CN106199569A - Low slow Small object solid speed detection method and system based on radio detection - Google Patents

Low slow Small object solid speed detection method and system based on radio detection Download PDF

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CN106199569A
CN106199569A CN201610473616.XA CN201610473616A CN106199569A CN 106199569 A CN106199569 A CN 106199569A CN 201610473616 A CN201610473616 A CN 201610473616A CN 106199569 A CN106199569 A CN 106199569A
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plane
probe unit
radio
target
doppler sensor
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CN106199569B (en
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高洁
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Beijing Institute of Environmental Features
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Beijing Institute of Environmental Features
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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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/10—Systems for determining distance or velocity not using reflection or reradiation using radio waves using Doppler effect

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a kind of low slow Small object solid speed detection method and system based on radio detection, said method includes: in target flight region arranged beneath no less than 4 probe units, above-mentioned probe unit is distributed in mutually perpendicular two planes, and each plane is including at least 3 probe units.When target approaches, each probe unit obtain with target closest to time moment, as the zero crossing moment.The zero crossing moment obtained according to each probe unit calculates the target projection speed in above-mentioned two plane.Based on radio detection the low slow Small object solid speed detection method and system that the present invention provides are simple and easy to do, with low cost, detection accuracy is high, be suitable to spread in engineer applied.

Description

Low slow Small object solid speed detection method and system based on radio detection
Technical field
The present invention relates to field of sensing technologies, particularly relate to a kind of low slow Small object solid speed based on radio detection Detection method and system.
Background technology
Low slow Small object is the abbreviation of low-altitude low-velocity small targets, refers to that flying height is less than at below 1km, speed per hour 200km, radar area are less than 2m2Various small-sized aerial crafts or float thing.Prior art is difficult by single spy Survey means realize round-the-clock, round-the-clock effective detection and monitoring to low slow Small object.The detection of low slow Small object is typical Complex Information System, is the technical barrier in current international coverage.Along with the opening of China's low altitude airspace, to low slow Small object Supervision and strick precaution become problem demanding prompt solution, therefore detect it and intercept significant, and detecting is to intercept Premise.
Though traditional object detection method is fairly perfect, but low slow Small object has that flying height is low, movement velocity slow, The features such as scattering strength is weak, this brings the biggest difficulty to target acquisition.Under above-mentioned Condition of Strong Constraint, how to build effective spy Examining system, the accurately detecting realizing low slow Small object have bigger difficulty.Existing low slow small target detection is many based on infrared light Learning sensor or radar, said method is relatively costly, limited precision, be difficult to spread and use.
Therefore, need a kind of low cost badly, detection accuracy is high, engineer applied is strong low slow Small object solid speed detection side Method and system solve the problems referred to above.
Summary of the invention
The present invention provide based on radio detection low slow Small object solid speed detection method and system simple and easy to do, With low cost, detection accuracy is high, be suitable to spread in engineer applied.
One aspect of the present invention provides a kind of low slow Small object solid speed detection method based on radio detection, including step Rapid: S1. is in target flight region arranged beneath no less than 4 probe units, and described probe unit is distributed in mutually perpendicular two Individual plane, and each plane is including at least 3 probe units；S2., when target approaches, each probe unit obtains with target Close to time moment, as the zero crossing moment；S3. the zero crossing moment obtained according to each probe unit calculates target described The projection speed of two planes.
Preferably, described it be no less than 4 probe units and be specially 6 probe units；And described 6 probe units distribution In mutually perpendicular first plane and the second plane；First plane comprise in 6 probe units, form the first tetragon One probe unit, the second probe unit, the 3rd probe unit and the 4th probe unit, the second plane comprises in 6 probe units , the 3rd probe unit, the 4th probe unit, the 5th probe unit and the 6th probe unit forming the second tetragon；Wherein, First probe unit and the 4th probe unit are positioned at the diagonal position of the first tetragon, the 3rd probe unit and the 6th probe unit It is positioned at the diagonal position of the second tetragon.
Preferably, the first tetragon and the second tetragon are the square that the length of side is equal.
Preferably, step S3, particularly as follows: zero crossing moment of obtaining according to each probe unit, utilizes formula 1, formula 2 Calculate target in the first plane, the projection speed of the second plane；
Wherein, vxoyFor target at the projection speed of the first plane, vxozFor target at the projection speed of the second plane, t1、 t2、t3、t4、t5、t6It is respectively the first probe unit, the second probe unit, the 3rd probe unit, the 4th probe unit, the 5th spy Surveying unit, the zero crossing moment of the 6th probe unit acquisition, l is the length of side of the first tetragon.
