CN106054175B - A kind of complex probe method and system of low-altitude low-velocity small targets - Google Patents
A kind of complex probe method and system of low-altitude low-velocity small targets Download PDFInfo
- Publication number
- CN106054175B CN106054175B CN201610473756.7A CN201610473756A CN106054175B CN 106054175 B CN106054175 B CN 106054175B CN 201610473756 A CN201610473756 A CN 201610473756A CN 106054175 B CN106054175 B CN 106054175B
- Authority
- CN
- China
- Prior art keywords
- target
- probe unit
- closest approach
- target range
- course angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
A kind of complex probe method of low-altitude low-velocity small targets is disclosed, including：N number of probe unit is arranged by default Distribution Strategy, each probe unit is combined by sound transducer, radio doppler sensor in the first plane under the flight range of target；For each probe unit, closest approach moment t of the record target away from sound transduceriAnd closest approach moment t ' of the target away from radio doppler sensori, i=1,2 ... N；According to tiCalculate first estimate α of the target in the course angle of the first plane1, according to t 'iCalculate second estimate α of the target in the course angle of the first plane2；According to α1、α2Determine course angle α of the target in the first plane.Wherein, the target does unaccelerated flight, and N is the integer more than or equal to 3.The method of the present invention can it is easy, quickly low-altitude low-velocity small targets are detected, detection cost is relatively low, easy to spread.The invention also discloses a kind of detection system, all advantageous effects of detection method can be realized.
Description
Technical field
The present invention relates to target acquisition field more particularly to a kind of low-altitude low-velocity small targets complex probe method and be
System.
Background technology
Low-altitude low-velocity small targets are to smaller compared with slow, useful detection area each in low latitude or extreme low-altitude lower flight, speed
The general designation of kind small-sized aerial craft and float object.In general, flying height is known as low latitude between 100 meters~1000 meters,
Flying height is referred to as extreme low-altitude less than 100 meters.Due to having the characteristics that flight high speed is low, speed is slow, scattering strength is weak, low latitude is slow
The detection operations of fast Small object are extremely difficult.In general, we are difficult with single detection means carries out round-the-clock, whole day to it
The effective detection and monitoring waited.
In recent years, although traditional object detection method becomes better and approaching perfection day by day, the detection and monitoring of low-altitude low-velocity small targets
It is still one of technical barrier in international coverage.With the opening of China's low altitude airspace, the supervision to low-altitude low-velocity small targets
It is even more to become technical barrier urgently to be resolved hurrily with taking precautions against.
It in the prior art, can be based on a kind of detection system being made of infrared optical sensor and radar to low-altitude low-velocity
Small object is detected.But the cost of the detection system is higher, it is difficult to which large area uses.In consideration of it, there is an urgent need for it is a kind of it is low into
Originally the low-altitude low-velocity small targets detection method and detection system that, can be promoted the use of on a large scale.
The content of the invention
It is an object of the invention to propose a kind of complex probe method and system of low-altitude low-velocity small targets, with small to low latitude
Target is effectively detected, while reduces detection cost, improves the replicability of detection system.
The invention discloses a kind of complex probe methods of low-altitude low-velocity small targets, comprise the following steps：
S1, N number of probe unit is laid below the flight range of target, N number of probe unit is according to default distribution
Strategy setting is in the first plane and N number of probe unit is not exclusively conllinear；Each probe unit is by sound transducer, radio
Doppler sensor is combined；
S2, for each probe unit, record the closest approach moment t of the target range sound transduceriIt is and described
The closest approach moment t ' of target range radio doppler sensori, i=1,2 ... N；
S3, the closest approach moment t according to target range sound transduceriCalculate target the first plane course angle the
One estimate α1, according to the closest approach moment t ' of target range radio doppler sensoriCalculate boat of the target in the first plane
To the second estimate α at angle2；
S4, according to the first estimate α1, the second estimate α2Determine course angle α of the target in the first plane；
Wherein, the target does unaccelerated flight, and N is the integer more than or equal to 3.
Preferably, in step sl, N=4, the default Distribution Strategy are specially：First to fourth probe unit according to
On secondary four vertex for being arranged in quadrate array.
