CN105652270B - A kind of automatic gate inhibition with identification function - Google Patents
A kind of automatic gate inhibition with identification function Download PDFInfo
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- CN105652270B CN105652270B CN201610089534.5A CN201610089534A CN105652270B CN 105652270 B CN105652270 B CN 105652270B CN 201610089534 A CN201610089534 A CN 201610089534A CN 105652270 B CN105652270 B CN 105652270B
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- 230000005764 inhibitory process Effects 0.000 title claims abstract description 50
- 238000012545 processing Methods 0.000 claims abstract description 31
- 230000001953 sensory effect Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 72
- 238000005259 measurement Methods 0.000 claims description 49
- 230000000694 effects Effects 0.000 claims description 32
- 230000033001 locomotion Effects 0.000 claims description 29
- 230000003111 delayed effect Effects 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 22
- 238000005070 sampling Methods 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 2
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 claims 1
- 230000007306 turnover Effects 0.000 claims 1
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- 238000012937 correction Methods 0.000 description 15
- 230000005611 electricity Effects 0.000 description 7
- 238000010276 construction Methods 0.000 description 6
- 230000002349 favourable effect Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 230000009977 dual effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
Abstract
The invention discloses a kind of automatic gate inhibition with identification function, including automatic gate inhibition and the millimetre-wave radar three-dimensional environment sensory perceptual system on automatic gate inhibition；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 automatic gate inhibition is simple and practical, can realize that objects in front identifies.
Description
Technical field
The present invention relates to gate inhibition field, and in particular to a kind of automatic gate inhibition with identification function.
Background technology
The major function of intelligent environment sensory perceptual system is to obtain surrounding enviroment information by sensor, and surrounding objects are carried out
Recognition and tracking (including dynamic and static-obstacle thing) etc..
Automatic gate inhibition, set intelligent environment sensory perceptual system comprehensive to improve its classification capacity, multifunction etc. thereon
It can be current inevitable development trend.But often there is perception dimension deficiency, computational accuracy not in present context aware systems
High, the problems such as real-time is not strong.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of automatic gate inhibition with identification function.
The purpose of the present invention is realized using following technical scheme：
A kind of automatic gate inhibition with identification function, including automatic gate inhibition and the millimetre-wave radar on automatic gate inhibition
Three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation mechanism, control list
Member and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotary shaft, and the first rotary shaft is vertical
Arrange and affixed with the center of rotating disk, first rotary shaft is rotated by the first driving stepper motor；By the second stepping electricity
Second rotation axis horizontal of machine driving rotation is sleeved in bearing block, and the bearing block is consolidated by 2 support shafts arranged vertically
Connect on the rotating pan；The midpoint of second rotary shaft is provided with connecting portion, the connecting portion perpendicular to the second rotary shaft and
It is integrally formed with the second rotary shaft, millimetre-wave radar is vertical with connecting portion affixed；Itself intrinsic scanning of the millimetre-wave radar
Plane is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is cut in the side of arrangement support shaft
Mouthful, the straight line parallel where otch is in the straight line where the second rotary shaft, and the distance of straight line where any support shaft and otch
Less than 50mm；First stepper motor and the second stepper motor are controlled by single-chip microcomputer, and single-chip microcomputer, which is used to receive, to be controlled
Order, and control command is converted into control signal and is sent to motor, while according to the initial position of device and two stepping electricity
The goniometer that machine turns over calculates the current location of rotation mechanism, and the current position state of rotation mechanism is fed back to
