CN106199572B - Low slow Small object solid speed detection method and system based on sound intensity detection - Google Patents
Low slow Small object solid speed detection method and system based on sound intensity detection Download PDFInfo
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- CN106199572B CN106199572B CN201610474517.3A CN201610474517A CN106199572B CN 106199572 B CN106199572 B CN 106199572B CN 201610474517 A CN201610474517 A CN 201610474517A CN 106199572 B CN106199572 B CN 106199572B
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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
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
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Abstract
The invention discloses a kind of low slow Small object solid speed detection method and system based on sound intensity detection, the above method includes：In target flight region, arranged beneath is no less than 4 probe units, and above-mentioned probe unit is distributed in mutually perpendicular two planes, and each plane includes at least 3 probe units.When target approaches, each probe unit obtain with target closest to when at the time of, as zero passage point moment.According to each probe unit obtain zero passage point moment calculate target above-mentioned two plane projection speed.Low slow Small object solid speed detection method and system provided by the invention based on sound intensity detection are simple and easy to do, of low cost, detection accuracy is high, suitable for being widely applied in engineer application.
Description
Technical field
The present invention relates to field of sensing technologies more particularly to a kind of low slow Small object solid speed based on sound intensity detection to visit
Survey 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 in 1km or less, speed per hour
200km, radar area are less than 2m2Various small-sized aerial crafts or float object.Single spy is difficult to be utilized in the prior art
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.With the opening of China's low altitude airspace, to low slow Small object
Supervision becomes urgent problem to be solved with strick precaution, therefore detects and intercept to it and be of great significance, and it is to intercept to detect
Premise.
Though traditional object detection method is fairly perfect, low slow Small object is low with flying height, movement velocity is slow,
The features such as scattering strength is weak, this brings very big difficulty to target acquisition.Under above-mentioned Condition of Strong Constraint, effective spy how is built
Examining system realizes that the accurately detecting of low slow Small object has larger difficulty.Existing low slow small target detection is based on infrared light more
Sensor or radar are learned, above method cost is higher, precision is limited, is difficult to promote the use of a large area.
Therefore, there is an urgent need for a kind of low slow Small object solid speed detection sides at low cost, detection accuracy is high, engineer application is strong
Method and system solve the above problems.
Invention content
It is provided by the invention based on the sound intensity detection low slow Small object solid speed detection method and system it is simple and easy to do, at
This is cheap, detection accuracy is high, suitable for being widely applied in engineer application.
One aspect of the present invention provides a kind of low slow Small object solid speed detection method detected based on the sound intensity, including step
Suddenly：S1. in target flight region, arranged beneath is no less than 4 probe units, and the probe unit is distributed in mutually perpendicular two
A plane, and each plane includes at least 3 probe units；S2. when target approaches, each probe unit is obtained with target most
At the time of when close, as zero passage point moment；S3. the zero passage point moment obtained according to each probe unit calculates target described
The projection speed of two planes.
Preferably, no less than 4 probe units are specially 6 probe units；And 6 probe units distribution
In mutually perpendicular first plane and the second plane；First plane includes in 6 probe units, the first quadrangle of composition the
One probe unit, the second probe unit, third probe unit and the 4th probe unit, the second plane include in 6 probe units
, composition the second quadrangle third probe unit, the 4th probe unit, the 5th probe unit and the 6th probe unit；Wherein,
First probe unit and the 4th probe unit are located at the diagonal position of the first quadrangle, third probe unit and the 6th probe unit
Positioned at the diagonal position of the second quadrangle.
Preferably, the first quadrangle and the second quadrangle are the square that the length of side is equal.
Preferably, step S3 is specially：According to the zero passage point moment that each probe unit obtains, formula 1, formula 2 are utilized
Target is calculated in the first plane, the projection speed of the second plane；
Wherein, vxoyIt is target in the projection speed of the first plane, vxozIt is target in the projection speed of the second plane, t1、
t2、t3、t4、t5、t6Respectively the first probe unit, the second probe unit, third probe unit, the 4th probe unit, the 5th visit
Survey unit, the zero passage point moment that the 6th probe unit obtains, l is the length of side of the first quadrangle.
Preferably, probe unit is sound transducer.
Preferably, the method further includes：As zero passage at the time of when the noise amplitude maximum that sound transducer is obtained
Point moment.
Preferably, the noise frequency that sound transducer is obtained before zero passage point moment is obtained more than it after zero passage point moment
Noise frequency.