Preferably, probe unit is radio doppler sensor.
Preferably, described method includes: using radio doppler sensor echo-signal without moment during frequency displacement as mistake The zero point moment.
Preferably, described method also includes: radio doppler sensor is arranged in building and/or street lamp top.
Another aspect of the present invention provides a kind of low slow Small object solid velocity sensing system based on radio detection, bag Include:
Detecting module, it comprises no less than 4 radio doppler sensors, is arranged in below target flight region mutual Two vertical planes, each plane in said two plane includes at least 3 radio doppler sensors；Described wireless Electricity doppler sensor, for when target approaches, obtains echo-signal without moment during frequency displacement as the zero crossing moment；
Speed calculation module, exists for the zero crossing moment calculating target obtained according to each radio doppler sensor The projection speed of said two plane.
Preferably, described detecting module includes 6 radio being distributed in mutually perpendicular first plane with the second plane Doppler sensor；Wherein, the first radio doppler sensor, the second radio doppler sensor, the 3rd radio are many General Le sensor, the 4th radio doppler sensor are distributed in the first plane, composition the first square；How general 3rd radio is Strangle sensor, the 4th radio doppler sensor, the 5th radio doppler sensor, the 6th radio doppler sensor It is distributed in the second plane, forms second square equal with the first square length of side；First radio doppler sensor with 4th radio doppler sensor is positioned at the first foursquare diagonal position, the 3rd radio doppler sensor and the 6th nothing Line electricity doppler sensor is positioned at the second foursquare diagonal position.
Preferably, the described zero crossing moment obtained according to each radio doppler sensor calculates target described two The projection speed of individual plane particularly as follows: zero crossing moment of obtaining according to each radio doppler sensor, utilize formula 4, Formula 5 calculates target in the first plane, the projection speed of the second plane；
Wherein, vxoyFor target at the projection speed of the first plane, vxozFor target at the projection speed of the second plane, T1、 T2、T3、T4、T5、T6Respectively the first radio doppler sensor, the second radio doppler sensor, the 3rd radio are many General Le sensor, the 4th radio doppler sensor, the 5th radio doppler sensor, the 6th radio Doppler sensing In the zero crossing moment that device obtains, l is the first foursquare length of side.
As shown from the above technical solution, the present invention uses a small amount of probe unit can realize low slow Small object solid speed Accurately detecting, principle is simple, it is easy to accomplish, with low cost, be suitable to spread in engineer applied, the most successfully solve Puzzlement this area low slow small target detection problem for many years.
Accompanying drawing explanation
Fig. 1 is based on radio detection the low slow Small object solid speed detection method schematic diagram of the present invention；
Fig. 2 is that the probe unit of the embodiment of the present invention arranges schematic diagram；
Fig. 3 is projection speed calculation first schematic diagram of the embodiment of the present invention；
Fig. 4 is based on radio detection the low slow Small object solid velocity sensing system schematic diagram of the present invention；
Fig. 5 is projection speed calculation second schematic diagram of the embodiment of the present invention.
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearer, referring to the drawings and enumerate preferred reality Executing example, the present invention is described in more detail.However, it is necessary to explanation, the many details listed in description are only Make the reader one or more aspects of the present invention are had a thorough explanation, can also even without these specific details Realize the aspects of the invention.
Though the present inventor is fairly perfect in view of traditional object detection method, but to having flying height The low slow Small object of the feature such as low, movement velocity is slow, scattering strength is weak, it is difficult to the method taking into account precision with cost is provided.Specifically For, existing low slow small target detection is many based on infrared optical sensor with radar, and it is relatively costly, limited precision, be difficult to Spread uses.
Based on above-mentioned consideration, the present inventor creatively uses a small amount of probe unit, it is thus achieved that target is single with detection In the closest approach moment of unit, by position difference and the respective closest approach moment of multiple probe units, try to achieve target trajectory and passing The projection speed of sensor plane, thus obtain the three-dimensional speed of target trajectory.The present invention is capable of low slow Small object solid speed The accurately detecting of degree, and cost is relatively low, be easily achieved, be suitable to spread in engineer applied.
Fig. 1 shows based on radio detection the low slow Small object solid speed detection method of the present invention, sees Fig. 1, The method performs in accordance with the following steps:
First, in step sl, at target flight region at least 4 probe units of arranged beneath, above-mentioned probe unit divides Cloth includes at least 3 probe units in mutually perpendicular two planes, each plane therein.
Afterwards, in step s 2, when target approaches, each probe unit obtain with target closest to time moment, will It is as the zero crossing moment.