Data processing unit；The overall face forward under the drive of the first stepper motor of the rotation mechanism does the week of 180 ° of level
Phase back and forth movement, while millimetre-wave radar face forward under the drive of the second stepper motor does vertical 180 ° of cycle round fortune
It is dynamic；
Data processing unit includes data acquisition subelement, delay revise subelemen and coordinate output subelement；Data are adopted
Collection subelement receives its distance value ρ with target that millimetre-wave radar measurement obtains, while receives the vertical rotation of single-chip microcomputer transmission
Corner α and horizontal rotation angle beta, and itself scan angle theta of millimetre-wave radar；If laser radar is 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 thunder
It is negative up to α values when being horizontal lower section, β=0 ° when the second rotary shaft is vertical with direction immediately ahead of automatic gate inhibition, works as thunder
β is on the occasion of when radar is located at the left side of β=0 °, β is negative value during up to positioned at the right side of β=0 °；When millimetre-wave radar itself
θ=0 ° when scanning direction is vertical with plane where millimetre-wave radar, when itself scanning direction is located at the top of θ=0 °, θ is just
Value, when itself scanning direction is located at the lower section of θ=0 °, θ is 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 ripple two-way process, to be prolonged
Shi Xiaoying amendment, its modifying factor exported are：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical rotary correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Correcting module is rotated horizontally, for rotating horizontally angle beta carrying out that the effect that is delayed is directed in detections of radar ripple two-way process
The amendment answered, its modifying factor exportedWhen | 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 ripple is sent, t2The time returned for detections of radar ripple；|t1-t2| represent detections of radar ripple and travel to and fro between mesh
Time needed between mark and radar；T1For the horizontal rotation cycle 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, T2=2.4s, the sampling interval of millimetre-wave radar is 2 °/s；
Coordinate exports subelement：The object space coordinate exported after the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement subelement, for the RCS sequence variations system to target
Number measures：
Complex target for being in optical region, it is assumed that be made up of N number of scattering center, then multi-scattering centers target
RCS is expressed as the function of azimuth of target：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent 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) represents kth time detection
The RCS values of target, RCS serial means
This automatic gate inhibition's has the beneficial effect that：New millimetre-wave radar three-dimensional environment sensory perceptual system is devised, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts 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
Deng correcting module so that the coordinate setting function of radar is more accurate, and real-time is stronger；Give accurate coordinate calculating side
Method, provided the foundation to automatically control with control errors；For the Novel rotary mechanical device, employ new RCS and play volt
Property measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, more favourable to target identification；The parts such as rotating disk, rotary shaft
Size can flexibly choose as the case may be, the applicability for various different size of automatic gate inhibitions provides condition.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not form any limit to the present invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to the following drawings
Other accompanying drawings.
Fig. 1 is a kind of structured flowchart of the automatic gate inhibition with identification function；
Fig. 2 is the structural representation 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 structured flowchart of data processing unit.
Reference：Millimetre-wave radar -1；Rotating disk -2；First rotary shaft -3；Second rotary shaft -4；Bearing block -5；Branch
Support axle -6；Connecting portion -7；First stepper motor -8；Second stepper motor -9；Rotation mechanism -10；Control unit -11；Number
According to processing unit -12；Data acquisition subelement 13；Be delayed revise subelemen -14；Coordinate exports subelement -15；Otch -16；Mesh
Mark -17；Front -18.
Embodiment
The invention will be further described with the following Examples.