Another aspect of the present invention provides a kind of low slow Small object solid velocity sensing system detected based on the sound intensity, including：
Detecting module, it includes no less than 4 sound transducers, are arranged in mutually perpendicular two below target flight region
A plane, each plane in described two planes include at least 3 sound transducers；The sound transducer is for working as target
When approaching, obtain noise amplitude maximum when at the time of as zero passage point moment；
Speed calculation module, the zero passage point moment for being obtained according to each sound transducer calculate target described two
The projection speed of plane.
Preferably, the detecting module includes the 6 sound biography for being distributed in mutually perpendicular first plane with the second plane
Sensor；Wherein, the first sound transducer, second sound sensor, third sound transducer, falling tone sound sensor are distributed in
One plane, the first square of composition；Third sound transducer, falling tone sound sensor, fifth sound sound sensor, the 6th sound pass
Sensor is distributed in the second plane, forms second square equal with the first square length of side；First sound transducer and the 4th
Sound transducer is located at the diagonal position of the first square, and it is square that third sound transducer and the 6th sound transducer are located at second
The diagonal position of shape.
Preferably, the zero passage point moment that each sound transducer of the basis obtains calculates target in described two planes
Projecting speed is specially：According to the zero passage point moment that each sound transducer obtains, target is calculated the using formula 4, formula 5
One plane, the projection speed of the second plane；
Wherein, vxoyIt is target in the projection speed of the first plane, vxozIt is target in the projection speed of the second plane, T1、
T2、T3、T4、T5、T6Respectively the first sound transducer, second sound sensor, third sound transducer, falling tone sound sensing
The zero passage point moment that device, fifth sound sound sensor, the 6th sound transducer obtain, l are the length of side of the first square.
As shown from the above technical solution, low slow Small object solid speed can be realized using a small amount of probe unit in the present invention
Accurately detecting, principle are simple, it is easy to accomplish, it is of low cost, suitable for being widely applied in engineer application, more successfully solve
The low slow small target detection problem of puzzlement this field for many years.
Description of the drawings
Fig. 1 is the low slow Small object solid speed detection method schematic diagram of the present invention；
Fig. 2 is the probe unit arrangement schematic diagram of the embodiment of the present invention；
Fig. 3 is that the projection speed of the embodiment of the present invention calculates the first schematic diagram；
Fig. 4 is the low slow Small object solid velocity sensing system schematic diagram of the present invention；
Fig. 5 is that the projection speed of the embodiment of the present invention calculates the second schematic diagram.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, referring to the drawings and preferred reality is enumerated
Example is applied, the present invention is described in more detail.However, it is necessary to illustrate, many details listed in specification are only to be
Making reader, there are one thorough explanations to one or more aspects of the present invention, even without these specific details can also
Realize the aspects of the invention.
Though the present inventor is fairly perfect in view of traditional object detection method, to flying height
Low, the features such as movement velocity is slow, scattering strength is weak low slow Small object, it is difficult to which the method for taking into account precision and cost is provided.Specifically
For, existing low slow small target detection is based on infrared optical sensor and radar more, and cost is higher, precision is limited, is difficult to
It promotes the use of a large area.
Based on above-mentioned consideration, the present inventor creatively uses a small amount of probe unit, and it is single with detection to obtain target
The nearest point moment of member, the position difference by multiple probe units and respective nearest point moment, acquire target trajectory and are passing
The projection speed of sensor plane, to obtain the three-dimensional speed of target trajectory.The present invention can realize the low three-dimensional speed of slow Small object
The accurately detecting of degree, and cost is relatively low, is easily achieved, suitable for being widely applied in engineer application.
Fig. 1 shows the low slow Small object solid speed detection method of the present invention detected based on the sound intensity, referring to Fig. 1, this
Method executes in accordance with the following steps：
First, in step sl, in target flight region arranged beneath at least four probe unit, above-mentioned probe unit point
Cloth includes at least 3 probe units in mutually perpendicular two planes, each plane therein.
Later, in step s 2, when target approaches, each probe unit obtain with target closest to when at the time of, will
It is as zero passage point moment.
