CN106842167A - A kind of data processing method, device and radar - Google Patents
A kind of data processing method, device and radar Download PDFInfo
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- CN106842167A CN106842167A CN201710076507.9A CN201710076507A CN106842167A CN 106842167 A CN106842167 A CN 106842167A CN 201710076507 A CN201710076507 A CN 201710076507A CN 106842167 A CN106842167 A CN 106842167A
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
Abstract
This application discloses a kind of data processing method, device and radar, method includes：The first signal is gathered using radar, first signal is transmitted under first environment, and the first position point on the protective cover of first signal correspondence radar；Obtain the secondary signal that the radar is collected in advance under second environment, the second place point on the secondary signal correspondence protective cover；First signal and the secondary signal are compared, comparison result is obtained；Based on the comparison result, determine whether the first position point is same position point with the second place point；If the first position point is same position point with the second place point, first signal is processed based on the corresponding reflectivity of the second point.
Description
Technical field
The application is related to technical field of data processing, more particularly to a kind of data processing method, device and radar.
Background technology
Laser type radar can not operationally be shielded by object, even the glass of Film Coating Antireflection can also influence radar
The accuracy of received signal, and if cloche is set no longer outside radar can also influence attractive in appearance and security.
Therefore, a kind of technical scheme of the influence to the signal received by radar that can eliminate cloche is needed badly.
The content of the invention
In view of this, the purpose of the application is to provide a kind of data processing method, device and radar, is used to solve existing skill
The technical problem of influence of the elimination protective cover to the signal received by radar is needed in art.
This application provides a kind of data processing method, including：
The first signal is gathered using radar, first signal is transmitted under first environment, and first signal correspondence
First position point on the protective cover of the radar；
Obtain the secondary signal that the radar is collected in advance under second environment, the secondary signal correspondence protection
Second place point on cover；
First signal and the secondary signal are compared, comparison result is obtained；
Based on the comparison result, determine whether the first position point is same position point with the second place point；
It is corresponding anti-based on the second point if the first position point is same position point with the second place point
Rate is penetrated to process first signal.
The above method, it is preferred that first signal and the secondary signal are compared, comparison result is obtained, bag
Include：
Frequency and phase discrimination treatment is carried out to first signal and the secondary signal, result is obtained；
Based on the result, the comparison result of first signal and the secondary signal is generated.
The above method, it is preferred that also include：
Low-pass filtering treatment is carried out to the result.
The above method, it is preferred that described if first position point is not same position point with the second place point
Method also includes：
The secondary signal that the acquisition radar is collected in advance under the second environment is re-executed, until again
The corresponding second place point of secondary signal of acquisition is same position point with the first position point.
Present invention also provides a kind of data processing equipment, including：
First signal gathering unit, for gathering the first signal using radar, first signal is passed under first environment
It is defeated, and the first position point on the protective cover of first signal correspondence radar；
Secondary signal obtaining unit, for obtaining the secondary signal that the radar is collected in advance under second environment, institute
State the second place point on the secondary signal correspondence protective cover；
Signal fusing unit, for first signal and the secondary signal to be compared, obtains comparison result；
Location point determining unit, for based on the comparison result, determining the first position point and the second place
Whether point is same position point, if first position point is same position point with the second place point, at trigger signal
Reason unit；
Signal processing unit, for being processed first signal based on the corresponding reflectivity of the second point.
Present invention also provides a kind of radar, including：
Signal acquisition module, for gathering the first signal, first signal is transmitted under first environment, and described first
First position point on the protective cover of the signal correspondence radar；
Signal testing module, for carrying out signal testing under second environment, gathers signal；
Signal obtains module, for obtaining the secondary signal that the radar is collected in advance under the second environment, institute
State the second place point on the secondary signal correspondence protective cover；
Comparator, for first signal and the secondary signal to be compared, obtains comparison result, based on described
Comparison result, determines whether the first position point is same position point with the second place point, if the first position
Point is same position point, trigger processor with the second place point；
Signal processor, for being processed first signal based on the corresponding reflectivity of the second place point.
Above-mentioned radar, it is preferred that the comparator includes：
Phase frequency detector, for carrying out frequency and phase discrimination treatment to first signal and the secondary signal, is processed
As a result, based on the result, the comparison result of first signal and the secondary signal is generated；
Trigger, for based on the comparison result, determine the first position point and the second place point whether be
Same position point, if first position point is same position point with the second place point, triggers the signal processor.