Embodiment 1：
A kind of automatic gate inhibition with identification function as Figure 1-4, including automatic gate inhibition and installed in automatic gate inhibition
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation
Mechanical device 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 includes the first rotary shaft 3, the and of rotating disk 2
Second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through first
The driving rotation of stepper motor 8；The horizontal set of the second rotary shaft 4 of rotation is driven in bearing block 5 by the second stepper motor 9, institute
Bearing block 5 is stated to be fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint of second rotary shaft 4 is set
There is connecting portion 7, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, and millimetre-wave radar 1 is with connecting
Socket part 7 is vertically affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 scans model perpendicular to the place plane of rotating disk 2
Angle is enclosed for ± 30 °；The rotating disk 2 has otch 16 in the side of arrangement support shaft 6, and the straight line parallel where otch 16 is in second
Straight line where rotary shaft 4, and any support shaft 6 and the distance of the place straight line of otch 16 are less than 50mm；The first stepping electricity
The stepper motor 9 of machine 8 and second is controlled by single-chip microcomputer, and single-chip microcomputer is used to receive control command, and control command is converted
Motor is sent to for control signal, while the goniometer turned over according to the initial position of device and two stepper motors calculates rotation
The current location of mechanical device, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；It is described
The overall face forward 18 under the drive of the first stepper motor 8 of rotation mechanism 10 does the cycle back and forth movement of 180 ° of level,
The face forward 20 under the drive of the second stepper motor 9 of millimetre-wave radar 1 does vertical 180 ° of cycle back and forth movement simultaneously；
As shown in figure 5, data processing unit 12 is defeated including data acquisition subelement 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition subelement 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta that single-chip microcomputer sends, and millimetre-wave radar 1 scan angle theta of itself are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set 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 is just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and automatically
β=0 ° when direction is vertical immediately ahead of gate inhibition, when millimetre-wave radar 1 is located at the right side of β=0 °, β is on the occasion of when millimetre-wave radar 1
β is negative value during positioned at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with the place plane of millimetre-wave radar 1
When θ=0 °, when itself scanning direction is located at the top of θ=0 ° θ be on the occasion of when itself scanning direction is located at the lower section of θ=0 °
When θ be negative value.The anglec of rotation β of the first rotary shaft 3 is the anglec of rotation of millimetre-wave radar 1 in the horizontal direction as shown in Figure 3.
Preferably, delay effect refers to, because the present apparatus is using the technical scheme of three dimensionality dual rotary, therefore in thunder
Up to detection ripple during be issued to return, the position of radar has occurred that certain skew, 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 fills with the detection of other fixed radars
Put different place, it is therefore necessary to introduce special 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
Value be directed to the amendment of delay effect in detections of radar ripple two-way process, and its modifying factor exported is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction motion of target point
, the actual value now measured is less than normal, therefore above formula uses positive sign, now λρ＞ 1, otherwise use negative sign, now 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 poor absolute value it is bigger, it is on the contrary then smaller.
Vertical rotary correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Correcting module is rotated horizontally, for rotating horizontally angle beta carrying out that the effect that is delayed is directed in detections of radar ripple two-way process
The amendment answered, its modifying factor exportedWhen | 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 to the detections of radar ripple of target 17, t2The time returned for detections of radar ripple, then | t1-t2| represent thunder
Time needed for being travelled to and fro between up to detection ripple 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 for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement 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 contrast, determines different target types.
Complex target for being in optical region, it is assumed that it is made up of N number of scattering center, can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for causing 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, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent 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) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is to complete the identification to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for automatic gate inhibition, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts 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
Deng correcting module so that the coordinate setting function of radar is more accurate, sets T1=2s, T2=2.4s, between the sampling of millimetre-wave radar
2 °/s is divided into, is realizing that measurement error is less than 1%, and measurement delay rate is less than 0.5%, and real-time while detection without dead angle
It is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；Made a connection for the novel rotary
Tool device, employ new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, to target identification
It is more favourable；The size of the parts such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of automatically-controlled doors
The applicability of taboo provides condition.