Then, in step s3, target is calculated according to the zero passage point moment that each probe unit obtains to put 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 spy of low slow Small object solid speed can be completed using minimum 4 probe units by the present invention
It surveys.The detailed process that projection speed is calculated using 4 probe units is as shown in Figure 5：
4 probe units are distributed in two planes, and each plane includes 3 probe units.Referring to 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 target flight track at this
The projection of plane；N1、N2、N3Respectively 1,2,3 NM projection, i.e., the closest approach of 1,2,3 distance NM.1,3 line and NM
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 where 3 is θ0。
According to specific application environment, can with the flight path of reasonable assumption target parallel or nearly parallel to the plane,
Target is separately set in the projection speed of the plane as v0, the zero passage point moment that probe unit 1,2,3 obtains is respectively t01、t02、t03,
It is apparent from：
Solution formula 3, you can obtain target the plane projection speed v0, target can be obtained in the same way later
In the projection speed of another plane, the three-dimensional speed of target is finally acquired.
Above-mentioned calculating does not consider 1,2,3 conllinear situations, but this situation is similar with above-mentioned calculating process, therefore no longer superfluous
It states.
In practical applications, the calculating process of the above method is complex, therefore, in a preferred embodiment of the invention, adopts
It is detected with 6 probe units.
Fig. 2 shows the distributions of above-mentioned 6 probe units, and referring to Fig. 2,6 probe units are distributed in orthogonal
The first plane xoy and the second plane xoz.First plane xoy includes the first probe unit 11, the second probe unit 12, third
Probe unit 13 and the 4th probe unit 14, four the first quadrangles of composition.Second plane xoz include third probe unit 13,
4th probe unit 14, the 5th probe unit 15 and the 6th probe unit 16, four the second quadrangles of composition.Wherein, it first visits
It surveys unit 11 and the 4th probe unit 14 is located at the diagonal position of the first quadrangle, the second probe unit 12 and third probe unit
13 are located at the diagonal position of the first quadrangle, and third probe unit 13 is located at the diagonal of the second quadrangle with the 6th probe unit 16
Position, the 4th probe unit 14 and the 5th probe unit 15 are located at the diagonal position of the second quadrangle.
Obviously, this design can obtain the three-dimensional speed of target, specific calculating process in a manner of similar to formula 3
Details are not described herein again.
Preferably, in order to reduce cost, it sets probe unit to lower-cost sound transducer.
The operation principle of sound-detection gear is：Aerial target in flight due to engine operating, body and air friction,
The interaction of jet flow and air, blade pat the reasons such as air can outside radiated noise, Miniature Vehicle target sound spectrum is main
Concentrate on 100~1000Hz.When Miniature Vehicle target is close to sound transducer, noise signal strength increases；Work as Miniature Vehicle
When target range sound transducer is nearest, noise signal strength reaches maximum；When Miniature Vehicle target is far from sound transducer,
Noise signal strength becomes smaller.Meanwhile Miniature Vehicle target it is close, far from sound transducer when, noise spectrum can be because how general
It strangles effect and generates frequency deviation.Therefore the intensity and offset frequency situation of the noise signal received by sound transducer, can obtain small-sized
At the time of airbound target is apart from sound transducer closest approach, which is characterized in：The noise amplitude of 100~1000Hz frequency ranges is
Peak value, and the noise frequency of peak value previous instant is higher than the noise frequency of peak value later point.In this way, working as multiple sound transducers
When being laid in space different location, multiple zero passage point moments can be obtained, it can be to target using above-mentioned multiple zero passage point moments
The projection speed of flight path is resolved.
Based on above-mentioned consideration, in practical applications, when the noise amplitude maximum that the present invention obtains sound transducer when
It carves and is used as zero passage point moment.More preferably, using when the noise amplitude maximum of 100~1000Hz frequency ranges as when zero crossing at the time of
It carves.Meanwhile in a preferred embodiment of the invention, the noise frequency that sound transducer is obtained before zero passage point moment is more than it in mistake
The noise frequency obtained after the zero moment.Zero passage point moment is achieved in more accurately to extract.
Quadrangle in above-mentioned computational methods is arbitrary setting, is still unfavorable for the simplification calculated.Therefore, in practical application
In, above-mentioned first quadrangle, the second quadrangle are set to the square that the length of side is l to simplify operation, raising detection accuracy.6
The arrangement of a sensor is detected single as shown in Fig. 2, using the center of the first quadrangle as origin with third probe unit the 13, the 4th
Member 14 line be x-axis, using the 4th probe unit 14, the second probe unit 12 line as y-axis, with the 4th probe unit 14,
The line of 6th probe unit 16 be 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, folder of the target flight track in the projection and z-axis of the second plane xoz in the projection of the first plane xoy and the angle of y-axis
Angle is β.
