CN106842185A - Low small slow target monitoring system and its method of work - Google Patents
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- CN106842185A CN106842185A CN201710204034.6A CN201710204034A CN106842185A CN 106842185 A CN106842185 A CN 106842185A CN 201710204034 A CN201710204034 A CN 201710204034A CN 106842185 A CN106842185 A CN 106842185A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 6
- 230000007123 defense Effects 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 4
- 230000000153 supplemental effect Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 2
- 230000007257 malfunction Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000031968 Cadaver Diseases 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
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- 238000003384 imaging method Methods 0.000 description 1
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 description 1
- 239000002574 poison Substances 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
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Abstract
A kind of low small slow target monitoring system of the invention and its method of work, the system include background server and radar subsystem coupled respectively, infrared subsystem, positioning subsystem, servo subsystem, aobvious control subsystem；The infrared subsystem is fixed in servo console subsystem.Case has Redundancy Design, and when infrared subsystem climate condition etc. influences cisco unity malfunction, the system also has certain target recognition and tracking function；Under normal operation, multiple subsystems cooperate with each other, it is possible to increase object recognition rate and target following efficiency.
Description
Technical field
The invention belongs to unmanned plane field of detecting, and in particular to a kind of low small slow target monitoring radar system and its work side
Method.
Background technology
In recent years, unmanned air vehicle technique development is swift and violent, all trades and professions all extensive uses.But also there are some lawless persons to utilize
Nobody man-machine target, flying height is low, be difficult the advantages of being found by radar carries out crime.
In August, 2015, the unmanned plane that a frame carries Poison enters Ohioan Mansfield labour education and rehabilitation school, when it
Serious rebellion is occurred in that after dropping in courtyard.2014, similar event also occurred in a south card highly set up defences
Luo Laina penitentiaries, and then also there occurs same event in Australia；Same year, Korea is cheap using China Shenzhen
Electronic product has transformed a frame unmanned plane, flies into Seoul and takes on the sly Jin Watai, and South Korea's antiaircraft fire has shot hundreds of bullets of firing,
Korea's aircraft is sent out milli and is not damaged unexpectedly；On December 26th, 2014, Iran also used first in military exercises " Shenfeng dare-to-die corps nobody
Machine "；In September, 2013, the campaign rally of German Chancellor Merkel is once disturbed by a frame SUAV.
There is more than 80 prison in Fujian Province, how to prevent lawless person to deliver drugs, explosive etc. to prison using unmanned plane,
As current prison major issue urgently to be resolved hurrily；Additionally, the whole province holds the movable quantity crowd of all kinds of exhibitions, race every year
It is many, the safety of these places and activity how is ensured, in the period of current unmanned plane is prevailing, it appears particularly important and urgent.
" the low small slow " target of detection with UAS as Typical Representative, detects in predetermined areas, tracks, recognizes, there is provided
The informations parameter such as the position of detected target, movement velocity, the direction of motion and property type.Its information data accurately should be able to may be used
" low small slow " target system of defense is supplied to by ground.System requirements certainty of measurement is high, can round-the-clock, round-the-clock, using fixed mount
If or vehicle-mounted pattern work.
The content of the invention
In view of this, it is an object of the invention to provide the low small slow target monitoring radar system of one kind and its method of work.
The present invention uses following technical method：A kind of low small slow target monitoring system, it includes：Radar subsystem, it is described
Radar subsystem is used to obtain the distance and bearing parameter of detected target；Infrared subsystem, it is defeated when radar subsystem is got
After the detected target supplemental characteristic for going out, the infrared subsystem starts, adjusting focal length and orientation, to detected target imaging simultaneously
Using digitized video tracking technique automatically track target；Positioning subsystem, determines the phase of measured target and sensorcraft system
To level and luffing angle；The positioning subsystem obtains the current absolute coordinate of system；And determine measured target by calculating
Absolute coordinate, the information of the absolute coordinate is used for detected target and implements to arrest the navigation of action；Servo subsystem, by institute
Level and pitching rotation that servo subsystem controls infrared subsystem are stated, the positioning subsystem obtains infrared from servo subsystem
Subsystem level and luffing angle information；And aobvious control subsystem, the aobvious control subsystem is for man-machine interaction and to whole
The control of system is coordinated；Realization and unmanned plane system of defense arrest data communication between UAS.
Further, the aobvious control subsystem includes map display module, Control on Communication and mobile terminal module；Wherein move
Dynamic terminal module works independently, for long-range portable terminal display control.
Further, the radar subsystem uses omnidirectional antenna structure.
Further, also including a video subsystem, when detections of radar to target and after send target position information, video
Subsystem adjusts the focal length of its camera, steering angle, and alignment target position is focused, and gathers video image, and by bus
Backstage is sent to, intuitively to monitor target；The camera level of the video subsystem is controlled by servo subsystem and is bowed
Face upward rotation.