Embodiment 2：
A kind of automatic gate inhibition with identification function as Figure 1-4, including automatic gate inhibition and installed in automatic gate inhibition
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation
Mechanical device 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 includes the first rotary shaft 3, the and of rotating disk 2
Second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through first
The driving rotation of stepper motor 8；The horizontal set of the second rotary shaft 4 of rotation is driven in bearing block 5 by the second stepper motor 9, institute
Bearing block 5 is stated to be fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint of second rotary shaft 4 is set
There is connecting portion 7, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, and millimetre-wave radar 1 is with connecting
Socket part 7 is vertically affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 scans model perpendicular to the place plane of rotating disk 2
Angle is enclosed for ± 30 °；The rotating disk 2 has otch 16 in the side of arrangement support shaft 6, and the straight line parallel where otch 16 is in second
Straight line where rotary shaft 4, and any support shaft 6 and the distance of the place straight line of otch 16 are less than 50mm；The first stepping electricity
The stepper motor 9 of machine 8 and second is controlled by single-chip microcomputer, and single-chip microcomputer is used to receive control command, and control command is converted
Motor is sent to for control signal, while the goniometer turned over according to the initial position of device and two stepper motors calculates rotation
The current location of mechanical device, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；It is described
The overall face forward 18 under the drive of the first stepper motor 8 of rotation mechanism 10 does the cycle back and forth movement of 180 ° of level,
The face forward 20 under the drive of the second stepper motor 9 of millimetre-wave radar 1 does vertical 180 ° of cycle back and forth movement simultaneously；
As shown in figure 5, data processing unit 12 is defeated including data acquisition subelement 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition subelement 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta that single-chip microcomputer sends, and millimetre-wave radar 1 scan angle theta of itself are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set 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 is just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and automatically
β=0 ° when direction is vertical immediately ahead of gate inhibition, when millimetre-wave radar 1 is located at the right side of β=0 °, β is on the occasion of when millimetre-wave radar 1
β is negative value during positioned at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with the place plane of millimetre-wave radar 1
When θ=0 °, when itself scanning direction is located at the top of θ=0 ° θ be on the occasion of when itself scanning direction is located at the lower section of θ=0 °
When θ be negative value.The anglec of rotation β of the first rotary shaft 3 is the anglec of rotation of millimetre-wave radar 1 in the horizontal direction as shown in Figure 3.
Preferably, delay effect refers to, because the present apparatus is using the technical scheme of three dimensionality dual rotary, therefore in thunder
Up to detection ripple during be issued to return, the position of radar has occurred that certain skew, 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 fills with the detection of other fixed radars
Put different place, it is therefore necessary to introduce special 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
Value be directed to the amendment of delay effect in detections of radar ripple two-way process, and its modifying factor exported is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction motion of target point
, the actual value now measured is less than normal, therefore above formula uses positive sign, now λρ＞ 1, otherwise use negative sign, now 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 poor absolute value it is bigger, it is on the contrary then smaller.
Vertical rotary correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Correcting module is rotated horizontally, for rotating horizontally angle beta carrying out that the effect that is delayed is directed in detections of radar ripple two-way process
The amendment answered, its modifying factor exportedWhen | 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 ripple 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 to the detections of radar ripple of target 17, t2The time returned for detections of radar ripple, then | t1-t2| represent
Detections of radar ripple 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 for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement 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 contrast, determines different target types.
Complex target for being in optical region, it is assumed that it is made up of N number of scattering center, can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for causing 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, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent 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) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is to complete the identification to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for automatic gate inhibition, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts 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
Deng correcting module so that the coordinate setting function of radar is more accurate, sets T1=2.2s, T2=2.6s, the sampling of millimetre-wave radar
At intervals of 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 to automatically control with control errors；It is new for this
Rotation mechanism, employ new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more favourable；The size of the parts such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of automatic gate inhibition provides condition.