Above-mentioned radar, it is preferred that also include：
Low pass filter, for carrying out low-pass filtering treatment to the result.
Above-mentioned radar, it is preferred that the signal obtains module and is：555 timers, specifically for from the signal testing mould
Secondary signal is obtained in the signal that block is collected.
Above-mentioned radar, it is preferred that the comparator is additionally operable to：It is not with the second place point in the first position point
During same position point, trigger signal obtains module and regains the radar is collected in advance under the second environment second
Signal, until the corresponding second place point of the secondary signal for regaining and the first position point are same position point.
From such scheme, a kind of data processing method, device and radar that the application is provided, by by radar in reality
The signal respectively obtained under the working environment of border and under test environment is compared, and judges that two signals are corresponding by comparison result
Whether location point is consistent, thus finds radar corresponding location point under actual working environment, and then utilize this location point
Reflectivity processed come the signal resulting under time service environment to radar, such as calibrate, so as to eliminate radar
Influence in the signal for receiving produced by protective cover, improves signal accuracy.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme in the embodiment of the present application, below will be to make needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present application, for
For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these accompanying drawings
His accompanying drawing.
Fig. 1 is a kind of flow chart of data processing method that the embodiment of the present application one is provided；
Fig. 2~Fig. 6 is respectively the application exemplary plot of the embodiment of the present application；
Fig. 7 is the partial process view of the embodiment of the present application one；
Fig. 8 is another flow chart of the embodiment of the present application one；
Fig. 9 is the Another Application exemplary plot of the embodiment of the present application；
Figure 10 is a kind of structural representation of data processing equipment that the embodiment of the present application two is provided；
Figure 11 is a kind of structural representation of radar that the embodiment of the present application three is provided；
Figure 12 is the part-structure schematic diagram of the embodiment of the present application two；
Figure 13 is the another application exemplary plot of the embodiment of the present application.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.It is based on
Embodiment in the application, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of the application protection.
It is that a kind of data processing method that the embodiment of the present application one is provided realizes flow chart with reference to Fig. 1, the method is applicable
In the radar equipment for being provided with protective cover, protective cover here can be realized for cloche etc., protective cover can for spherical or
Approximate soccer star's structure, as shown in Figure 2.
Reflectivity of the protective cover on each point may be identical, it is also possible to different, for example, the reflectivity of A points is anti-with B points
Penetrating rate may be identical, it is also possible to different.If protective cover is the soccer star's structure definitely with radar as the centre of sphere, then A points and B points
Reflectivity is identical, and due to actual process situation, the standard such as size there may be difference so that A points may with the reflectivity of B points
Difference, as shown in Figure 3.
It should be noted that radar is in the course of the work, rotated according to given pace and certain orientation.Example
Such as, radar uniform rotation clockwise, to scan the object in certain radius.
In the present embodiment, be may comprise steps of in the method：
Step 101：The first signal is gathered using radar.
Wherein, the first signal is transmitted under first environment, and the first position on the protective cover of the first signal correspondence radar
Point.
It should be noted that first environment can be radar actual working environment, for example, the ring found range using radar
Border.
And the first signal refer to radar when being operated after output signal such as distance measuring signal, the return letter for receiving
Number.First signal starts including the pulse that radar receives correspondence first position point, the pulse signal of certain time length.
First position point X and follow-up multiple location point on first signal correspondence protective cover, because the signal of radar output passes through each
Location point can cause one pulse of correspondence on the signal that receives of radar because of the reflectivity on this location point, therefore,
First signal is the signal comprising multiple pulses, each pulse one location point of correspondence, and the feature of pulse correspondence its is corresponding
Reflectivity on location point.
Step 102：Obtain the secondary signal that radar is collected in advance under second environment.
Wherein, the second place point Y on secondary signal correspondence protective cover.
It should be noted that second environment refers to test environment, i.e., in the case where not interfering with, according to there is protective cover
Radar realizes the test of the reflectivity on protective cover on each location point by exporting and receiving signal.
As shown in Figure 4, under the test environment, radar is rotated clockwise and collects pulse signal, these pulse signals
The reflectivity of pulse characteristicses correspondence protective cover relevant position point.For example, the size correspondence corresponding positions of the height of pulse or range value
Put the size of reflectivity a little.
Secondary signal is intercepted from these pulse signals in the present embodiment, for example, believing from the corresponding pulse of second place point
Number start interception, obtain the pulse signal of certain length, as secondary signal, the length of the length of secondary signal and the first signal
Can be with identical.
Wherein, the length of signal here refers to, the corresponding time span of signal, as shown in Figure 5, moment t0 to moment
The signal of t1, as secondary signal, wherein comprising 3 pulses.
Step 103：First signal and secondary signal are compared, comparison result is obtained.
Wherein, in the present embodiment, the feature of the corresponding pulses in the first signal and secondary signal can be compared, is entered
And compare the first signal and the whether corresponding identical location point of secondary signal.
Step 104：Based on comparison result, determine whether first position point and second place point are same position point, if
First position point is same position point with second place point, performs step 105.
Wherein, if pulse and pulse characteristicses in the first signal and secondary signal are corresponded, the first letter is shown
Number location point corresponding with the initial pulse of secondary signal is identical, and as first position point and the second place is same position
Point, as shown in Figure 6, now, performs step 105.
Step 105：Reflectivity based on second place point is processed the first signal.
Wherein, the first signal is processed in the present embodiment, including：The first signal is calibrated based on reflectivity or
The treatment such as noise judgement.
Due to not can determine that the location point corresponding to the first signal in radar real work, first cannot be also determined
The reflectivity of the corresponding location point of signal, it is impossible to carry out the treatment such as signal calibration, therefore, in the present embodiment, using previously known
Pulse signal the signal collected in real work is compared, find the pulse with the signal collected in real work
The pulse burst that feature matches, and then find corresponding location point, it is known that the reflectivity of location point, then carry out signal calibration etc.
Reason.
From such scheme, a kind of data processing method that the embodiment of the present application one is provided, by by radar in reality
The signal respectively obtained under working environment and under test environment is compared, and the corresponding position of two signals is judged by comparison result
Put a little whether consistent, thus find radar corresponding location point under actual working environment, and then using this location point
Reflectivity is processed come the signal resulting under time service environment to radar, is such as calibrated, so as to eliminate radar connect
Influence in the signal for receiving produced by protective cover, improves signal accuracy.
In one implementation, as shown in Figure 7, step 103 can be realized by following steps：
Step 701：Frequency and phase discrimination treatment is carried out to the first signal and secondary signal, result is obtained.
Here, can be realized using phase frequency detector (frequency phase detector, PFD) in the present embodiment
Frequency and phase discrimination treatment is carried out to the first signal and secondary signal, result is obtained.
Wherein, frequency and phase discrimination treatment is carried out to the first signal and secondary signal in the present embodiment, refers to the first signal of matching
With the frequency difference and difference of secondary signal so that secondary signal has relativeness with the first signal on frequency and phase.
Step 702：Based on result, the comparison result of the first signal of generation and secondary signal.
Wherein, two signals in the result that is processed by frequency and phase discrimination can be carried out in the present embodiment corresponding
Pulse characteristicses compare to generate the comparison result of the first signal and secondary signal.
And the present embodiment carries out frequency and phase discrimination treatment before two pulse characteristicses of signal are compared, it is possible to increase signal fusing
Accuracy.
For example, after the first signal and secondary signal are matched in frequency and phase, judging two signals in correspondence
Whether the difference of the pulse amplitude in frequency and phase matches, if it is then comparison result is the first signal and the second letter
Number comparison result for matching, then second place point and first position are same position point；If difference is mismatched, then compare
Result is that the first signal and the unmatched comparison result of secondary signal, then second place point and first position point are not same positions
Point.
In addition, the accuracy in order to further improve signal transacting, after step 701, the method can also include with
Lower step：
Step 703：Low-pass filtering treatment is carried out to result.
Result can be specifically carried out at LPF using low pass filter (Low-pass filter, LPF)
Reason, to influence the signal of accuracy except denoising etc..
In one implementation, if based on comparison result, it is found that first position point X and second place point Y is not
Same position point, then it from same location point is source location set to illustrate that this secondary signal and first signal for obtaining are not
, then need to reacquire a secondary signal, signal fusing is carried out again, be same until finding with first position point
The second place point of point.
As shown in Figure 8, after step 104, if first position point X and second place point Y are not same position
Point, the method can be returned and re-execute step 102, regain the secondary signal that radar is collected in advance under second environment,
And the second place point corresponding to the secondary signal for regaining, Y` can be designated as, now, Y` is different from Y, for example, Y` is Y's
Next location point or preceding 3 location points etc..
Afterwards, the secondary signal that the present embodiment will be regained is re-started with the first signal and compared, in comparison result table
When bright first position point X and new second place point Y` is same position point, as shown in Figure 9, step 105 is performed, otherwise, then
Secondary return performs step 102, until finding the point with first position point for same position point.
It is a kind of structural representation of data processing equipment that the embodiment of the present application two is provided with reference to Figure 10, the device can
To be arranged in the radar equipment for being provided with protective cover, protective cover here can realize that protective cover can be for cloche etc.
Spherical or approximate soccer star's structure, as shown in Figure 2, reflectivity of the protective cover on each point may be identical, it is also possible to different, example
Such as, the reflectivity of A points is identical with the reflectivity possibility of B points, it is also possible to different.If protective cover is definitely with radar as the centre of sphere
Soccer star's structure, then A points are identical with the reflectivity of B points, and due to actual process situation, the standard such as size there may be difference,
So that A points may be different from the reflectivity of B points, as shown in Figure 3.
It should be noted that radar is in the course of the work, rotated according to given pace and certain orientation.Example
Such as, radar uniform rotation clockwise, to scan the object in certain radius.
In the present embodiment, following structure can be included in the device：
First signal gathering unit 1001, for gathering the first signal using radar.
Wherein, the first signal is transmitted under first environment, and the first position on the protective cover of the first signal correspondence radar
Point.
It should be noted that first environment can be radar actual working environment, for example, the ring found range using radar
Border.
And the first signal refer to radar when being operated after output signal such as distance measuring signal, the return letter for receiving
Number.First signal starts including the pulse that radar receives correspondence first position point, the pulse signal of certain time length.
First position point X and follow-up multiple location point on first signal correspondence protective cover, because the signal of radar output passes through each
Location point can cause one pulse of correspondence on the signal that receives of radar because of the reflectivity on this location point, therefore,
First signal is the signal comprising multiple pulses, each pulse one location point of correspondence, and the feature of pulse correspondence its is corresponding
Reflectivity on location point.
Secondary signal obtaining unit 1002, for obtaining the secondary signal that radar is collected in advance under second environment.
Wherein, the second place point Y on secondary signal correspondence protective cover.
It should be noted that second environment refers to test environment, i.e., in the case where not interfering with, according to there is protective cover
Radar realizes the test of the reflectivity on protective cover on each location point by exporting and receiving signal.
As shown in Figure 4, under the test environment, radar is rotated clockwise and collects pulse signal, these pulse signals
The reflectivity of pulse characteristicses correspondence protective cover relevant position point.For example, the size correspondence corresponding positions of the height of pulse or range value
Put the size of reflectivity a little.
Secondary signal is intercepted from these pulse signals in the present embodiment, for example, believing from the corresponding pulse of second place point
Number start interception, obtain the pulse signal of certain length, as secondary signal, the length of the length of secondary signal and the first signal
Can be with identical.
Wherein, the length of signal here refers to, the corresponding time span of signal, as shown in Figure 5, moment t0 to moment
The signal of t1, as secondary signal, wherein comprising 3 pulses.
Signal fusing unit 1003, for the first signal and secondary signal to be compared, obtains comparison result.
Wherein, in the present embodiment, the feature of the corresponding pulses in the first signal and secondary signal can be compared, is entered
And compare the first signal and the whether corresponding identical location point of secondary signal.
Location point determining unit 1004, for based on comparison result, determine first position point and second place point whether be
Same position point, if first position point is same position point, trigger signal processing unit 1005 with second place point.
Wherein, if pulse and pulse characteristicses in the first signal and secondary signal are corresponded, the first letter is shown
Number location point corresponding with the initial pulse of secondary signal is identical, and as first position point and the second place is same position
Point, as shown in Figure 6, now, trigger signal processing unit 1005.
Signal processing unit 1005, at based on the corresponding reflectivity of the second point to first signal
Reason.
Wherein, the first signal is processed in the present embodiment, including：The first signal is calibrated based on reflectivity or
The treatment such as noise judgement.
Due to not can determine that the location point corresponding to the first signal in radar real work, first cannot be also determined
The reflectivity of the corresponding location point of signal, it is impossible to carry out the treatment such as signal calibration, therefore, in the present embodiment, using previously known
Pulse signal the signal collected in real work is compared, find the pulse with the signal collected in real work
The pulse burst that feature matches, and then find corresponding location point, it is known that the reflectivity of location point, then carry out signal calibration etc.
Reason.
From such scheme, a kind of data processing equipment that the embodiment of the present application two is provided, by by radar in reality
The signal respectively obtained under working environment and under test environment is compared, and the corresponding position of two signals is judged by comparison result
Put a little whether consistent, thus find radar corresponding location point under actual working environment, and then using this location point
Reflectivity is processed come the signal resulting under time service environment to radar, is such as calibrated, so as to eliminate radar connect
Influence in the signal for receiving produced by protective cover, improves signal accuracy.
It is a kind of structural representation of radar that the embodiment of the present application three is provided with reference to Figure 11, radar is provided with protective cover
1101, and radar can be realized by following structure：
Signal acquisition module 1102, for gathering the first signal.
Wherein, the first signal is transmitted under first environment, and on the protective cover of the first signal correspondence radar first
Location point.
Signal testing module 1103, for carrying out signal testing under second environment, gathers signal.
Wherein, the collection of signal acquisition module 1102 and signal testing module 1103 to signal can use same collection hand
Section is realized using same acquisition interface.
Signal obtains module 1104, for obtaining the secondary signal that radar is collected in advance under the second environment.
Wherein, the second place point on the secondary signal correspondence protective cover.
And during signal obtains the signal that module 1104 can be collected using 555 timers from signal testing module 1103
Obtain secondary signal.
Comparator 1105, for the first signal and secondary signal to be compared, obtains comparison result, is tied based on comparing
Really, determine whether first position point and second place point are same position point, if first position point is same with second place point
One location point, trigger processor 1106.
Signal processor 1106, for being processed the first signal based on the corresponding reflectivity of second place point.
From such scheme, a kind of radar that the embodiment of the present application three is provided, by by radar in actual working environment
Whether the signal respectively obtained under lower and test environment is compared, and the corresponding location point of two signals is judged by comparison result
Unanimously, thus find radar corresponding location point under actual working environment, so using this location point reflectivity come
To radar, resulting signal under time service environment is processed, and is such as calibrated, so as to eliminate the letter received by radar
Influence in number produced by protective cover, improves signal accuracy.
In one implementation, comparator 1105 can be using the realization of the structures such as phaselocked loop, can also be by following structure reality
It is existing, as shown in Figure 12：
Phase frequency detector 1201, for carrying out frequency and phase discrimination treatment to the first signal and secondary signal, obtains result,
Based on result, the comparison result of the first signal of generation and secondary signal.
Low pass filter 1202, for carrying out low-pass filtering treatment to the result.
Trigger 1203, for based on comparison result, determining whether first position point and second place point are same position
Point, if first position point is same position point with second place point, trigger processor 1106 is based on second place point pair
The reflectivity answered is processed the first signal.
In addition, comparator 1105 is when first position point is found and second place point is not same position point, trigger signal
Obtain module 1104 and regain radar secondary signal for collecting in advance under second environment, until regain the
The corresponding second place point of binary signal is same position point with first position point.
As shown in Figure 13, it is the application exemplary plot of radar in the present embodiment：
Wherein, t0` represents the initial time point of the first signal, and correspondence first position point, t0 represents the starting of secondary signal
Moment point, correspondence second place point.
Secondary signal is extracted by 555 timers and exported, defeated after by the first signal and secondary signal by PFD and LPF
Go out level signal and give voltage controlled oscillator (Voltage Controlled X'tal [crystal] Oscillator, VCXO), if
VCXO does not have signal output, then show that first position point is same position point with second place point, otherwise, the letter that VCXO is exported
The time of t0 number is adjusted by analog to digital conversion circuit output digit signals v, and then causes that 555 timers extract correspondence again
New second place point secondary signal, until find with first position point for same position point second place point, afterwards,
The first signal is processed using the reflectivity of second place point, such as calibration or noise judges.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation is all difference with other embodiment, between each embodiment identical similar part mutually referring to.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.And, term " including ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include that
A little key elements, but also other key elements including being not expressly set out, or also include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", does not arrange
Except also there is other identical element in the process including the key element, method, article or equipment.