The present invention also provides a kind of method of work based on above-mentioned low small slow target monitoring system, it is characterised in that bag
Include following steps：S1：After radar subsystem detects target, target echo is processed, measure distance, the speed of target
And angle, and target is positioned and real-time tracking；S2：Radar subsystem exports target position information in real time
System；The camera adjustment angle and focal length of video subsystem, real-time video monitoring and candid photograph are carried out to target；Meanwhile, radar point
System also exports target position information to infrared subsystem, and the infrared camera of infrared subsystem is imaged to target；S3：Afterwards
The view data that platform is detected to the radar subsystem, video subsystem and the infrared subsystem that receive, carries out information fusion, knot
Map datum is closed, is shown in aobvious control subsystem, and send alarm signal；S4：When tracking or capture target is needed, by fixed
The relative level and the current absolute coordinate of luffing angle computing system of position subsystem measured target and sensorcraft system；And
The absolute coordinate of measured target is determined by calculating, the information of the absolute coordinate is used for detected target and implements to arrest leading for action
Boat.
Compared with prior art, technical scheme has Redundancy Design, when infrared subsystem climate condition etc.
During influence cisco unity malfunction, the system also has certain target recognition and tracking function；Under normal operation, Duo Gefen
System cooperates with each other, it is possible to increase object recognition rate and target following efficiency.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the structural representation of a specific embodiment of the invention.
Specific embodiment
Explanation is further explained to the present invention with specific embodiment below in conjunction with the accompanying drawings.
A kind of low small slow target monitoring system, it includes：Radar subsystem, the radar subsystem is used to obtain detected
The distance and bearing parameter of target；Infrared subsystem, when the detected target supplemental characteristic for getting radar subsystem output
Afterwards, the infrared subsystem startup, adjusting focal length and orientation, are imaged and utilize digitized video tracking technique certainly to detected target
Motion tracking target；Positioning subsystem, determines the relative level and luffing angle of measured target and sensorcraft system；It is described fixed
Position subsystem obtains the current absolute coordinate of system；And by calculating the absolute coordinate of determination measured target, the absolute coordinate
Information is used for detected target and implements to arrest the navigation of action；Servo subsystem, infrared point is controlled by the servo subsystem
The level of system and pitching rotate, and the positioning subsystem obtains infrared subsystem level and luffing angle letter from servo subsystem
Breath；And aobvious control subsystem, the aobvious control subsystem is used for man-machine interaction and the control to whole system is coordinated；Realize and nothing
Man-machine system of defense arrests data communication between UAS.Structural representation is referring to Fig. 1.
Wherein radar subsystem major function：Obtain detected target（Unmanned plane）Distance and bearing parameter；Based on mesh
Mark micro-Doppler feature realizes that target classification is recognized；Target interested is tracked using Kalman filtering scheduling algorithm.
Infrared subsystem（Containing visible ray）Major function:As detected target (nobody for getting radar subsystem output
Machine) after supplemental characteristic, infrared subsystem starts, adjusting focal length and orientation, detected target is imaged and is utilized digitized video with
Track technology is from motion tracking unmanned plane.Infrared subsystem biggest advantage is that target is accurately identified.Additionally, infrared subsystem
Can also be according to the information that detects, platform sends alarm signal immediately rearward.
Positioning subsystem major function：First, using the gentle well azimuth indicator of high-accuracy water, determine measured target with
The relative level and luffing angle of sensorcraft system；Then, using GPS (or Big Dipper) positioning current absolute of acquisition system
Coordinate；Finally, the absolute coordinate of measured target is determined by calculating, the information of the absolute coordinate can（To the large-scale purposes of arresting
Unmanned plane）Navigated and detected target is implemented to arrest action.
Servo subsystem major function：For radar subsystem and infrared subsystem provide level and pitching spinfunction, and
For positioning subsystem provides level and luffing angle information.Servo subsystem receives the level and luffing angle letter of host computer transmission
Breath, and by specified order rotation to relevant position, while feeding back the subsystem current state.
Aobvious control subsystem major function：Finishing man-machine interaction and the control to whole system are coordinated；Realize and unmanned plane
System of defense arrests data communication between UAS.Aobvious control subsystem is mainly responsible for the work of whole monitoring system
Flow, receives the Monitoring Data that each subsystem sends, and carries out information fusion, with reference to on-line/off-line map datum, by target
Shown on monitor terminal, and perform corresponding alarm；Additionally, except support on line real-time monitoring in addition to, also support by flat board,
The mobile terminals such as mobile phone are monitored and the operational control to systemic-function.