Embodiment 3：
A kind of automatic gate inhibition with identification function as Figure 1-4, including automatic gate inhibition and installed in automatic gate inhibition
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation
Mechanical device 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 includes the first rotary shaft 3, the and of rotating disk 2
Second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through first
The driving rotation of stepper motor 8；The horizontal set of the second rotary shaft 4 of rotation is driven in bearing block 5 by the second stepper motor 9, institute
Bearing block 5 is stated to be fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint of second rotary shaft 4 is set
There is connecting portion 7, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, and millimetre-wave radar 1 is with connecting
Socket part 7 is vertically affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 scans model perpendicular to the place plane of rotating disk 2
Angle is enclosed for ± 30 °；The rotating disk 2 has otch 16 in the side of arrangement support shaft 6, and the straight line parallel where otch 16 is in second
Straight line where rotary shaft 4, and any support shaft 6 and the distance of the place straight line of otch 16 are less than 50mm；The first stepping electricity
The stepper motor 9 of machine 8 and second is controlled by single-chip microcomputer, and single-chip microcomputer is used to receive control command, and control command is converted
Motor is sent to for control signal, while the goniometer turned over according to the initial position of device and two stepper motors calculates rotation
The current location of mechanical device, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；It is described
The overall face forward 18 under the drive of the first stepper motor 8 of rotation mechanism 10 does the cycle back and forth movement of 180 ° of level,
The face forward 20 under the drive of the second stepper motor 9 of millimetre-wave radar 1 does vertical 180 ° of cycle back and forth movement simultaneously；
As shown in figure 5, data processing unit 12 is defeated including data acquisition subelement 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition subelement 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta that single-chip microcomputer sends, and millimetre-wave radar 1 scan angle theta of itself are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set 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 is just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and automatically
β=0 ° when direction is vertical immediately ahead of gate inhibition, when millimetre-wave radar 1 is located at the right side of β=0 °, β is on the occasion of when millimetre-wave radar 1
β is negative value during positioned at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with the place plane of millimetre-wave radar 1
When θ=0 °, when itself scanning direction is located at the top of θ=0 ° θ be on the occasion of when itself scanning direction is located at the lower section of θ=0 °
When θ be negative value.The anglec of rotation β of the first rotary shaft 3 is the anglec of rotation of millimetre-wave radar 1 in the horizontal direction as shown in Figure 3.
Preferably, delay effect refers to, because the present apparatus is using the technical scheme of three dimensionality dual rotary, therefore in thunder
Up to detection ripple during be issued to return, the position of radar has occurred that certain skew, 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 fills with the detection of other fixed radars
Put different place, it is therefore necessary to introduce special 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
Value be directed to the amendment of delay effect in detections of radar ripple two-way process, and its modifying factor exported is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction motion of target point
, the actual value now measured is less than normal, therefore above formula uses positive sign, now λρ＞ 1, otherwise use negative sign, now 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 poor absolute value it is bigger, it is on the contrary then smaller.
Vertical rotary correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Correcting module is rotated horizontally, for rotating horizontally angle beta carrying out that the effect that is delayed is directed in detections of radar ripple two-way process
The amendment answered, its modifying factor exportedWhen | 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 to the detections of radar ripple of target 17, t2The time returned for detections of radar ripple, then | t1-t2| represent thunder
Time needed for being travelled to and fro between up to detection ripple 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 for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement 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 contrast, determines different target types.
Complex target for being in optical region, it is assumed that it is made up of N number of scattering center, can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for causing 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, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent 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) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is to complete the identification to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for automatic gate inhibition, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts 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
Deng correcting module so that the coordinate setting function of radar is more accurate, sets T1=2.4s, T2=2.7s, the sampling of millimetre-wave radar
At intervals of 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 to automatically control with control errors；It is new for this
Rotation mechanism, employ new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more favourable；The size of the parts such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of automatic gate inhibition provides condition.