Then, in step s3, the zero crossing moment obtained according to each probe unit calculates target and puts down in above-mentioned two The projection speed in face, and then obtain the three-dimensional speed of target.
According to above-mentioned steps, the present invention uses minimum 4 probe units can complete the spy of low slow Small object solid speed Survey.4 probe units are used to calculate the detailed process of projection speed as shown in Figure 5:
4 probe units are distributed in two planes, and each plane comprises 3 probe units.See Fig. 5,1,2,3 in figure Respectively it is in the geometric center of three probe units of any plane in above-mentioned two plane；NM is that target flight track is at this The projection of plane；N1、N2、N3Be respectively 1,2,3 in the projection of NM, i.e. 1,2, the closest approach of 3 distances NM.1, the line of 3 is with NM's Angle is θ；1,2,3 a triangle is constituted: 1, the length of side between 2 is a, and the length of side between 2,3 is b, the length of side between 1,3 For c, the interior angle at 3 places is θ0。
According to concrete applied environment, this plane can be parallel or nearly parallel to the flight path of reasonable assumption target, Separately set the target projection speed in this plane as v0, probe unit 1,2,3 obtain the zero crossing moment be respectively t01、t02、t03, It is apparent from:
Solution formula 3, i.e. can get the target projection speed v in this plane0, can get target the most in the same way In the projection speed of another plane, finally try to achieve the three-dimensional speed of target.
Above-mentioned calculating does not consider the situation of 1,2,3 conllinear, but this situation is similar with above-mentioned calculating process, the most superfluous State.
In actual applications, the calculating process of said method is complex, therefore, in a preferred embodiment of the invention, adopts Detect with 6 probe units.
Fig. 2 shows the distribution of above-mentioned 6 probe units, sees Fig. 2, and 6 probe units are distributed in orthogonal The first plane xoy and the second plane xoz.First plane xoy comprises first probe unit the 11, second probe unit the 12, the 3rd Probe unit 13 and the 4th probe unit 14, four form the first tetragon.Second plane xoz comprise the 3rd probe unit 13, 4th probe unit the 14, the 5th probe unit 15 and the 6th probe unit 16, four form the second tetragon.Wherein, first visit Survey unit 11 and the 4th probe unit 14 are positioned at the diagonal position of the first tetragon, the second probe unit 12 and the 3rd probe unit 13 diagonal positions being positioned at the first tetragon, the 3rd probe unit 13 and the 6th probe unit 16 are positioned at the diagonal angle of the second tetragon Position, the 4th probe unit 14 and the 5th probe unit 15 are positioned at the diagonal position of the second tetragon.
Obviously, this three-dimensional speed being designed in the way of being similar to formula 3 obtain target, it specifically calculates process Here is omitted.
It is preferred that in order to reduce cost, probe unit is set to lower-cost radio doppler sensor.
The detection principle of radio doppler sensor is: when airbound target is through sensor, due to airbound target with There is relative velocity between sensor, therefore produce Doppler frequency shift.When airbound target and sensor distance are nearest, flight mesh Relative velocity between mark and sensor is zero, does not the most have Doppler frequency shift.Therefore, when airbound target is from close to sensing Device, to during away from sensor, the echo of sensor there will be the variation characteristic of " blue shift-without frequency displacement-red shift ".Typically will The moment that above-mentioned " without frequency displacement " point occurs is designated as the zero crossing moment.Obviously, zero crossing moment mark airbound target range sensor Moment time recently.In a preferred embodiment of the invention, will radio doppler sensor echo-signal without during frequency displacement Moment is as the zero crossing moment.The detection range of radio doppler sensor is generally capable of up to 1km.When multiple radio are many When general Le sensor is laid in space diverse location, it is possible to obtain multiple zero crossing moment, utilize above-mentioned multiple zero crossing moment The projection speed of target flight track can be resolved.
Tetragon in above-mentioned computational methods is arbitrarily to arrange, and is still unfavorable for the simplification calculated.Therefore, apply in reality In, above-mentioned first tetragon, the second tetragon are set to square that the length of side is l with simplified operation, improve detection accuracy.6 Individual sensor arrange as in figure 2 it is shown, with the center of the first tetragon as initial point, single with the 3rd probe unit the 13, the 4th detection The line of unit 14 is x-axis, with the line of the 4th probe unit the 14, second probe unit 12 as y-axis, with the 4th probe unit 14, The line of the 6th probe unit 16 is z-axis, then the coordinate of the first to the 6th probe unit geometric center be (-l/2, l/2,0), (l/2, l/2,0), (-l/2 ,-l/2,0), (l/2 ,-l/2,0), (-l/2 ,-l/2, l), (l/2 ,-l/2, l), target flight rail Mark is α in the projection of the first plane xoy and the angle of y-axis, the projection in the second plane xoz of the target flight track and the folder of z-axis Angle is β.
Projection velocity computation process is given below as a example by the first plane.Fig. 3 is to arrange the first flat of realization according to above-mentioned Face xoy projects speed calculation schematic diagram, sees Fig. 3, O1、O2、O3、O4It is respectively the first probe unit to the 4th probe unit Geometric center.Target flight track is at the AB that is projected as, M of the first plane1、M2、M3、M4It is respectively O1、O2、O3、O4Distance AB is Near point, the zero crossing moment of the first probe unit to the 4th probe unit collection is the t being in same time coordinate1、t2、t3、 t4, target is v in the projection speed of the first plane xoyxoy。
Geometrical relationship as shown in Figure 3 is apparent from:
v x o y ( t 4 - t 1 ) = 2 l c o s ( π 4 - α ) v x o y ( t 3 - t 2 ) = 2 l s i n ( π 4 - α )
Solve above-mentioned equation group, can obtain:
In the same way, the target projection speed v in the second plane xoz can be obtainedxoz:
Wherein, t5、t6It it is the zero crossing moment of the 5th probe unit the 15, the 6th probe unit 16 collection.So far, it is achieved that The detection of target solid speed.
By said process, the present invention achieves low slow Small object solid speed by 6 radio doppler sensors Accurately detecting, principle is simple, it is easy to accomplish, with low cost, be suitable to spread in engineer applied.Further, with class As mode arrange many group radio doppler sensors at the flight range of target, form sensor network, it is possible to accurately visit Survey the omnidistance three-dimensional speed of target, for next step interception, take precautions against and supervise offer data supporting.
Fig. 4 shows based on radio detection the low slow Small object solid velocity sensing system of the present invention, sees Fig. 4, It includes detecting module 101 and speed calculation module 102.The most concrete introduction:
Detecting module 101 comprises at least 4 radio doppler sensors, is arranged in below target flight region and hangs down mutually Two straight planes, and each plane in two planes is including at least 3 radio doppler sensors.Above-mentioned radio is many General Le sensor, for when target approaches, obtains echo-signal without moment during frequency displacement as the zero crossing moment.
Speed calculation module 102 calculates target for the zero crossing moment obtained according to each radio doppler sensor Projection speed in above-mentioned two plane.Circular is similar with aforementioned formula 3, the most no longer describes in detail.
In a preferred embodiment of the invention, to include being distributed in mutually perpendicular first plane flat with second for detecting module 101 6 radio doppler sensors in face.
Specifically, how general the first radio doppler sensor, the second radio doppler sensor, the 3rd radio be Strangle sensor, the 4th radio doppler sensor is distributed in the first plane, composition the first square.3rd radio Doppler Sensor, the 4th radio doppler sensor, the 5th radio doppler sensor, the 6th radio doppler sensor divide Cloth, in the second plane, forms second square equal with the first square length of side.First radio doppler sensor and Four radio doppler sensors are positioned at the first foursquare diagonal position, the second radio doppler sensor and the 3rd wireless Electricity doppler sensor is positioned at the first foursquare diagonal position.How general 3rd radio doppler sensor and the 6th radio be Strangle sensor and be positioned at the second foursquare diagonal position, the 4th radio doppler sensor and the 5th radio Doppler sensing Device is positioned at the second foursquare diagonal position.
As a preferred version, speed calculation module 102 utilize formula 4, formula 5 calculate target the first plane, The projection speed of two planes:
Wherein, vxoyFor target at the projection speed of the first plane, vxozFor target at the projection speed of the second plane, T1、 T2、T3、T4、T5、T6Respectively the first radio doppler sensor, the second radio doppler sensor, the 3rd radio are many General Le sensor, the 4th radio doppler sensor, the 5th radio doppler sensor, the 6th radio Doppler sensing In the zero crossing moment that device obtains, l is the first foursquare length of side.
In concrete application, radio doppler sensor can be arranged according to actual environment on roof, street lamp top.With Time, one group of detecting module can be arranged at a certain distance, it is achieved the complete monitoring of target.
Based on radio detection the low slow Small object solid speed detection method and system that the present invention provides are by building The radio doppler sensor composition sensor network of multiple low costs is laid on the tops such as top, street lamp, easily to aerial each Plant low slow Small object to detect in the projection speed of two planes.When a large amount of laying the sensor network in defence area, Can preferably realize the monitored over time of flight speed to low slow Small object.
One of ordinary skill in the art will appreciate that all or part of step realizing in above-described embodiment method is permissible Instructing relevant hardware by program to complete, this program can be stored in a computer read/write memory medium, such as: ROM/RAM, magnetic disc, CD etc..
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (10)

1. a low slow Small object solid speed detection method based on radio detection, it is characterised in that include step:
S1. in target flight region arranged beneath no less than 4 probe units, described probe unit is distributed in mutually perpendicular two Individual plane, and each plane is including at least 3 probe units；
S2. when target approaches, each probe unit obtain with target closest to time moment, as the zero crossing moment；
S3. the zero crossing moment obtained according to each probe unit calculates the target projection speed in said two plane.
2. the method for claim 1, it is characterised in that described be no less than 4 probe units to be specially 6 detections single Unit；And
Described 6 probe units are distributed in mutually perpendicular first plane and the second plane；First plane comprises 6 probe units In, the first probe unit, the second probe unit, the 3rd probe unit and the 4th probe unit that form the first tetragon, Two planes comprise in 6 probe units, to form the second tetragon the 3rd probe unit, the 4th probe unit, the 5th detection Unit and the 6th probe unit；Wherein,
First probe unit and the 4th probe unit are positioned at the diagonal position of the first tetragon, the 3rd probe unit and the 6th detection Unit is positioned at the diagonal position of the second tetragon.
3. method as claimed in claim 2, it is characterised in that the first tetragon and the second tetragon are the pros that the length of side is equal Shape.
4. method as claimed in claim 3, it is characterised in that step S3 is particularly as follows: the mistake that obtains according to each probe unit In the zero point moment, formula 1, formula 2 is utilized to calculate target in the first plane, the projection speed of the second plane；
Wherein, vxoyFor target at the projection speed of the first plane, vxozFor target at the projection speed of the second plane, t1、t2、t3、 t4、t5、t6It is respectively the first probe unit, the second probe unit, the 3rd probe unit, the 4th probe unit, the 5th detection list In the zero crossing moment that unit, the 6th probe unit obtain, l is the length of side of the first tetragon.
5. the method as described in claim 1-4 is arbitrary, it is characterised in that probe unit is radio doppler sensor.
6. method as claimed in claim 5, it is characterised in that described method also includes: returned by radio doppler sensor Ripple signal without moment during frequency displacement as the zero crossing moment.
7. method as claimed in claim 6, it is characterised in that described method also includes: by radio doppler sensor cloth Put on building and/or street lamp top.
8. a low slow Small object solid velocity sensing system based on radio detection, it is characterised in that including:
Detecting module, it comprises no less than 4 radio doppler sensors, is arranged in below target flight region orthogonal Two planes, each plane in said two plane include at least 3 radio doppler sensors；Described radio is many General Le sensor, for when target approaches, obtains echo-signal without moment during frequency displacement as the zero crossing moment；
Speed calculation module, for calculating target described according to the zero crossing moment of each radio doppler sensor acquisition The projection speed of two planes.
9. system as claimed in claim 8, it is characterised in that described detecting module includes being distributed in mutually perpendicular first flat Face and 6 radio doppler sensors of the second plane；Wherein,
First radio doppler sensor, the second radio doppler sensor, the 3rd radio doppler sensor, the 4th Radio doppler sensor is distributed in the first plane, composition the first square；
3rd radio doppler sensor, the 4th radio doppler sensor, the 5th radio doppler sensor, the 6th Radio doppler sensor is distributed in the second plane, forms second square equal with the first square length of side；
First radio doppler sensor and the 4th radio doppler sensor are positioned at the first foursquare diagonal position, the Three radio doppler sensors and the 6th radio doppler sensor are positioned at the second foursquare diagonal position.
10. system as claimed in claim 9, the described zero crossing moment meter obtained according to each radio doppler sensor Calculate target said two plane projection speed particularly as follows:
In the zero crossing moment obtained according to each radio doppler sensor, formula 4, formula 5 is utilized to calculate target first Plane, the projection speed of the second plane；
Wherein, vxoyFor target at the projection speed of the first plane, vxozFor target at the projection speed of the second plane, T1、T2、T3、 T4、T5、T6It is respectively the first radio doppler sensor, the second radio doppler sensor, the 3rd radio Doppler biography Sensor, the 4th radio doppler sensor, the 5th radio doppler sensor, the 6th radio doppler sensor obtain The zero crossing moment, l is the first foursquare length of side.
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