Preferably, before step S3, the method is further comprising the steps of：Second detection is directed toward with the first probe unit
The direction of unit is positive for x-axis, and the direction for being directed toward the 4th probe unit using the first probe unit builds xoy coordinates as y-axis forward direction
System, using target trajectory in the projection of the first plane and the angle of x-axis as course angle α.
Preferably, the first estimate α of course angle is calculated according to formula 21；
In formula, t1For the closest approach moment of the sound transducer in the first probe unit of target range, t2For target range
The closest approach moment of sound transducer, t in two probe units3For in the 3rd probe unit of target range sound transducer it is nearest
Point moment, t4For the closest approach moment of sound transducer in the 4th probe unit of target range；
And the second estimate α of course angle is calculated according to formula 31；
In formula, t '1For the closest approach moment of the radio doppler sensor in the first probe unit of target range, t '2For
The closest approach moment of radio doppler sensor, t ' in the second probe unit of target range3It is detected for target range the 3rd single
The closest approach moment of radio doppler sensor, t ' in member4It is passed for radio Doppler in the 4th probe unit of target range
The closest approach moment of sensor.
Preferably, in step sl, N=3, the default Distribution Strategy are specially：First to the 3rd probe unit is suitable
On secondary three vertex for being arranged in Triangular array.
Preferably, before step S3, the method is further comprising the steps of：It is single with the first detection in the first plane
Member is directed toward the direction of the second probe unit as x-axis forward direction, using the straight line vertical with straight line where first and second probe unit as y-axis,
Xoy coordinate systems are built, using target trajectory in the projection of the first plane and the angle of x-axis as course angle α.
Preferably, the first estimate α of course angle is calculated according to formula 41；
In formula, t1For the closest approach moment of sound transducer in the first probe unit of target range, t2For target range second
The closest approach moment of sound transducer, t in probe unit3For the closest approach of sound transducer in the 3rd probe unit of target range
Moment, | | it is accorded with for signed magnitude arithmetic(al)；
And the second estimate α of course angle is calculated according to formula 52；
In formula, t '1For the closest approach moment of radio doppler sensor in the first probe unit of target range, t '2For mesh
The closest approach moment of radio doppler sensor, t ' in the second probe unit of subject distance3For the 3rd probe unit of target range
The closest approach moment of middle radio doppler sensor, | | it is accorded with for signed magnitude arithmetic(al).
Preferably, after step s 3, the method is further comprising the steps of：Calculate each probe unit of target range
Closest approach distance di, i=1,2 ... N；
In formula, atmospheric temperature when T is detection.
Preferably, step S2 is specially：For sound transducer, its noise spectrum in 100~1000Hz frequency ranges is monitored,
And it will appear from being denoted as the closest approach moment t of the target range sensor at the time of noise peak pointi；It is passed for radio Doppler
Sensor, monitors the echo spectrum of its generation, and will appear from being denoted as the closest approach of the target range sensor at the time of no frequency displacement point
Moment t 'i。
The present invention also provides a kind of compound detection system of low-altitude low-velocity small targets, the system comprises：Detecting module,
Course angle computing module；
The detecting module is formed by being laid in N number of probe unit below target flight region, N number of probe unit
It is arranged on according to default Distribution Strategy in the first plane and N number of probe unit is not exclusively conllinear；Each probe unit is by sound
Sensor, radio doppler sensor are combined；
The detecting module is used to detect the closest approach moment t of target range sound transduceriAnd target range is wireless
The closest approach moment t ' of electric doppler sensori, i=1,2 ... N；
The course angle computing module is used for according to tiCalculate first estimate α of the target in the course angle of the first plane1,
According to t 'iCalculate second estimate α of the target in the course angle of the first plane2；And according to α1、α2Determine that target is flat first
The course angle α in face；
Wherein, the target does unaccelerated flight, and N is the integer more than or equal to 3.
Preferably, the system also includes：Closest approach computing module；The closest approach computing module for calculate target away from
Closest approach distance d from each probe uniti, i=1,2 ... N；
In formula, atmospheric temperature when T is detection.