Projection velocity computation process is provided by taking the first plane as an example below.Fig. 3 be realized according to above-mentioned setting it is first flat
Face xoy projects speed and calculates schematic diagram, referring to Fig. 3, O1、O2、O3、O4Respectively the first probe unit is to the 4th probe unit
Geometric center.Be projected as AB, M of the target flight track in the first plane1、M2、M3、M4Respectively O1、O2、O3、O4Distance AB is most
Near point, the zero passage point moment that the first probe unit to the 4th probe unit acquires are the t 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：
Above-mentioned equation group is solved, can be obtained：
In the same way, can obtain target the second plane xoz projection speed vxoz：
Wherein, t5、t6The zero passage point moment acquired for the 5th probe unit 15, the 6th probe unit 16.So far, it realizes
The detection of target solid speed.
By the above process, the present invention realizes the accurate spy of low slow Small object solid speed by 6 sound transducers
It surveys, principle is simple, it is easy to accomplish, it is of low cost, suitable for being widely applied in engineer application.Further, in a similar way
Multigroup sound transducer is arranged in the flight range of target, forms sensor network, the whole process for capableing of accurately detecting target is three-dimensional
Speed provides data supporting for the interception of next step, strick precaution and supervision.
Fig. 4 shows the low slow Small object solid velocity sensing system of the present invention detected based on the sound intensity, referring to Fig. 4,
Including detecting module 101 and speed calculation module 102.Following introduction specific respectively：
Detecting module 101 includes at least four sound transducer, is arranged in below target flight region mutually perpendicular two
Plane, and each plane in two planes includes at least 3 sound transducers.The above sound sensor is for working as target approaches
When, obtain noise amplitude maximum when at the time of as zero passage point moment.
As a preferred embodiment, make at the time of sound transducer is by when the noise amplitude maximums of 100~1000Hz frequency ranges
For zero passage point moment.Meanwhile in a preferred embodiment of the invention, the noise frequency that sound transducer is obtained before zero passage point moment
The noise frequency obtained after zero passage point moment more than it.Zero passage point moment is achieved in more accurately to extract.
The zero passage point moment that speed calculation module 102 is used to be obtained according to each sound transducer calculates target above-mentioned two
The projection speed of a plane.Circular is similar with aforementioned formula 3, and and will not be described here in detail.
In a preferred embodiment of the invention, detecting module 101 includes being distributed in mutually perpendicular first plane and second flat
6 sound transducers in face.
Specifically, the first sound transducer, second sound sensor, third sound transducer, falling tone sound sensor
It is distributed in the first plane, the first square of composition.Third sound transducer, falling tone sound sensor, fifth sound sound sensor,
Six sound transducers are distributed in the second plane, form second square equal with the first square length of side.First sound sensor
Device is located at the diagonal position of the first square with falling tone sound sensor, and second sound sensor is located at third sound transducer
The diagonal position of first square.Third sound transducer and the 6th sound transducer are located at the diagonal position of the second square,
Falling tone sound sensor is located at the diagonal position of the second square with fifth sound sound sensor.
As a preferred embodiment, speed calculation module 102 calculates target in the first plane, the using formula 4, formula 5
The projection speed of two planes：
Wherein, vxoyIt is target in the projection speed of the first plane, vxozIt is target in the projection speed of the second plane, T1、
T2、T3、T4、T5、T6Respectively the first sound transducer, second sound sensor, third sound transducer, falling tone sound sensing
The zero passage point moment that device, fifth sound sound sensor, the 6th sound transducer obtain, l are the length of side of the first square.
It, can be according to actual environment in roof, street lamp top placement of sounds sensor in concrete application.Meanwhile it can be with every
One group of detecting module is arranged at a certain distance, realizes the complete monitoring of target.
It is provided by the invention based on the sound intensity detection low slow Small object solid speed detection method and system by roof,
The sound transducer composition sensor network of multiple low costs is laid on the tops such as street lamp, easily to aerial various low slow Small objects
It is detected in the projection speed of two planes.It, can be preferably real when largely laying the sensor network in defence area
Now to the monitored over time of the flying speed of low slow Small object.
One of ordinary skill in the art will appreciate that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, which can be stored in a computer read/write memory medium, such as：
ROM/RAM, magnetic disc, CD etc..
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, it can also make several improvements and retouch, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (5)
1. a kind of low slow Small object solid speed detection method based on sound intensity detection, which is characterized in that including step：
S1. in target flight region, arranged beneath is no less than 4 probe units, and the probe unit is distributed in mutually perpendicular two
A plane, and each plane includes at least 3 probe units；
S2. when target approaches, each probe unit obtain with target closest to when at the time of, as zero passage point moment；
S3. according to each probe unit obtain zero passage point moment calculate target described two planes projection speed；
Wherein, no less than 4 probe units are specially 6 probe units；And
6 probe units are distributed in mutually perpendicular first plane and the second plane；First plane includes 6 probe units
In, the first probe unit, the second probe unit, third probe unit and the 4th probe unit of the first quadrangle of composition, the
Two planes include in 6 probe units, the second quadrangle of composition third 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 located at the diagonal position of the first quadrangle, third probe unit and the 6th detection
Unit is located at the diagonal position of the second quadrangle；
First quadrangle and the second quadrangle are the equal square of the length of side；
Step S3 is specially：According to the zero passage point moment that each probe unit obtains, target is calculated the using formula 1, formula 2
One plane, the projection speed of the second plane；
Wherein, vxoyIt is target in the projection speed of the first plane, vxozIt is target in the projection speed of the second plane, t1、t2、t3、
t4、t5、t6Respectively the first probe unit, the second probe unit, third probe unit, the 4th probe unit, the 5th detection are single
The zero passage point moment that member, the 6th probe unit obtain, l are the length of side of the first quadrangle.
2. the method as described in claim 1, which is characterized in that probe unit is sound transducer.
3. method as claimed in claim 2, which is characterized in that the method further includes：The noise that sound transducer is obtained
As zero passage point moment at the time of when amplitude maximum.
4. method as claimed in claim 3, which is characterized in that the noise frequency that sound transducer is obtained before zero passage point moment
The noise frequency obtained after zero passage point moment more than it.
5. a kind of low slow Small object solid velocity sensing system based on sound intensity detection, which is characterized in that including：
Detecting module, it includes no less than 4 sound transducers, and it is flat to be arranged in mutually perpendicular two of target flight region lower section
Face, each plane in described two planes include at least 3 sound transducers；The sound transducer is for working as target approaches
When, obtain noise amplitude maximum when at the time of as zero passage point moment；
Speed calculation module, the zero passage point moment for being obtained according to each sound transducer calculate target in described two planes
Projection speed；
The detecting module includes 6 sound transducers for being distributed in mutually perpendicular first plane and the second plane；
First sound transducer, second sound sensor, third sound transducer, that falling tone sound sensor is distributed in first is flat
Face, the first square of composition；
Third sound transducer, falling tone sound sensor, fifth sound sound sensor, that the 6th sound transducer is distributed in second is flat
Face forms second square equal with the first square length of side；
First sound transducer and falling tone sound sensor are located at the diagonal position of the first square, third sound transducer and the
Six sound transducers are located at the diagonal position of the second square.
The zero passage point moment that each sound transducer of basis obtains calculates target to be had in the projection speed of described two planes
Body is：
According to the zero passage point moment that each sound transducer obtains, target is calculated in the first plane, second using formula 4, formula 5
The projection speed of plane；
Wherein, vxoyIt is target in the projection speed of the first plane, vxozIt is target in the projection speed of the second plane, T1、T2、T3、
T4、T5、T6Respectively the first sound transducer, second sound sensor, third sound transducer, falling tone sound sensor, the 5th
The zero passage point moment that sound transducer, the 6th sound transducer obtain, l are the length of side of the first square.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202470903U (en) * | 2011-11-30 | 2012-10-03 | 北京航天长峰科技工业集团有限公司 | Low-altitude low-speed small-target interception command and control system operation panel |
| CN103134388A (en) * | 2011-11-30 | 2013-06-05 | 北京航天长峰科技工业集团有限公司 | Low altitude slow small target intercept prevention and control system |
| CN103580716A (en) * | 2012-07-27 | 2014-02-12 | 霍尼韦尔国际公司 | Method of system compensation to reduce the effects of self interference in frequency modulated continuous wave altimeter system |
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2016
- 2016-06-24 CN CN201610474517.3A patent/CN106199572B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202470903U (en) * | 2011-11-30 | 2012-10-03 | 北京航天长峰科技工业集团有限公司 | Low-altitude low-speed small-target interception command and control system operation panel |
| CN103134388A (en) * | 2011-11-30 | 2013-06-05 | 北京航天长峰科技工业集团有限公司 | Low altitude slow small target intercept prevention and control system |
| CN103580716A (en) * | 2012-07-27 | 2014-02-12 | 霍尼韦尔国际公司 | Method of system compensation to reduce the effects of self interference in frequency modulated continuous wave altimeter system |
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