CN105730649B - A kind of means of water transport with environment sensing ability - Google Patents
A kind of means of water transport with environment sensing ability Download PDFInfo
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- CN105730649B CN105730649B CN201610089535.XA CN201610089535A CN105730649B CN 105730649 B CN105730649 B CN 105730649B CN 201610089535 A CN201610089535 A CN 201610089535A CN 105730649 B CN105730649 B CN 105730649B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 31
- 230000001953 sensory effect Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 72
- 238000005259 measurement Methods 0.000 claims description 32
- 230000000694 effects Effects 0.000 claims description 31
- 230000033001 locomotion Effects 0.000 claims description 31
- 230000003111 delayed effect Effects 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 22
- 238000006243 chemical reaction Methods 0.000 claims description 14
- 238000005070 sampling Methods 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000012937 correction Methods 0.000 description 15
- 230000004888 barrier function Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 238000012512 characterization method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000009977 dual effect Effects 0.000 description 5
- 230000000644 propagated effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000005855 radiation Effects 0.000 description 1
- 238000009331 sowing Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
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Abstract
The invention discloses a kind of means of water transport with environment sensing ability, the millimetre-wave radar three-dimensional environment sensory perceptual system including cargo ship and on cargo ship；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 means of water transport is simple and practical in structure, can realize that front is scanned without dead angle and cover, and has many advantages, such as that control is accurate, setting accuracy is high, real-time is good.
Description
Technical field
The present invention relates to water transportation fields, and in particular to a kind of means of water transport with environment sensing ability.
Background technology
Water transportation has many advantages, such as that handling capacity reaches, and traditional cargo ship does not have environment sensing ability, the dependence to people
Property is big, and uncertain factor is more during navigation.
The major function of intelligent environment sensory perceptual system is to obtain ship and environmental information, specially ship by sensor
Pose and state information acquisition, ship peripheral obstacle recognition and tracking (including dynamic and static-obstacle thing, such as ship
Only, reef etc.) and the ship traveling water surface traffic analysis etc..
Means of water transport refers mainly to cargo ship as a kind of public mobility service equipment, and setting is intelligent on it
Context aware systems are current inevitable development trends to improve the comprehensive performances such as its safety, multifunction.But present ring
Border sensory perceptual system, which often exists, perceives the problems such as dimension is insufficient, computational accuracy is not high, real-time is not strong.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of means of water transport with environment sensing ability.
The purpose of the present invention is realized using following technical scheme：
A kind of means of water transport with environment sensing ability, the millimeter wave including cargo ship and on cargo ship
Radar three-dimensional context aware systems；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, rotation mechanism, control
Unit and data processing unit processed；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotary shaft, the first rotary shaft
It arranges vertically and affixed with the center of rotating disk, first rotary shaft passes through the first stepper motor and drives rotation；By second step
Second rotation axis horizontal of stepper motor driving rotation is sleeved in bearing block, the support that the bearing block is arranged vertically by 2
Axis is affixed on the rotating pan；The midpoint of second rotary shaft is provided with connecting portion, and the connecting portion is perpendicular to the second rotation
It axis and is integrally formed with the second rotary shaft, millimetre-wave radar is vertical with connecting portion affixed；The millimetre-wave radar itself is intrinsic
The plane of scanning motion is perpendicular to plane where rotating disk, and scanning range angle is ± 30 °；The rotating disk is in the side of arrangement support shaft
There is notch, the straight line parallel where notch is in the straight line where the second rotary shaft, and any support shaft and straight line where notch
Distance is less than 50mm；First stepper motor and the second stepper motor are controlled by microcontroller, and microcontroller is used to receive
Control command, and signal is sent to motor in order to control, while is walked according to the initial position of device and two by control command conversion