In the present invention, the complex probe method of low-altitude low-velocity small targets comprises the following steps：In the flight range of target
Under the first plane in by default Distribution Strategy arrange N number of probe unit, each probe unit is by sound transducer, radio
Doppler sensor is combined；For each probe unit, closest approach moment t of the record target away from sound transduceriAnd
Closest approach moment t ' of the target away from radio doppler sensori；According to tiCalculate target the first plane course angle first
Estimate α1, according to t 'iCalculate second estimate α of the target in the course angle of the first plane2；According to α1、α2Determine target
The course angle α of one plane.The present invention can simply, efficiently calculate the flight angle of target by above method.With it is traditional
Detection method based on infrared optical sensor, radar is compared, and detection method of the invention using the sound of low cost due to being passed
Sensor, radio doppler sensor, reduce detection cost, convenient for promoting the use of on a large scale.Further, the present invention passes through
Sound transducer, radio doppler sensor carry out complex probe, realize acoustic detection and radio detection technology
With reference to passive detection and the combination of active probe.It is real by sound transducer and the cooperative compensating of radio doppler sensor
The low false alarm rate of low-altitude low-velocity small targets detection, low false dismissed rate are showed.
Description of the drawings
By the way that and the specific embodiment part provided, the features and advantages of the present invention will become more referring to the drawings
It is readily appreciated that, in the accompanying drawings：
Fig. 1 is the flow diagram of the complex probe method of the low-altitude low-velocity small targets of the present invention；
Fig. 2 is that the first estimate of course angle in specific embodiment one calculates schematic diagram；
Fig. 3 is the calculating schematic diagram of the first estimate of course angle in specific embodiment two；
Fig. 4 is the structure diagram of the compound detection system of the low-altitude low-velocity small targets of the present invention.
Specific embodiment
Exemplary embodiments of the present invention are described in detail with reference to the accompanying drawings.Illustrative embodiments are retouched
It states merely for the sake of demonstration purpose, and is definitely not to the present invention and its application or the limitation of usage.
At present, the detection of low-altitude low-velocity small targets and monitoring are still one of technical barrier in international coverage.Existing
In technology, the detection system being mainly made up of infrared optical sensor and radar detects low-altitude low-velocity small targets.But
It is that the cost of the detection system is higher, is difficult to promote the use of on a large scale.
In consideration of it, present inventor proposes a kind of new detection method for low-altitude low-velocity small targets and detection
System.The main thought of detection method of the present invention is：First, multiple probe units are arranged according to predetermined policy；Wherein, each
Probe unit is made of sound transducer, radio doppler sensor；Then, the nearest of target range sound transducer is obtained
Point moment tiAnd the closest approach moment t ' of target range radio doppler sensori；Next, according to tiCalculate course angle
The first estimate, according to t 'iCalculate the second estimate of course angle；Finally, first and second estimate is averaged, to determine
The value of course angle.The present invention carries out complex probe by sound transducer, radio doppler sensor, realizes acoustic detection skill
The combination of the combination of art and radio detection technology, passive detection and active probe.It is how general by sound transducer and radio
The cooperative compensating of sensor is strangled, realizes the low false alarm rate of low-altitude low-velocity small targets detection, low false dismissed rate.Further, due to
The sound transducer of low cost and radio doppler sensor are selected, greatly reduces detection cost.
Below in conjunction with the accompanying drawings and technical scheme is described in detail in specific embodiment.Fig. 1 is in the present invention
The flow chart of the complex probe method of low-altitude low-velocity small targets.It can be seen from figure 1 that this method comprises the following steps：
Step S1, N number of probe unit is laid below the flight range of target, N number of probe unit is according to default
Distribution Strategy is arranged in the first plane and N number of probe unit is not exclusively conllinear；Each probe unit is by sound transducer, nothing
Line electricity doppler sensor is combined.Wherein, the target does unaccelerated flight, and N is the integer more than or equal to 3.
In the specific implementation, N number of probe unit can be arranged on various buildings according to default Distribution Strategy,
And/or on the objects such as street lamp, to form detection network.In a detection network, the number of probe unit sets interval can
Determines according to actual conditions.For example, the number of probe unit is 3, the setting of adjacent detector unit is at intervals of 1000 meters.
Wherein, the default Distribution Strategy can there are many.For example, setting four probe units, and make it in pros
Shape array distribution.Alternatively, setting three probe units, and it is made to be distributed in Triangular array.It is it is pointed out that described pre-
If Distribution Strategy be not limited to both the above mode.As long as not influencing the implementation of the present invention, any default Distribution Strategy is all
Within the scope of the present invention.
