}_{i}cos(\mathrm{\α}+\mathrm{\θ}\left)\right){|}^2$

wherein σ_iDenotes an ith scattering center RCS, &lTtT transition = α "&gTt α &lTt/T &gTt + θ denotes an azimuth angle of a target with respect to a millimeter wave radar, R_iRepresenting the distance of the ith scattering center relative to the radar center; lambda is an artificially set parameter;

the RCS sequence coefficient of variation is then expressed as:where σ (k) represents the RCS value of the kth detected target, the RCS sequence mean