Embodiment 4：
A kind of automatic gate inhibition with identification function as Figure 1-4, including automatic gate inhibition and installed in automatic gate inhibition
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation
Mechanical device 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 includes the first rotary shaft 3, the and of rotating disk 2
Second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through first
The driving rotation of stepper motor 8；The horizontal set of the second rotary shaft 4 of rotation is driven in bearing block 5 by the second stepper motor 9, institute
Bearing block 5 is stated to be fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint of second rotary shaft 4 is set
There is connecting portion 7, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, and millimetre-wave radar 1 is with connecting
Socket part 7 is vertically affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 scans model perpendicular to the place plane of rotating disk 2
Angle is enclosed for ± 30 °；The rotating disk 2 has otch 16 in the side of arrangement support shaft 6, and the straight line parallel where otch 16 is in second
Straight line where rotary shaft 4, and any support shaft 6 and the distance of the place straight line of otch 16 are less than 50mm；The first stepping electricity
The stepper motor 9 of machine 8 and second is controlled by single-chip microcomputer, and single-chip microcomputer is used to receive control command, and control command is converted
Motor is sent to for control signal, while the goniometer turned over according to the initial position of device and two stepper motors calculates rotation
The current location of mechanical device, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；It is described
The overall face forward 18 under the drive of the first stepper motor 8 of rotation mechanism 10 does the cycle back and forth movement of 180 ° of level,
The face forward 20 under the drive of the second stepper motor 9 of millimetre-wave radar 1 does vertical 180 ° of cycle back and forth movement simultaneously；
As shown in figure 5, data processing unit 12 is defeated including data acquisition subelement 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition subelement 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta that single-chip microcomputer sends, and millimetre-wave radar 1 scan angle theta of itself are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set 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 is just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and automatically
β=0 ° when direction is vertical immediately ahead of gate inhibition, when millimetre-wave radar 1 is located at the right side of β=0 °, β is on the occasion of when millimetre-wave radar 1
β is negative value during positioned at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with the place plane of millimetre-wave radar 1
When θ=0 °, when itself scanning direction is located at the top of θ=0 ° θ be on the occasion of when itself scanning direction is located at the lower section of θ=0 °
When θ be negative value.The anglec of rotation β of the first rotary shaft 3 is the anglec of rotation of millimetre-wave radar 1 in the horizontal direction as shown in Figure 3.
Preferably, delay effect refers to, because the present apparatus is using the technical scheme of three dimensionality dual rotary, therefore in thunder
Up to detection ripple during be issued to return, the position of radar has occurred that certain skew, 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 fills with the detection of other fixed radars
Put different place, it is therefore necessary to introduce special 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
Value be directed to the amendment of delay effect in detections of radar ripple two-way process, and its modifying factor exported is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction motion of target point
, the actual value now measured is less than normal, therefore above formula uses positive sign, now λρ＞ 1, otherwise use negative sign, now 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 poor absolute value it is bigger, it is on the contrary then smaller.
Vertical rotary correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Correcting module is rotated horizontally, for rotating horizontally angle beta carrying out that the effect that is delayed is directed in detections of radar ripple two-way process
The amendment answered, its modifying factor exportedWhen | 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 to the detections of radar ripple of target 17, t2The time returned for detections of radar ripple, then | t1-t2| represent thunder
Time needed for being travelled to and fro between up to detection ripple 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 for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement 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 contrast, determines different target types.
Complex target for being in optical region, it is assumed that it is made up of N number of scattering center, can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for causing 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, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent 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) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is to complete the identification to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for automatic gate inhibition, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts 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
Deng correcting module so that the coordinate setting function of radar is more accurate, sets T1=2.5s, T2=2.8s, the sampling of millimetre-wave radar
At intervals of 1.3 °/s.Realizing that measurement error is less than 0.6% while detection without dead angle, measuring delay rate less than 0.3%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；It is new for this
Rotation mechanism, employ new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more favourable；The size of the parts such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of automatic gate inhibition provides condition.