The goniometer that stepper motor turns over calculates the current location of rotation mechanism, and the current position state of rotation mechanism is anti-
It feeds data processing unit；The rotation mechanism is integrally done under the drive of the first stepper motor towards ship direction of advance
The period back and forth movement of 180 ° of level, while millimetre-wave radar is done under the drive of the second stepper motor towards ship direction of advance
Vertical 180 ° of period back and forth movement；
Data processing unit includes data acquisition unit, 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 microcontroller transmission
Corner α and horizontal rotation angle beta and itself scan angle theta of millimetre-wave radar；If millimetre-wave radar is to the reading of a certain target
(ρ, α, β, θ), and define：α=0 ° when radar is horizontal, α values is just when radar is horizontal top, thunder
Be negative up to α values when being horizontal lower section, radar is worked as in β=0 ° when the second rotary shaft and cargo ship front direction are vertical
β is positive value during positioned at the right side of β=0 °, and β is negative value when radar is located at the left side of β=0 °；When itself sweeping for millimetre-wave radar
θ=0 ° when plane where retouching direction and millimetre-wave radar is vertical, θ is positive value when itself scanning direction is located at the top of θ=0 °,
θ is negative value when itself scanning direction is located at the lower section of θ=0 °；
Preferably, delay revise subelemen includes range measurement correcting module, horizontal sweep correcting module and vertical scanning
Correcting module：Range measurement correcting module is carried out for the measured value for the value ρ that adjusts the distance for prolonging in detections of radar wave two-way process
The amendment of Shi Xiaoying, the modifying factor of output are：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar, and ρ≤m；For reaction detection target and millimeter wave thunder
Influence of the distance to delay effect between reaching, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target
The time that detections of radar wave is sent out, t2The time returned for detections of radar wave；|t1-t2| it represents detections of radar wave and travels to and fro between mesh
Time needed between mark and radar；T1For the horizontal rotation period of millimetre-wave radar, T2Vertical revolution for 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 being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then multi-scattering centers targets
RCS is expressed as the function of azimuth of target：
Wherein, 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 means of water transport has the beneficial effect that：New millimetre-wave radar three-dimensional environment sensory perceptual system is devised, so as to
Realize that 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, antijamming capability
By force；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation thunder
Up to the characteristics of system and delay effect devises range measurement correcting module, horizontal sweep correcting module, vertical scanning amendment
The correcting modules such as module so that the coordinate setting function of radar is more accurate, and real-time is stronger；Accurate coordinate is given to calculate
Method provides the foundation to automatically control with control errors；For the Novel rotary mechanical device, employ new RCS and rise and fall
Characteristic measuring device so that the measurement of the RCS coefficient of variation is more accurate, more advantageous to target identification；The portions such as rotating disk, rotary shaft
The size of part can flexibly be chosen as the case may be, and the applicability for various different size of means of water transport provides item
Part；Replace traditional light wave radar with millimetre-wave radar, attenuation when being propagated using atmospheric window is small, by natural light and heat radiation
Source influence is small, can carry out effectively identification and avoiding barrier to the water surface under atrocious weather situation, be provided to drive safely
Reliable guarantee has the superiority such as high resolution, high-precision, miniature antenna bore.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not form any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is a kind of structure diagram of the means of water transport with environment sensing ability；
Fig. 2 is the structure diagram of rotation mechanism；
Fig. 3 is millimetre-wave radar itself scanning schematic diagram；
Schematic diagram when Fig. 4 is detections of radar target；
Fig. 5 is the structure diagram of data processing unit.
Reference numeral：Millimetre-wave radar -1；Rotating disk -2；First rotary shaft -3；Second rotary shaft -4；Bearing block -5；Branch
Support axis -6；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 unit 13；Be delayed revise subelemen -14；Coordinate exports subelement -15；Notch -16；Mesh
Mark -17；Ship direction of advance -18.
Specific embodiment
The invention will be further described with the following Examples.