Step S2, for each probe unit, the closest approach moment t of the target range sound transducer is recordediAnd
The closest approach moment t ' of the target range radio doppler sensori, i=1,2 ... N.
Present inventor it is considered that target in flight course can due to the outside radiated noise of many factors, such as
Engine operating, body and windage, jet flow and air interaction, blade pat air etc..Due to mechanism of production not
Together, the noise spectrum of different target can show very big difference.According to the difference of noise spectrum, target can be divided into two by us
Major class：Wide range target and line spectrum target.Wherein, the sound spectrum of Miniature Vehicle target is concentrated mainly on 100~1000Hz, and vehicle
Sound spectrum is concentrated mainly below 50Hz.In consideration of it, the noise of 100~1000Hz frequency ranges can be supervised by sound transducer
It surveys.During the noise spectrum of 100~1000Hz frequency ranges is monitored by sound transducer, when the amplitude of the noise of reception reaches
When maximum, you can think that the moment target range sound transducer is nearest, i.e. closest approach moment ti。
In addition, when target is from when being close to away from radio doppler sensor, target and radio doppler sensor
Relative velocity can change, i.e., by positive relative velocity, zero relative velocity to negative relative velocity.Correspondingly, radio
The echo of doppler sensor is present with the variation of " blue shift-without frequency displacement-red shift ".When echo spectrum occurs without frequency displacement point,
I.e. it is believed that the moment target range radio doppler sensor is nearest, i.e. closest approach moment t 'i。
Step S3, according to the closest approach moment t of target range sound transduceriCalculate course angle of the target in the first plane
The first estimate α1, according to the closest approach moment t ' of target range radio doppler sensoriTarget is calculated in the first plane
Course angle the second estimate α2。
Step S4, course angle α of the target in the first plane is calculated.
Further, since the spread speed of sound is much smaller than the spread speed of radio, therefore in a probe unit,
t′iEarlier than ti, therefore can be by ti-t′iApproximation regards noise as and time used in sound transducer is traveled to from target closest approach.This
Sample one, after step S3 or step S4, can also according to the following formula calculate target range probe unit closest approach away from
From di, i=1,2 ... N；
In formula, atmospheric temperature when T is detection.
In the inventive solutions, complex probe, energy are carried out by sound transducer, radio doppler sensor
Flight angle, closest approach distance enough to low-altitude low-velocity small targets are accurately detected.Further, by selecting low cost
Sound transducer and radio doppler sensor, greatly reduce detection cost.
More detailed explanation is carried out below by one, two pair of detection method of the invention of specific embodiment.
In specific embodiment one, N=4, the default Distribution Strategy is：Four probe units, i.e., first to
Four probe units are sequentially arranged on four vertex of square.Wherein, each probe unit is by a sound transducer and one
A B Band Radios radio doppler sensor is formed.
Optionally, before course angle is calculated, coordinate system can first be built.In this embodiment, referred to the first probe unit
Positive for x-axis to the direction of the second probe unit, the direction using the first probe unit the 4th probe unit of direction is positive as y-axis,
Build xoy coordinate systems.Also, using the angle of target trajectory projection and x-axis as course angle α.
Fig. 2 is the schematic diagram calculation of the first estimate of course angle in specific embodiment one.In fig. 2, with O1、O2、O3、
O4Represent the geometric center of sound transducer in first to fourth probe unit, projection of the target flight track in the first plane
For straight line AB, M1、M2、M3、M4Represent the nearest of the sound transducer in first to fourth probe unit of target projection AB distances
Point, and the closest approach moment of target range sound transducer is t1、t2、t3、t4。
Since the distributing position of four sound transducers on the first plane is different, each sound transducer of target range
The closest approach moment is also different.Therefore, the first of the closest approach moment calculating course angle that can be determined according to multiple sound transducers is estimated
Evaluation α1.Specifically, the first estimate α1Calculation formula be：
In formula, t1For the closest approach moment of the first sound transducer of target range, t2For target range second sound sensor
The closest approach moment, t3For the closest approach moment of the 3rd sound transducer of target range, t4For target range falling tone sound sensor
The closest approach moment.