A kind of data processing method provided by the present invention, device and radar are described in detail above, it is public to institute
The described above of the embodiment opened, enables professional and technical personnel in the field to realize or uses the present invention.To these embodiments
Various modifications will be apparent for those skilled in the art, and generic principles defined herein can be
In the case of not departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention is not intended to be limited to
The embodiments shown herein, and it is to fit to the most wide model consistent with principles disclosed herein and features of novelty
Enclose.
Claims (10)
1. a kind of data processing method, including：
The first signal is gathered using radar, first signal is transmitted under first environment, and first signal correspondence is described
First position point on the protective cover of radar；
The secondary signal that the radar is collected in advance under second environment is obtained, on the secondary signal correspondence protective cover
Second place point；
First signal and the secondary signal are compared, comparison result is obtained；
Based on the comparison result, determine whether the first position point is same position point with the second place point；
If the first position point is same position point with the second place point, based on the corresponding reflectivity of the second point
First signal is processed.
2. method according to claim 1, it is characterised in that compared first signal and the secondary signal
It is right, comparison result is obtained, including：
Frequency and phase discrimination treatment is carried out to first signal and the secondary signal, result is obtained；
Based on the result, the comparison result of first signal and the secondary signal is generated.
3. method according to claim 2, it is characterised in that also include：
Low-pass filtering treatment is carried out to the result.
4. method according to claim 1, it is characterised in that if first position point is with the second place point not
It is same position point, methods described also includes：
The secondary signal that the acquisition radar is collected in advance under the second environment is re-executed, until regaining
The corresponding second place point of secondary signal and the first position point be same position point.
5. a kind of data processing equipment, including：
First signal gathering unit, for gathering the first signal using radar, first signal is transmitted under first environment, and
First position point on the protective cover of the first signal correspondence radar；
Secondary signal obtaining unit, for obtaining radar secondary signal for collecting in advance under second environment, described the
Second place point on the binary signal correspondence protective cover；
Signal fusing unit, for first signal and the secondary signal to be compared, obtains comparison result；
Location point determining unit, for based on the comparison result, determining that the first position point is with the second place point
No is same position point, if first position point is same position point with the second place point, trigger signal treatment is single
Unit；
Signal processing unit, for being processed first signal based on the corresponding reflectivity of the second point.
6. a kind of radar, including：
Signal acquisition module, for gathering the first signal, first signal is transmitted under first environment, and first signal
First position point on the protective cover of the correspondence radar；
Signal testing module, for carrying out signal testing under second environment, gathers signal；
Signal obtains module, for obtaining radar secondary signal for collecting in advance under the second environment, described the
Second place point on the binary signal correspondence protective cover；
Comparator, for first signal and the secondary signal to be compared, obtains comparison result, based on the comparison
As a result, determine whether the first position point is same position point with the second place point, if first position point with
The second place point is same position point, trigger processor；
Signal processor, for being processed first signal based on the corresponding reflectivity of the second place point.
7. radar according to claim 6, it is characterised in that the comparator includes：
Phase frequency detector, for carrying out frequency and phase discrimination treatment to first signal and the secondary signal, obtains result,
Based on the result, the comparison result of first signal and the secondary signal is generated；
Trigger, for based on the comparison result, determining whether the first position point is same with the second place point
Location point, if first position point is same position point with the second place point, triggers the signal processor.
8. radar according to claim 7, it is characterised in that also include：
Low pass filter, for carrying out low-pass filtering treatment to the result.
9. radar according to claim 6, it is characterised in that the signal obtains module and is：555 timers, it is specific to use
Secondary signal is obtained in the signal collected from the signal testing module.
10. radar according to claim 6, it is characterised in that the comparator is additionally operable to：The first position point with
When the second place point is not same position point, trigger signal obtains module and regains the radar in the second environment
The secondary signal for collecting in advance down, until the corresponding second place point of the secondary signal for regaining and the first position point
It is same position point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108303690A (en) * | 2018-01-17 | 2018-07-20 | 武汉煜炜光学科技有限公司 | A kind of distance measuring method and range-measurement system for eliminating laser radar blind area |
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