Embodiment 1：
A kind of means of water transport with environment sensing ability as shown in Figs 1-4, including cargo ship and mounted on fortune
Millimetre-wave radar three-dimensional environment sensory perceptual system on defeated ship；Millimetre-wave radar three-dimensional environment sensory perceptual system include millimetre-wave radar 1,
Rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft 3, rotation
2 and second rotary shaft 4 of disk, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through
The driving rotation of first stepper motor 8；4 horizontal set of the second rotary shaft of rotation is driven in bearing block 5 by the second stepper motor 9
Interior, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；The midpoint of second rotary shaft 4
Connecting portion 7 is provided with, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimetre-wave radar 1
It is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is swept perpendicular to 2 place plane of rotating disk
It is ± 30 ° to retouch range angle；The rotating disk 2 has a notch 16 in the side of arrangement support shaft 6, the straight line parallel where notch 16 in
Straight line where second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；The first step
8 and second stepper motor 9 of stepper motor is controlled by microcontroller, and microcontroller is for receiving control command, and by control command
Signal is sent to motor, while calculate according to the goniometer that the initial position of device and two stepper motors turn in order to control for conversion
The current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；
The whole week for doing 180 ° of level towards ship direction of advance 18 under the drive of the first stepper motor 8 of rotation mechanism 10
Phase back and forth movement, while millimetre-wave radar 1 does vertical 180 ° under the drive of the second stepper motor 9 towards ship direction of advance 20
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 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 and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends 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 for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are 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 transport
β=0 ° when right ahead direction is vertical, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for 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 being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, 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 leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, 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 the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for means of water transport, so as to
Realize that 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, antijamming capability
By force；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation thunder
Up to the characteristics of system and delay effect devises range measurement correcting module, horizontal sweep correcting module, vertical scanning amendment
The correcting modules such as module so that the coordinate setting function of radar is more accurate, sets T1=2s, T2=2.4s, millimetre-wave radar are adopted
2 °/s is divided between sample, is realizing that measurement error is less than 1% while detection without dead angle, is measuring delay rate and be less than 0.5%, and real
When property is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；For the novel rotary
Turn mechanical device, employ new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to target
Identification is more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of water
The applicability of upper transport device provides condition；Replace traditional light wave radar with millimetre-wave radar, propagated using atmospheric window
When attenuation it is small, influenced small, the water surface can effectively be identified under atrocious weather situation by natural light and infrared source
And avoiding barrier, reliable guarantee is provided for safety traffic, there are the superiority such as high resolution, high-precision, miniature antenna bore, take
Obtained unexpected effect.
Embodiment 2：
A kind of means of water transport with environment sensing ability as shown in Figs 1-4, including cargo ship and mounted on fortune
Millimetre-wave radar three-dimensional environment sensory perceptual system on defeated ship；Millimetre-wave radar three-dimensional environment sensory perceptual system include millimetre-wave radar 1,
Rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft 3, rotation
2 and second rotary shaft 4 of disk, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through
The driving rotation of first stepper motor 8；4 horizontal set of the second rotary shaft of rotation is driven in bearing block 5 by the second stepper motor 9
Interior, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；The midpoint of second rotary shaft 4
Connecting portion 7 is provided with, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimetre-wave radar 1
It is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is swept perpendicular to 2 place plane of rotating disk
It is ± 30 ° to retouch range angle；The rotating disk 2 has a notch 16 in the side of arrangement support shaft 6, the straight line parallel where notch 16 in
Straight line where second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；The first step
8 and second stepper motor 9 of stepper motor is controlled by microcontroller, and microcontroller is for receiving control command, and by control command
Signal is sent to motor, while calculate according to the goniometer that the initial position of device and two stepper motors turn in order to control for conversion
The current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；
The whole week for doing 180 ° of level towards ship direction of advance 18 under the drive of the first stepper motor 8 of rotation mechanism 10
Phase back and forth movement, while millimetre-wave radar 1 does vertical 180 ° under the drive of the second stepper motor 9 towards ship direction of advance 20
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 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 and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends 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 for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are 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 transport
β=0 ° when right ahead direction is vertical, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for 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 being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, 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 leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, 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 the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for means of water transport, so as to
Realize that 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, antijamming capability
By force；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation thunder
Up to the characteristics of system and delay effect devises range measurement correcting module, horizontal sweep correcting module, vertical scanning amendment
The correcting modules such as module so that the coordinate setting function of radar is more accurate, sets T1=2.2s, T2=2.6s, millimetre-wave radar
Sampling interval is 1.5 °/s, is realizing that measurement error is less than 0.8% while detection without dead angle, is measuring delay rate and be 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；Needle
To the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are employed so that the measurement of the RCS coefficient of variation is more
Precisely, it is more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various
The applicability of different size of means of water transport provides condition；Replace traditional light wave radar with millimetre-wave radar, utilize
Atmospheric window propagate when attenuation it is small, influenced by natural light and infrared source it is small, can be under atrocious weather situation to the water surface
Effectively identification and avoiding barrier are carried out, reliable guarantee is provided for safety traffic, there is high resolution, high-precision, miniature antenna mouth
The superiority such as diameter achieve unexpected effect.
Embodiment 3：
A kind of means of water transport with environment sensing ability as shown in Figs 1-4, including cargo ship and mounted on fortune
Millimetre-wave radar three-dimensional environment sensory perceptual system on defeated ship；Millimetre-wave radar three-dimensional environment sensory perceptual system include millimetre-wave radar 1,
Rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft 3, rotation
2 and second rotary shaft 4 of disk, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through
The driving rotation of first stepper motor 8；4 horizontal set of the second rotary shaft of rotation is driven in bearing block 5 by the second stepper motor 9
Interior, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；The midpoint of second rotary shaft 4
Connecting portion 7 is provided with, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimetre-wave radar 1
It is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is swept perpendicular to 2 place plane of rotating disk
It is ± 30 ° to retouch range angle；The rotating disk 2 has a notch 16 in the side of arrangement support shaft 6, the straight line parallel where notch 16 in
Straight line where second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；The first step
8 and second stepper motor 9 of stepper motor is controlled by microcontroller, and microcontroller is for receiving control command, and by control command
Signal is sent to motor, while calculate according to the goniometer that the initial position of device and two stepper motors turn in order to control for conversion
The current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；
The whole week for doing 180 ° of level towards ship direction of advance 18 under the drive of the first stepper motor 8 of rotation mechanism 10
Phase back and forth movement, while millimetre-wave radar 1 does vertical 180 ° under the drive of the second stepper motor 9 towards ship direction of advance 20
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 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 and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends 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 for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are 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 transport
β=0 ° when right ahead direction is vertical, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for 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 being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, 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 leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, 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 the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for means of water transport, so as to
Realize that 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, antijamming capability
By force；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation thunder
Up to the characteristics of system and delay effect devises range measurement correcting module, horizontal sweep correcting module, vertical scanning amendment
The correcting modules such as module so that the coordinate setting function of radar is more accurate, sets T1=2.4s, T2=2.7s, millimetre-wave radar
Sampling interval is 1.8 °/s, is realizing that measurement error is less than 0.7% while detection without dead angle, is measuring delay rate and be 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；Needle
To the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are employed so that the measurement of the RCS coefficient of variation is more
Precisely, it is more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various
The applicability of different size of means of water transport provides condition；Replace traditional light wave radar with millimetre-wave radar, utilize
Atmospheric window propagate when attenuation it is small, influenced by natural light and infrared source it is small, can be under atrocious weather situation to the water surface
Effectively identification and avoiding barrier are carried out, reliable guarantee is provided for safety traffic, there is high resolution, high-precision, miniature antenna mouth
The superiority such as diameter achieve unexpected effect.
Embodiment 4：
A kind of means of water transport with environment sensing ability as shown in Figs 1-4, including cargo ship and mounted on fortune
Millimetre-wave radar three-dimensional environment sensory perceptual system on defeated ship；Millimetre-wave radar three-dimensional environment sensory perceptual system include millimetre-wave radar 1,
Rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft 3, rotation
2 and second rotary shaft 4 of disk, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through
The driving rotation of first stepper motor 8；4 horizontal set of the second rotary shaft of rotation is driven in bearing block 5 by the second stepper motor 9
Interior, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；The midpoint of second rotary shaft 4
Connecting portion 7 is provided with, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimetre-wave radar 1
It is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is swept perpendicular to 2 place plane of rotating disk
It is ± 30 ° to retouch range angle；The rotating disk 2 has a notch 16 in the side of arrangement support shaft 6, the straight line parallel where notch 16 in
Straight line where second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；The first step
8 and second stepper motor 9 of stepper motor is controlled by microcontroller, and microcontroller is for receiving control command, and by control command
Signal is sent to motor, while calculate according to the goniometer that the initial position of device and two stepper motors turn in order to control for conversion
The current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；
The whole week for doing 180 ° of level towards ship direction of advance 18 under the drive of the first stepper motor 8 of rotation mechanism 10
Phase back and forth movement, while millimetre-wave radar 1 does vertical 180 ° under the drive of the second stepper motor 9 towards ship direction of advance 20
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 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 and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends 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 for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are 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 transport
β=0 ° when right ahead direction is vertical, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter
Influence of the distance to delay effect between wave radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay get over
Greatly；t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| it represents
Detections of radar wave travels to and fro between the time required between target 17 and millimetre-wave radar 1；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for 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 being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, 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 leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, 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 the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for means of water transport, so as to
Realize that 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, antijamming capability
By force；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation thunder
Up to the characteristics of system and delay effect devises range measurement correcting module, horizontal sweep correcting module, vertical scanning amendment
The correcting modules such as module so that the coordinate setting function of radar is more accurate, sets T1=2.5s, T2=2.8s, millimetre-wave radar
Sampling interval is 1.3 °/s.It is realizing that measurement error is less than 0.6% while detection without dead angle, is measuring delay rate and be 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；Needle
To the Novel rotary mechanical device, new RCS fluctuation characteristic measuring devices are employed so that the measurement of the RCS coefficient of variation is more
Precisely, it is more advantageous to target identification；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various
The applicability of different size of means of water transport provides condition；Replace traditional light wave radar with millimetre-wave radar, utilize
Atmospheric window propagate when attenuation it is small, influenced by natural light and infrared source it is small, can be under atrocious weather situation to the water surface
Effectively identification and avoiding barrier are carried out, reliable guarantee is provided for safety traffic, there is high resolution, high-precision, miniature antenna mouth
The superiority such as diameter achieve unexpected effect.
Embodiment 5：
A kind of means of water transport with environment sensing ability as shown in Figs 1-4, including cargo ship and mounted on fortune
Millimetre-wave radar three-dimensional environment sensory perceptual system on defeated ship；Millimetre-wave radar three-dimensional environment sensory perceptual system include millimetre-wave radar 1,
Rotation mechanism 10, control unit 11 and data processing unit 12；Rotation mechanism packet 10 includes the first rotary shaft 3, rotation
2 and second rotary shaft 4 of disk, the first rotary shaft 3 arrangement and affixed with the center of rotating disk 2 vertically, first rotary shaft 3 passes through
The driving rotation of first stepper motor 8；4 horizontal set of the second rotary shaft of rotation is driven in bearing block 5 by the second stepper motor 9
Interior, the bearing block 5 is fixed in by 2 support shafts arranged vertically 6 in rotating disk 2；The midpoint of second rotary shaft 4
Connecting portion 7 is provided with, the connecting portion 7 is integrally formed perpendicular to the second rotary shaft 4 and with the second rotary shaft 4, millimetre-wave radar 1
It is vertical with connecting portion 7 affixed；Itself intrinsic plane of scanning motion of the millimetre-wave radar 1 is swept perpendicular to 2 place plane of rotating disk
It is ± 30 ° to retouch range angle；The rotating disk 2 has a notch 16 in the side of arrangement support shaft 6, the straight line parallel where notch 16 in
Straight line where second rotary shaft 4, and any support shaft 6 and the distance of 16 place straight line of notch are less than 50mm；The first step
8 and second stepper motor 9 of stepper motor is controlled by microcontroller, and microcontroller is for receiving control command, and by control command
Signal is sent to motor, while calculate according to the goniometer that the initial position of device and two stepper motors turn in order to control for conversion
The current location of rotation mechanism, and the current position state of rotation mechanism 10 is fed back into data processing unit 12；
The whole week for doing 180 ° of level towards ship direction of advance 18 under the drive of the first stepper motor 8 of rotation mechanism 10
Phase back and forth movement, while millimetre-wave radar 1 does vertical 180 ° under the drive of the second stepper motor 9 towards ship direction of advance 20
Period back and forth movement；
As shown in figure 5, data processing unit 12 is defeated including data acquisition unit 13, delay revise subelemen 14 and coordinate
Go out subelement 15, data acquisition unit 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 and millimetre-wave radar 1 scan angle theta of itself that microcontroller sends 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 for (ρ, α, β, θ), and define：α=0 ° when millimetre-wave radar 1 is horizontal, when millimetre-wave radar 1 is in water
α values are 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 transport
β=0 ° when right ahead direction is vertical, β is positive value when millimetre-wave radar 1 is located at the right side of β=0 °, when millimetre-wave radar 1
β is negative value when the left side of β=0 °；When itself scanning direction of millimetre-wave radar 1 is vertical with 1 place plane of millimetre-wave radar
θ=0 °, θ is positive value when itself scanning direction is located at the top of θ=0 °, the θ when itself scanning direction is located at the lower section of θ=0 °
For negative value.The rotation angle β of the first rotary shaft 3 is 1 rotation angle in the horizontal direction of millimetre-wave radar as shown in Figure 3.
Preferably, delay effect refers to, since the present apparatus is using the technical solution of three dimensionality dual rotary, in thunder
Up to detection wave during be issued to return, the position of radar has occurred that certain offset, although this period is very short,
But when rotary speed is higher, the error of this part is still very important, this is that the present apparatus is filled with the detection of other fixed radars
Put different place, it is therefore necessary to introduce dedicated delay correction factor.Delay revise subelemen 14 is repaiied including range measurement
Positive module, horizontal sweep correcting module and vertical scanning correcting module：Range measurement correcting module, for the survey for the value ρ that adjusts the distance
Magnitude carries out the amendment for delay effect in detections of radar wave two-way process, and the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, illustrate that the rotation of device is towards the direction movement of target point
, the actual value measured at this time is less than normal, therefore above formula uses positive sign, at this time λρ＞ 1, otherwise using negative sign, at this time λρ＜ 1；Meanwhile
Due to t1-t2It is the value of a very little, therefore the specific correction value of this correcting module depends entirely on the swing circle T of motor, rotation
Turn faster T it is smaller, then correction factor with 1 absolute value of the difference it is bigger, it is on the contrary then smaller.
Vertical scanning correcting module, for carrying out imitating for being delayed in detections of radar wave two-way process to vertical rotary angle α
The amendment answered, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes
Negative sign；
Horizontal sweep correcting module, for rotating horizontally angle beta imitate for being delayed in detections of radar wave two-way process
The amendment answered, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise
Take negative sign；
Maximum detectable ranges of the wherein m for millimetre-wave radar 1, and ρ≤m；For reaction detection target 17 and millimeter wave
Influence of the distance to delay effect between radar 1, target 17 be then delayed closer to millimetre-wave radar 1 it is smaller, otherwise delay it is bigger；
t1For the time sent out to the 17 detections of radar wave of target, t2For detections of radar wave return time, then | t1-t2| represent thunder
Time needed for being travelled to and fro between target 17 and millimetre-wave radar 1 up to detection wave；t1Horizontal rotation week for millimetre-wave radar 1
Phase, t2Vertical swing circle for 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 being delayed revise subelemen amendment is：
Wherein,
Data processing unit further includes target RCS fluctuation characteristics and measures subelement, for the RCS sequence variations system to target
Number measures, the ability of radar cross section (RCS) value characterization reception antenna direction target echo, by measuring target
RCS fluctuation characteristics, which can compare, determines different target types.
For being in the complex target of optical region, it is assumed that it is made of N number of scattering center, it can according to radar scattering theory
Know, radar return can regard the echo Vector modulation of multi-scattering centers as, 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 leading to echo signal amplitude, RCS at random
Value, which follows, also there are fluctuations.Therefore radar target RCS changes very sensitive, target RCS time sequences to the attitude angle of target
Row are substantially variable quantities of the RCS with azimuth of target, are a relief volumes, then the RCS of multi-scattering centers target is expressed as mesh
Mark azimuthal function：
Wherein, 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 the identification completed to target.
In this embodiment, new millimetre-wave radar three-dimensional environment sensory perceptual system is devised for means of water transport, so as to
Realize that 180 ° of front horizontal and being scanned without dead angle for 180 ° of vertical direction cover, and economy and durability simple in structure, antijamming capability
By force；Other components is coordinated to realize Automatic Control function using step-by-step motor, it is easy to control accurate；For new-type rotation thunder
Up to the characteristics of system and delay effect devises range measurement correcting module, horizontal sweep correcting module, vertical scanning amendment
The correcting modules such as module so that the coordinate setting function of radar is more accurate, T1=2.6s, T2=2.9s, the sampling of millimetre-wave radar
Between be divided into 1.2 °/s, realizing that measurement error is less than 0.5% while detection without dead angle, measuring delay rate less than 0.2%, and
Real-time is stronger；Accurate Coordinate calculation method is given, is provided the foundation to automatically control with control errors；It is novel for this
Rotation mechanism employs new RCS fluctuation characteristic measuring devices so that the measurement of the RCS coefficient of variation is more accurate, to mesh
Mark is not more advantageous；The size of the components such as rotating disk, rotary shaft can flexibly be chosen as the case may be, be various different size of
The applicability of means of water transport provides condition；Replace traditional light wave radar with millimetre-wave radar, utilize atmospheric electricity oral instructions
The attenuation of sowing time is small, is influenced by natural light and infrared source small, the water surface can effectively be known under atrocious weather situation
Not not simultaneously avoiding barrier provides reliable guarantee for safety traffic, has the superiority such as high resolution, high-precision, miniature antenna bore,
Achieve unexpected effect.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than the present invention is protected
The limitation of range is protected, although being explained in detail with reference to preferred embodiment to the present invention, those of ordinary skill in the art should
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (1)
1. a kind of means of water transport with environment sensing ability, it is characterized in that, including cargo ship and on cargo ship
Millimetre-wave radar three-dimensional environment sensory perceptual system；Millimetre-wave radar three-dimensional environment sensory perceptual system includes millimetre-wave radar, whirler
Tool device, control unit and data processing unit；Rotation mechanism includes the first rotary shaft, rotating disk and the second rotary shaft,
First rotary shaft vertically arrangement and it is affixed with the center of rotating disk, first rotary shaft pass through the first stepper motor driving rotation
Turn；It is sleeved in bearing block by the second rotation axis horizontal of the second stepper motor driving rotation, the bearing block is vertical by 2
The support shaft of arrangement is affixed on the rotating pan；The midpoint of second rotary shaft is provided with connecting portion, and the connecting portion is vertical
It is integrally formed in the second rotary shaft and with the second rotary shaft, millimetre-wave radar is vertical with connecting portion affixed；The millimetre-wave radar
Itself intrinsic plane of scanning motion where the rotating disk plane, and scanning range angle is ± 30 °；The rotating disk is in arrangement branch
There is notch in the side of support axis, and the straight line parallel where notch is in the straight line where the second rotary shaft, and any support shaft and notch
The distance of place straight line is less than 50mm；First stepper motor and the second stepper motor are controlled by microcontroller, monolithic
Machine is for receiving control command, and signal is sent to motor, while according to the initial bit of device in order to control by control command conversion
Put the current location that the goniometer turned over two stepper motors calculates rotation mechanism, and by the current of rotation mechanism
Location status feeds back to data processing unit；The rotation mechanism entirety is under the drive of the first stepper motor towards ship
Direction of advance does the period back and forth movement of 180 ° of level, at the same millimetre-wave radar under the drive of the second stepper motor towards ship
Direction of advance does vertical 180 ° of period back and forth movement；
Data processing unit includes data acquisition unit, delay revise subelemen and coordinate output subelement；Data acquisition
Unit receives its distance value ρ with target that millimetre-wave radar measurement obtains, while receives the vertical rotary angle α of microcontroller transmission
With itself scan angle theta for rotating horizontally angle beta and millimetre-wave radar；If millimetre-wave radar to the reading of a certain target for (ρ, α,
β, θ), and define：α=0 ° when radar is horizontal, α values is just when radar is horizontal top, at radar
α values be negative when below the horizontal position, β=0 ° when the second rotary shaft is vertical with cargo ship front direction, when radar is located at β
β is positive value during=0 ° of right side, and β is negative value when radar is located at the left side of β=0 °；When itself scanning direction of millimetre-wave radar
θ=0 ° when vertical with plane where millimetre-wave radar, θ is positive value when itself scanning direction is located at the top of θ=0 °, when itself
θ is negative value when scanning direction is located at the lower section of θ=0 °；
The revise subelemen that is delayed includes range measurement correcting module, horizontal sweep correcting module and vertical scanning correcting module：Away from
From measuring correcting module, be directed to delay effect in detections of radar wave two-way process for the measured value for the value ρ that adjusts the distance and repair
Just, the modifying factor of output is：
When | α1+θ1| ＞ | α2+θ2| and | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative sign；
Vertical scanning correcting module, for being carried out to vertical rotary angle α for delay effect in detections of radar wave two-way process
It corrects, the modifying factor of outputWhen | α1| ＞ | α2| when, above formula takes positive sign, otherwise takes negative
Number；
Horizontal sweep correcting module, for being carried out to rotating horizontally angle beta for delay effect in detections of radar wave two-way process
It corrects, the modifying factor of outputWhen | β1| ＞ | β2| when, above formula takes positive sign, otherwise takes negative
Number；
Maximum detectable ranges of the wherein m for millimetre-wave radar, and ρ≤m；For reaction detection target and millimetre-wave radar it
Between influence of the distance to delay effect, target be then delayed closer to radar it is smaller, otherwise delay it is bigger；t1For to the target radar
The time that detection wave is sent out, t2The time returned for detections of radar wave；|t1-t2| represent detections of radar wave travel to and fro between target and
Time needed between radar；T1For the horizontal rotation period of millimetre-wave radar, T2Vertical swing circle for 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 being delayed revise subelemen amendment is：
Wherein,
Data processing unit further include target RCS fluctuation characteristics measure subelement, for the RCS sequence variations coefficient to target into
Row measures：
For being in the complex target of optical region, it is assumed that be made of N number of scattering center, then the RCS tables of multi-scattering centers target
It is shown as the function of azimuth of target：
Wherein, σiRepresent that i-th of scattering center RCS, α+θ represents target with respect to the azimuth of millimetre-wave radar, RiIt represents 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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