Next, with the first estimate α1Computational methods it is similar, can pass through radio doppler sensor calculate course
The second estimate α at angle2.Specifically, the calculation formula of the second estimate is：
In formula, t '1For the closest approach moment of target range the first radio doppler sensor, t '2For target range second
The closest approach moment of radio doppler sensor, t '3For the 3rd radio doppler sensor of target range closest approach when
It carves, t '4For the closest approach moment of the 4th radio doppler sensor of target range.
After first and second estimate is obtained, to α1、α2It is averaged, you can obtain course angle α of the target in the first plane.
In specific embodiment two, N=3, the default Distribution Strategy is：Three probe units, i.e., first to
Three probe units are sequentially arranged on three vertex of equilateral triangle.Wherein, each probe unit by a sound transducer and
One B Band Radio radio doppler sensor is formed.It is similar with specific embodiment one, it, can before course angle is calculated
First build coordinate system.Specifically, in the first plane, using the first probe unit be directed toward the second probe unit direction as x-axis just
To, using the straight line vertical with straight line where first and second probe unit as y-axis, structure xoy coordinate systems.Also, target is moved into rail
Mark is in the projection of the first plane and the angle of x-axis as course angle α.
Fig. 3 is the schematic diagram calculation of the first estimate of course angle in specific embodiment two.In figure 3, with O1、O2、O3It represents
The geometric center of sound transducer in first to the 3rd probe unit represents target flight track in the first plane with straight line AB
Projection, with M1、M2、M3Closest approaches of the straight line AB away from the first to the 3rd sound transducer is represented, also, with straight line AB and the folder of x-axis
Angle is as course angle α.The first estimate α of course angle can be calculated according to the position relationship of sound transducer, closest approach moment1,
Specially：
In formula, t1For the closest approach moment of the first sound transducer of target range, t2For target range second sound sensor
The closest approach moment, t3For the closest approach moment of the 3rd sound transducer of target range, | | it is accorded with for signed magnitude arithmetic(al).
Next, with the first estimate α1Computational methods it is similar, can pass through radio doppler sensor calculate course
The second estimate α at angle2.Specifically, the calculation formula of the second estimate is：
In formula, t '1For the closest approach moment of target range the first radio doppler sensor, t '2For target range second
The closest approach moment of radio doppler sensor, t '3For the 3rd radio doppler sensor of target range closest approach when
It carves, | | it is accorded with for signed magnitude arithmetic(al).
Then, after first and second estimate is obtained, to α1、α2It is averaged, you can obtain boat of the target in the first plane
To angle α.
It can be seen that from specific embodiment one, two, method of the invention can carry out the flight angle of low-altitude low-velocity small targets
Accurate detection.Further, by the position of Reasonable Arrangement probe unit, not only reduce needed for probe unit number, and
And be conducive to simplify the calculating process of course angle.
Based on the detection method of the present invention, the invention also provides a kind of complex probe systems of low-altitude low-velocity small targets
System.Fig. 4 shows the structure diagram of the detection system.As seen from Figure 4, which specifically includes：Detecting module 1, boat
To angle computing module 2.
Detecting module 1 is formed by being laid in N number of probe unit below target flight region, and N number of probe unit is pressed
It is arranged on according to default Distribution Strategy in the first plane and N number of probe unit is not exclusively conllinear；Each probe unit is passed by sound
Sensor, radio doppler sensor are combined.When detecting module 1 is used to detect the closest approach of target range sound transducer
Carve tiAnd the closest approach moment t ' of target range radio doppler sensori, i=1,2 ... N.Wherein, the target is done
Unaccelerated flight, N are the integer more than or equal to 3.
Course angle computing module 2 is used for according to tiCalculate first estimate α of the target in the course angle of the first plane1, according to
t′iCalculate second estimate α of the target in the course angle of the first plane2；And according to α1、α2Determine target in the first plane
Course angle α；
Optionally, the detection system further includes：Closest approach computing module 3.Closest approach computing module 3 is used to calculate target
Closest approach distance d apart from each probe uniti, i=1,2 ... N；
In formula, atmospheric temperature when T is detection.
In the detection system of the present invention, the identification to low-altitude low-velocity small targets can be realized by detecting module, and then really
The closest approach moment to set the goal apart from sound transducer, radio doppler sensor；It can be realized by course angle computing module
To the accurately detecting of target flight angle；By closest approach computing module can to the closest approach distance of target and probe unit into
Row detection.Further, by the sound transducer of selection low cost, radio doppler sensor, detection cost is reduced,
Convenient for promoting the use of a large area for detection system.