Embodiment 5：
A kind of automatic gate inhibition with identification function as Figure 1-4, including automatic gate inhibition and installed in automatic gate inhibition
On millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar 1, rotation
Mechanical device 10, control unit 11 and data processing unit 12；Rotation mechanism bag 10 includes the first rotary shaft 3, the and of rotating disk 2
Second rotary shaft 4, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through first
The driving rotation of stepper motor 8；The horizontal set of the second rotary shaft 4 of rotation is driven in bearing block 5 by the second stepper motor 9, institute
Bearing block 5 is stated to be fixed in rotating disk 2 by 2 support shafts arranged vertically 6；The midpoint of second rotary shaft 4 is set
There is connecting portion 7, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, and millimetre-wave radar 1 is with connecting
Socket part 7 is vertically affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 scans model perpendicular to the place plane of rotating disk 2
Angle is enclosed for ± 30 °；The rotating disk 2 has otch 16 in the side of arrangement support shaft 6, and the straight line parallel where otch 16 is in second
Straight line where rotary shaft 4, and any support shaft 6 and the distance of the place straight line of otch 16 are less than 50mm；The first stepping electricity
The stepper motor 9 of machine 8 and second is controlled by single-chip microcomputer, and single-chip microcomputer is used to receive control command, and control command is converted
Motor is sent to for control signal, while the goniometer turned over according to the initial position of device and two stepper motors calculates rotation
The current location of mechanical device, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；It is described
The overall face forward 18 under the drive of the first stepper motor 8 of rotation mechanism 10 does the cycle back and forth movement of 180 ° of level,
The face forward 20 under the drive of the second stepper motor 9 of millimetre-wave radar 1 does vertical 180 ° of cycle back and forth movement simultaneously；
As shown in figure 5, data processing unit 12 is defeated including data acquisition subelement 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition subelement 13 receives millimetre-wave radar 1 and measures its obtained distance value ρ with target, connects simultaneously
The vertical rotary angle α and rotate horizontally angle beta that single-chip microcomputer sends, and millimetre-wave radar 1 scan angle theta of itself are received, so as to obtain
The position of complete millimetre-wave radar data and the plane of scanning motion；As shown in figure 5, set 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 is just, α values are negative when millimetre-wave radar 1 is horizontal lower section when prosposition puts top；When the second rotary shaft 4 and automatically
β=0 ° when direction is vertical immediately ahead of gate inhibition, when millimetre-wave radar 1 is located at the right side of β=0 °, β is on the occasion of when millimetre-wave radar 1
β is negative value during positioned at the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with the place plane of millimetre-wave radar 1
When θ=0 °, when itself scanning direction is located at the top of θ=0 ° θ be on the occasion of when itself scanning direction is located at the lower section of θ=0 °
When θ be negative value.The anglec of rotation β of the first rotary shaft 3 is the anglec of rotation of millimetre-wave radar 1 in the horizontal direction as shown in Figure 3.
Preferably, delay effect refers to, because the present apparatus is using the technical scheme of three dimensionality dual rotary, therefore in thunder
Up to detection ripple during be issued to return, the position of radar has occurred that certain skew, 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 fills with the detection of other fixed radars
Put different place, it is therefore necessary to introduce special 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
Value be directed to the amendment of delay effect in detections of radar ripple two-way process, and its modifying factor exported is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction motion of target point
, the actual value now measured is less than normal, therefore above formula uses positive sign, now λρ＞ 1, otherwise use negative sign, now 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 poor absolute value it is bigger, it is on the contrary then smaller.
Vertical rotary correcting module, imitated for be directed to being delayed in detections of radar ripple two-way process to vertical rotary angle α
The amendment answered, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise
Take negative sign；
Correcting module is rotated horizontally, for rotating horizontally angle beta carrying out that the effect that is delayed is directed in detections of radar ripple two-way process
The amendment answered, its modifying factor exportedWhen | 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 to the detections of radar ripple of target 17, t2The time returned for detections of radar ripple, then | t1-t2| represent thunder
Time needed for being travelled to and fro between up to detection ripple 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 for 2 °/
s。
Coordinate exports subelement 15：The object space coordinate exported after the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement 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 contrast, determines different target types.
Complex target for being in optical region, it is assumed that it is made up of N number of scattering center, can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, due to sight of each scattering center with respect to radar
Angle is different so that in Vector modulation, respective relative phase changes the fluctuations for causing 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, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent 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) represents kth time detection
The RCS values of target, RCS serial meansSequence variations coefficient and azimuth are inputted as characteristic parameter
Target identification system is to complete the identification to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for automatic gate inhibition, so as to realize
180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in construction, strong antijamming capability；Profit
Other parts 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
Deng correcting module 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, realizing that measurement error is less than 0.5%, and measurement delay rate is less than 0.2% while detection without dead angle, and in real time
Property is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；For the Novel rotary
Mechanical device, employ new RCS fluctuation characteristic measurement apparatus so that the measurement of the RCS coefficient of variation is more accurate, and target is known
Not it is more favourable；The size of the parts such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of automatic
The applicability of gate inhibition provides condition.