Further, the aobvious control subsystem includes map display module, Control on Communication and mobile terminal module；Wherein move
Dynamic terminal module works independently, for long-range portable terminal display control.
Further, the radar subsystem uses omnidirectional antenna structure, to realize 360 degree of monitorings to target；Radar
The transmitting that subsystem is mainly responsible for radar signal receives control, gathers target echo signal, and target echo is located in real time
Reason, to carry out precision distance measurement// angle measurement of testing the speed to target；Detections of radar to after target, it is necessary to carry out real-time tracking to target；
By measuring the distance and angle of target, target can be positioned with respect to the position of radar, further according to the GPS/ that system is carried
BD locating modules, so that it is determined that the terrestrial coordinates of target；Additionally, radar as main monitoring means, it is necessary to detecting and tracking is arrived
Target information issue video subsystem and infrared subsystem, to start video monitoring and infrared monitoring.
Further, also including a video subsystem, when detections of radar to target and after send target position information, video
Subsystem adjusts the focal length of its camera, steering angle, and alignment target position is focused, and gathers video image, and by bus
Backstage is sent to, intuitively to monitor target；The camera level of the video subsystem is controlled by servo subsystem and is bowed
Face upward rotation.
The present invention also provides a kind of work side based on above-mentioned low small slow target monitoring system, it is characterised in that including
Following steps：S1：After radar subsystem detects target, target echo is processed, measure the distance of target, speed and
Angle, and target is positioned and real-time tracking；S2：Radar subsystem exports target position information in real time
System；The camera adjustment angle and focal length of video subsystem, real-time video monitoring and candid photograph are carried out to target；Meanwhile, radar point
System also exports target position information to infrared subsystem, and the infrared camera of infrared subsystem is imaged to target；S3：Afterwards
The view data that platform is detected to the radar subsystem, video subsystem and the infrared subsystem that receive, carries out information fusion, knot
Map datum is closed, is shown in aobvious control subsystem, and send alarm signal；S4：When tracking or capture target is needed, by fixed
The relative level and the current absolute coordinate of luffing angle computing system of position subsystem measured target and sensorcraft system；And
The absolute coordinate of measured target is determined by calculating, the information of the absolute coordinate is used for detected target and implements to arrest leading for action
Boat.
In the specific embodiment of the invention, whole system structure as shown in Fig. 2 wherein radar subsystem 1 is fixed and not rotated,
360 degree of range synchronization detection targets are capable of achieving, outward appearance can reduce windage, on the other hand using circular when on the one hand setting up monitoring
Exploring antenna can slitless connection simultaneously also increase aesthetics；Video subsystem 2 and infrared subsystem 3 are also secured to servo cloud
In platform subsystem 5, target interested can be directed at by the rotation of head level and pitch orientation；Communication antenna 4, transmission
Radar and video image information, and receive from movement（It is fixed）The control instruction that terminal sends；Monitor 6 is carried as fixed terminal
The comfortableness of man-machine interaction is risen, panel computer improves the portability of man-machine interaction as mobile terminal.
Above is presently preferred embodiments of the present invention, all changes made according to technical solution of the present invention, produced function work
During with scope without departing from technical solution of the present invention, protection scope of the present invention is belonged to.
Claims (5)
1. a kind of low small slow target monitoring system, it is characterised in that including：
Radar subsystem, the radar subsystem is used to obtain the distance and bearing parameter of detected target；
Infrared subsystem, after the detected target supplemental characteristic of radar subsystem output is got, the infrared subsystem is opened
Dynamic, adjusting focal length and orientation are imaged and utilize digitized video tracking technique automatically track target to detected target；
Positioning subsystem, determines the relative level and luffing angle of measured target and sensorcraft system；The positioning is divided
The current absolute coordinate of system acquisition system；And by calculating the absolute coordinate of determination measured target, the information of the absolute coordinate is used
Implement to arrest the navigation of action in detected target；
Servo subsystem, controls the level of infrared subsystem and pitching to rotate by the servo subsystem, and the positioning point is
System obtains infrared subsystem level and luffing angle information from servo subsystem；
Aobvious control subsystem, the aobvious control subsystem is used for man-machine interaction and the control to whole system is coordinated；Realize and nobody
Machine system of defense arrests data communication between UAS.
2. low small slow target monitoring system according to claim 1, it is characterised in that：The aobvious control subsystem includes map
Display module, Control on Communication and mobile terminal module；Wherein mobile terminal module works independently, and shows for long-range portable terminal
Show control.
3. low small slow target monitoring system according to claim 1, it is characterised in that：The radar subsystem uses omnidirectional
Antenna structure.
4. low small slow target monitoring system according to claim 1, it is characterised in that：Also include a video subsystem, when
To target and after sending target position information, video subsystem adjusts the focal length of its camera, steering angle to detections of radar, is directed at mesh
Cursor position is focused, and gathers video image, and is sent to backstage by bus, intuitively to monitor target；By servo point
System controls camera level and the pitching rotation of the video subsystem.
5. a kind of work side of the low small slow target monitoring system based on described in claim 1, it is characterised in that including following step
Suddenly：
S1：After radar subsystem detects target, target echo is processed, measures distance, speed and the angle of target,
And target is positioned and real-time tracking；
S2：Radar subsystem exports target position information and gives video subsystem in real time；The camera adjustment angle of video subsystem
And focal length, real-time video monitoring and candid photograph are carried out to target；Meanwhile, radar subsystem also exports target position information to infrared point
System, the infrared camera of infrared subsystem is imaged to target；
S3：The view data that backstage detects to the radar subsystem, video subsystem and the infrared subsystem that receive, carries out letter
Breath fusion, with reference to map datum, shows, and send alarm signal in aobvious control subsystem；
S4：When tracking or capture target is needed, by positioning subsystem measured target and the relative level of sensorcraft system
The absolute coordinate current with luffing angle computing system；And by calculating the absolute coordinate of determination measured target, the absolute coordinate
Information be used for detected target and implement to arrest the navigation of action.
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| CN201710204034.6A CN106842185A (en) | 2017-03-30 | 2017-03-30 | Low small slow target monitoring system and its method of work |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108051804A (en) * | 2017-12-19 | 2018-05-18 | 山东神戎电子股份有限公司 | A kind of inter-linked controlling method of radar and optoelectronic device |
| CN109085573A (en) * | 2018-09-26 | 2018-12-25 | 成都九洲迪飞科技有限责任公司 | Vehicle-mounted unmanned aerial vehicle managing and control system and method |
| CN109151285A (en) * | 2018-10-11 | 2019-01-04 | 西安神洲雷达科技有限公司 | A kind of photoelectricity patrolling control system and method, photoelectricity logging |
| CN109343050A (en) * | 2018-11-05 | 2019-02-15 | 浙江大华技术股份有限公司 | A kind of radar video monitoring method and device |
| CN110133638A (en) * | 2019-05-21 | 2019-08-16 | 北京欧远致科技有限公司 | It can be used for detecting the radar system and its application method of low small slow target object |
| CN110346788A (en) * | 2019-06-14 | 2019-10-18 | 北京雷久科技有限责任公司 | The high motor-driven and hovering full Track In Track method of target merged based on radar and photoelectricity |
| CN110554380A (en) * | 2019-09-09 | 2019-12-10 | 深圳市科卫泰实业发展有限公司 | Target height fixing system for radar countercheck system |
| CN110827257A (en) * | 2019-10-14 | 2020-02-21 | 南京信为峰防务科技有限公司 | Embedded onboard infrared image visual navigation positioning method |
| CN111796247A (en) * | 2020-06-15 | 2020-10-20 | 哈尔滨工业大学 | Group unmanned aerial vehicle echo simulation method based on micro Doppler effect |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108051804A (en) * | 2017-12-19 | 2018-05-18 | 山东神戎电子股份有限公司 | A kind of inter-linked controlling method of radar and optoelectronic device |
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| CN109151285A (en) * | 2018-10-11 | 2019-01-04 | 西安神洲雷达科技有限公司 | A kind of photoelectricity patrolling control system and method, photoelectricity logging |
| CN109343050A (en) * | 2018-11-05 | 2019-02-15 | 浙江大华技术股份有限公司 | A kind of radar video monitoring method and device |
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| CN110346788A (en) * | 2019-06-14 | 2019-10-18 | 北京雷久科技有限责任公司 | The high motor-driven and hovering full Track In Track method of target merged based on radar and photoelectricity |
| CN110554380A (en) * | 2019-09-09 | 2019-12-10 | 深圳市科卫泰实业发展有限公司 | Target height fixing system for radar countercheck system |
| CN110827257A (en) * | 2019-10-14 | 2020-02-21 | 南京信为峰防务科技有限公司 | Embedded onboard infrared image visual navigation positioning method |
| CN110827257B (en) * | 2019-10-14 | 2024-03-29 | 南京信为峰光电科技有限公司 | Visual navigation positioning method for embedded airborne infrared image |
| CN111796247A (en) * | 2020-06-15 | 2020-10-20 | 哈尔滨工业大学 | Group unmanned aerial vehicle echo simulation method based on micro Doppler effect |
| CN111796247B (en) * | 2020-06-15 | 2024-03-26 | 哈尔滨工业大学 | Echo simulation method for group unmanned aerial vehicle based on micro Doppler effect |
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