Although with reference to illustrative embodiments, invention has been described, but it is to be understood that the present invention does not limit to
The specific embodiment that Yu Wenzhong is described in detail and shows, in the case of without departing from claims limited range, this
Field technology personnel can make various changes to the illustrative embodiments.
Claims (8)
1. a kind of complex probe method of low-altitude low-velocity small targets, which is characterized in that the described method includes：
S1, N number of probe unit is laid below the flight range of target, N number of probe unit is according to default Distribution Strategy
It is arranged in the first plane and N number of probe unit is not exclusively conllinear；How general each probe unit is by sound transducer, radio
Sensor is strangled to be combined；
S2, for each probe unit, record the closest approach moment t of the target range sound transduceriAnd the target
Closest approach moment t ' apart from radio doppler sensori, i=1,2, Λ N；
S3, the closest approach moment t according to target range sound transduceriThe course angle that target is calculated in the first plane first is estimated
Evaluation α1, according to the closest approach moment t ' of target range radio doppler sensoriCalculate course angle of the target in the first plane
The second estimate α2；
S4, according to the first estimate α1, the second estimate α2Determine course angle α of the target in the first plane；
Wherein, the target does unaccelerated flight, and N is the integer more than or equal to 3.
2. the method for claim 1, wherein in step sl, N=4, the default Distribution Strategy are specially：The
One to the 4th probe unit is sequentially arranged on four vertex of quadrate array.
3. method as claimed in claim 2, wherein, according to the first estimate α of the calculating course angle of formula 21；
In formula, t1For the closest approach moment of the sound transducer in the first probe unit of target range, t2It is visited for target range second
Survey the closest approach moment of sound transducer in unit, t3For in the 3rd probe unit of target range during the closest approach of sound transducer
It carves, t4For the closest approach moment of sound transducer in the 4th probe unit of target range；
The second estimate α of course angle is calculated according to formula 32；
In formula, t '1For the closest approach moment of the radio doppler sensor in the first probe unit of target range, t '2For target
The closest approach moment of radio doppler sensor, t ' in the second probe unit of distance3For in the 3rd probe unit of target range
The closest approach moment of radio doppler sensor, t '4For radio doppler sensor in the 4th probe unit of target range
The closest approach moment.
4. the method as described in claim 1, in step sl, N=3, the default Distribution Strategy is specially：First to
Three probe units are sequentially arranged on three vertex of Triangular array.
5. method as claimed in claim 4 calculates the first estimate α of course angle according to formula 41；
In formula, t1For the closest approach moment of sound transducer in the first probe unit of target range, t2It is detected for target range second
The closest approach moment of sound transducer, t in unit3For in the 3rd probe unit of target range during the closest approach of sound transducer
It carves, | | it is accorded with for signed magnitude arithmetic(al)；
The second estimate α of course angle is calculated according to formula 52；
In formula, t '1For the closest approach moment of radio doppler sensor in the first probe unit of target range, t '2For target away from
Closest approach moment from radio doppler sensor in the second probe unit, t '3For nothing in the 3rd probe unit of target range
The closest approach moment of line electricity doppler sensor, | | it is accorded with for signed magnitude arithmetic(al).
6. the method for claim 1, wherein after step s 3, the method is further comprising the steps of：
Calculate the closest approach distance d of each probe unit of target rangei, i=1,2, L N；
In formula, atmospheric temperature when T is detection.
7. a kind of compound detection system of low-altitude low-velocity small targets, which is characterized in that the system comprises：Detecting module, course
Angle computing module；
The detecting module is formed by being laid in N number of probe unit below target flight region, N number of probe unit according to
Default Distribution Strategy is arranged in the first plane and N number of probe unit is not exclusively conllinear；Each probe unit is by sound sensor
Device, radio doppler sensor are combined；
The detecting module is used to detect the closest approach moment t of target range sound transduceriAnd target range radio is more
The general closest approach moment t ' for strangling sensori, i=1,2, L N；
The course angle computing module is used for according to tiCalculate first estimate α of the target in the course angle of the first plane1, according to
t′iCalculate second estimate α of the target in the course angle of the first plane2；And according to α1、α2Determine target in the first plane
Course angle α；
Wherein, the target does unaccelerated flight, and N is the integer more than or equal to 3.