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 scope is protected, although being explained with reference to preferred embodiment to the present invention, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent substitution, without departing from the reality of technical solution of the present invention
Matter and scope.
Claims (1)
1. a kind of automatic gate inhibition with identification function, it is characterized in that, including automatic gate inhibition and the milli on automatic gate inhibition
Metre wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotating machinery fills
Put, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotary shaft, and first
Rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft is rotated by the first driving stepper motor；By
Second rotation axis horizontal of the second driving stepper motor 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 connecting portion, and the connecting portion is perpendicular to
Two rotary shafts and it is integrally formed with the second rotary shaft, millimetre-wave radar is vertical with connecting portion 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 otch, the straight line parallel where otch in the straight line where the second rotary shaft, and any support shaft with where otch
The distance of straight line is less than 50mm；First stepper motor and the second stepper motor are controlled by single-chip microcomputer, and single-chip microcomputer is used
In receiving control command, and control command is converted into control signal and is sent to motor, at the same according to the initial position of device and
The 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 overall face forward under the drive of the first stepper motor of the rotation mechanism does water
Flat 180 ° cycle back and forth movement, while millimetre-wave radar face forward under the drive of the second stepper motor does vertical 180 °
Cycle back and forth movement；Data processing unit includes data acquisition subelement, delay revise subelemen and coordinate output subelement；Number
Its distance value ρ with target obtained according to collection subelement reception millimetre-wave radar measurement, while receive hanging down for single-chip microcomputer transmission
Straight rotation angle α and horizontal rotation angle beta, and itself scan angle theta of millimetre-wave radar；If reading of the millimetre-wave radar to a certain target
Number is (ρ, α, β, θ), and is defined：α=0 ° when radar is horizontal, when radar is horizontal top, α values are
Just, α values are negative when radar is horizontal lower section, β=0 ° when the second rotary shaft is vertical with direction immediately ahead of automatic gate inhibition,
When radar is located at the right side of β=0 °, β is on the occasion of when radar is located at the left side of β=0 °, β is negative value；When millimetre-wave radar
θ=0 ° when itself scanning direction is vertical with plane where millimetre-wave radar, the θ when itself scanning direction is located at the top of θ=0 °
For on the occasion of when itself scanning direction is located at the lower section of θ=0 °, θ is negative value；
The delay revise subelemen includes range measurement correcting module, horizontal sweep correcting module and vertical scanning amendment mould
Block：Range measurement correcting module, the measured value for the value ρ that adjusts the distance carry out being directed to delay effect in detections of radar ripple two-way process
Amendment, its export modifying factor be：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for be directed to delay effect in detections of radar ripple two-way process to vertical rotary angle α
Amendment, its modifying factor exportedWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes negative
Number；
Horizontal sweep correcting module, for be directed to delay effect in detections of radar ripple two-way process to rotating horizontally angle beta
Amendment, its modifying factor exportedWhen | 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 ripple is sent, t2The time returned for detections of radar ripple；|t1-t2| represent detections of radar ripple travel to and fro between target and
Time needed between radar；T1For the horizontal rotation cycle 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, T2=2.4s, the sampling interval of millimetre-wave radar is 2 °/s；
Coordinate exports subelement：The object space coordinate exported after the revise subelemen amendment that is delayed is：
Wherein,
Data processing unit also includes target RCS fluctuation characteristics measurement subelement, for entering to the RCS sequence variations coefficients of target
Row measurement：
Complex target for being in optical region, it is assumed that be made up 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, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiRepresent 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) represents kth time detection target
RCS values, RCS serial means
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