8. system as claimed in claim 7, wherein, the system also includes：Closest approach computing module；
The closest approach computing module is used to calculate the closest approach distance d of each probe unit of target rangei, i=1,2, L N；
In formula, atmospheric temperature when T is detection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610473756.7A CN106054175B (en) | 2016-06-24 | 2016-06-24 | A kind of complex probe method and system of low-altitude low-velocity small targets |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610473756.7A CN106054175B (en) | 2016-06-24 | 2016-06-24 | A kind of complex probe method and system of low-altitude low-velocity small targets |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106054175A CN106054175A (en) | 2016-10-26 |
| CN106054175B true CN106054175B (en) | 2018-05-25 |
Family
ID=57165821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610473756.7A Active CN106054175B (en) | 2016-06-24 | 2016-06-24 | A kind of complex probe method and system of low-altitude low-velocity small targets |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106054175B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109358324B (en) * | 2018-10-31 | 2020-07-14 | 安徽四创电子股份有限公司 | Target detection method based on ground monitoring radar spectrum data |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100559212C (en) * | 2007-02-25 | 2009-11-11 | 四川川大智胜软件股份有限公司 | Low target method for monitoring based on the microphone array networking |
| CN103323839B (en) * | 2013-05-16 | 2015-08-19 | 深圳大学 | A kind of method, device obtaining height information of low-altitude flight target |
| JP2015190777A (en) * | 2014-03-27 | 2015-11-02 | 株式会社豊田中央研究所 | pedestrian detection device |
| CN105137421A (en) * | 2015-06-25 | 2015-12-09 | 苏州途视电子科技有限公司 | Photoelectric composite low-altitude early warning detection system |
-
2016
- 2016-06-24 CN CN201610473756.7A patent/CN106054175B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106054175A (en) | 2016-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101339242B (en) | Auditory localization wireless measurement method | |
| CN105484938B (en) | Yaw control method and device of wind generating set | |
| CN102711243B (en) | A kind of APIT localization method improved based on RSSI | |
| CN102680970B (en) | Strategic location protection radar network detection method adopting forward scattering radar | |
| CN103941233A (en) | Radar intermittence alternate radiation control method based on multi-platform active and passive sensor collaborative tracking | |
| CN109598946A (en) | A kind of multilane speed-measuring method based on radar system | |
| CN101308206B (en) | Circumferential track mobile target tracking method under white noise background | |
| CN107271725A (en) | The method that LDV technique walks aerial survey amount speed calibration | |
| CN106199571B (en) | A kind of complex probe method and system of low-altitude low-velocity small targets flying speed | |
| CN109655056A (en) | A kind of compound positioning system of Sea miner and its localization method | |
| CN106054175B (en) | A kind of complex probe method and system of low-altitude low-velocity small targets | |
| CN107884743A (en) | Suitable for the direction of arrival intelligence estimation method of arbitrary structures sound array | |
| CN105388470B (en) | A kind of method of estimating target motion parameter | |
| CN103869287A (en) | Gunshot positioning orienting method | |
| CN203011938U (en) | Target direction-finding velocity-measuring system based on quadrature static detection array | |
| CN116008913A (en) | Unmanned aerial vehicle detection positioning method based on STM32 and small microphone array | |
| CN115031585B (en) | Double-array acoustic vertical target oblique incidence impact point positioning method | |
| CN106017403B (en) | A kind of detection method and system of low-altitude low-velocity small targets flight angle | |
| CN106199501B (en) | A kind of complex probe method and system of low-altitude low-velocity small targets solid flight angle | |
| CN106199575B (en) | Low slow Small object three-dimensional viewpoin detection method based on radio detection and system | |
| CN109782271A (en) | Radionavigation range measurement refraction error of radio (light) wave modification method | |
| CN106199577B (en) | Low slow Small object flight angle detection method based on radio detection and system | |
| CN106199569B (en) | Low slow Small object solid speed detection method and system based on radio detection | |
| CN106199506B (en) | A kind of detection method and system of low-altitude low-velocity small targets three-dimensional viewpoin | |
| CN103135106A (en) | Advanced method for realizing safety of aviation airspace through network computation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |