CN107561526A - A kind of unmanned plane target identification and localization method based on radar network - Google Patents
A kind of unmanned plane target identification and localization method based on radar network Download PDFInfo
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Abstract
The invention discloses a kind of target identification and localization method based on radar network, for based on radar network and carrying out unattended target identification and positioning, be particularly suitable for use in unmanned plane aerial target.The present invention program is included in erection target acquisition radar on communication base station steel tower, carries out networking cloth station；Target is detected using the frequency modulated continuous wave radar of networking, detection data is transferred to remote server；Remote server is identified and positioned to target data integrated treatment, and to target.Unmanned plane target identification provided by the invention and localization method can be used in city identify unmanned plane and position, its recognition accuracy is high, registration, and it can be shown in real time on city map, unmanned plane large scale and high accuracy is monitored in city so as to realize, city protection safety is ensured, and saves the detection cost to SUAV and sets up cost, realizes comprehensive utilization of resources.
Description
Technical field
The present invention relates to object detection field, more particularly to a kind of unmanned plane target identification and positioning based on radar network
Method.
Background technology
Unmanned plane especially MAV is bringing many applications because small volume, flight manipulate the own characteristic such as convenient
On convenience and superiority while, also bring a series of safety problems, for example, rush by mistake airport, flight safety, invade the public
Situations such as privacy, it is therefore necessary to effectively monitored to unmanned plane.And it is unmanned plane during flying supervision length to monitor difficulty in real time
The problem of phase is present, unmanned plane supervision equipment of the prior art, due to urban environment particularity, floor serious shielding, cause
Supervision equipment sets up condition in city and is extremely limited.Such as supervision equipment requires the erection point of use of equipment in roof
Etc. open area, the electric power system, installation site and the peripheral hardware that have stabilization can not disturb residents, the site information in region can integrate
Deng.And lack target identification and the method for precise positioning are carried out to unmanned plane under network environment in the prior art, these are comprehensive
Conjunction factor causes prior art poor to unmanned plane Effect on Detecting, lacks networking comprehensively monitoring, effectively can not accurately carry out nobody
Machine identifies and positioning.
The content of the invention
The present invention is a series of problems existing for solution prior art, there is provided one kind is based on setting up on communication base station iron tower
Radar network carry out target identification and localization method, multistation networking and unattended target identification and positioning can be realized, should
Method identifies and detection accuracy is high, wide coverage, and will identification position result by Surveillance center in real time on city map
It has been shown that, realize in city to a wide range of monitoring of aerial target, ensure city protection safety.
Specifically, the present invention provides a kind of target identification and localization method based on radar network, including：In communication base station
Target acquisition radar is set up on steel tower, carries out networking cloth station；Target is detected using the frequency modulated continuous wave radar of networking, will
Detection data is transferred to remote server；Remote server is identified and positioned to target data integrated treatment, and to target.
Wherein, the GPS coordinate information of each base station measures when building a station, and the base station is numbered simultaneously logging data
Storehouse, after Surveillance center receives coordinates of targets information, according to base station number and the target information including coordinate, you can converse
Target location in whole network environment.
Detection of the detection radar to target includes azimuthal measurement, range measurement and elevation carrection.
Radar bearing measurement radar totally 10 120 ° of scanning beam covering orientations, passes through adjacent beams using mutually sweeping realization
To the result of detection of same target, target bearing is measured than width；The direction of two beam intersections is θ, wave beam 1, the directional diagram of wave beam 2
Respectively F1 (θ), F2 (θ), it is respectively θ 1, θ 2 that maximum, which is pointed to, is angle where target by amplitude comparator output valve K (θ)
The function of degree, (θ 1- θ) and (θ-θ 2) is divided into some each areas in advance, and obtains K (θ) value in each subinterval, by tabling look-up
Target side place value is obtained, wherein,
Distance by radar measures, and must measure the two-way time between radar and target, i.e. echo lags behind transmission signal
Time, the relation that the time is lagged behind apart from echo-signal are：
R=ct/2
In formula, c is that electromagnetic wave lags behind launch time in free-space propagation speed, t for echo-signal；
Radar emission sawtooth linear frequency modulation continuous wave signal, can by measuring the difference on the frequency of transmission signal and reception signal
To determine that echo-signal lags behind the time of transmission signal, and then determine the distance of target；
Assuming that the time delay of transmission signal and echo-signal is t, Tm is the cycle of each modulation waveform, and △ F are tune
The maximum frequency deviation of system, △ F/Tm are chirp rate, and f1 is the difference frequency of transmission signal and echo-signal.In the certain feelings of modulation parameter
Under condition, target range R and difference frequency (f1) are proportional.The distance of target is calculated as follows：
R=ct/2=Tm × f1 × c/ (2 × △ F).
Radar altitude measures the target bearing measured using multi-site, range information, comprehensive with reference to website GPS coordinate information
Total calculate obtains.Exemplified by using three station target positioning, its specific calculation is as follows：
Assuming that three station coordinates, it is known that be respectively (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), target
Location-Unknown is set to (x, y, z), and R1, R2, R3 are respectively the distance for the target that the radar detection being erected on steel tower obtains,
Obtain equation below：
Solving equations are calculated target coordinate value (x, y, z), then the orientation α of target and elevation angle theta are obtained by following formula：
When multiple target be present, there are False Intersection Points in the positioning pairing of multistation target, the target bearing measured by each station is believed
Breath, auxiliary judgment remove False Intersection Points, finally by flight path comprehensive descision, solve the z coordinate information of each target, then be scaled mesh
Mark elevation information.
Integrated treatment of the Surveillance center to target data comprises the following steps：
(1) auxiliary antenna is used, removes 0 ° of target for pointing to the following elevation angle；
(2) numerical map is used, removes the target moved for a long time on traffic route；
(3) to only existing the data of aerial target, fusion judgement is carried out according to information such as the intensity, size, speed of target,
Large-scale aerial target is rejected, some only remaining more indistinguishable targets；
(4) the characteristics of according to radar to the refresh interval only 1 second of target, the detailed movement locus of target, root are obtained
According to target trajectory, target of the locking with unmanned plane feature.
Its remote server is Surveillance center, Surveillance center's integrated data processing and by the identification to target and fixed
Position result carries out real-time display on the display screen
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
The present invention detects for unmanned plane in city in the prior art, which can not realize a wide range of supervision, set up difficulty etc. lacks
Fall into, unmanned plane detection radar is set up onto mobile phone communication base station steel tower.Wide using mobile phone communication base station overlay area, itself contains
The advantages that electric power system, data back system, set up beneficial to radar, data back is realized a wide range of monitoring, and saved to small
The detection cost and erection cost of type unmanned plane, realize comprehensive utilization of resources.Radar detects to unmanned plane, in multiple thunders
Multi-site monitoring, and networking transmission monitoring information are formed in up to station overlay area, forms supervisory systems.City is prohibited so as to realize
Fly region and carry out a wide range of unmanned plane supervision, ensure the important departments such as airport, government department safety.
Utilize the networking advantage based on communication base station, there is provided precisely effective target identification and localization method, the two combination
DATA REASONING and the processing of various dimensions are carried out, the integrated treatment to target data is realized using networking position and measurement data, it is right
The aerial targets such as unmanned plane carry out high-precision identification and positioning.
Brief description of the drawings
Fig. 1 is the unmanned plane target monitoring system schematic diagram based on communication base station steel tower.
Fig. 2 is the radar network composite cloth station schematic diagram based on communication base station steel tower.
Fig. 3 is adjacent two wave beams measuring angle by comparing amplitude method schematic diagram.
Fig. 4 is transmitting, echo, difference frequency signal relationship between frequency and time schematic diagram.
Fig. 5 is height measurement principle schematic diagram.
Fig. 6 is radar pitching spatial domain coverage schematic diagram.
Target positioning result when Fig. 7 is single goal.
Embodiment
In order that those skilled in the art more fully understand technical scheme, it is right with reference to the accompanying drawing of the present invention
Technical scheme carries out clear, complete description, and based on the embodiment in the application, those of ordinary skill in the art exist
The other similar embodiments obtained on the premise of not making creative work, it should all belong to the scope of the application protection.
In one embodiment, radar detection is set based on communication base station iron tower restocking networking the invention provides one kind
The unmanned plane target identification and localization method of system, it can realize that multistation networking and unattended urban small unmanned plane target are known
Not and positioning, this method identification and detection accuracy are high, wide coverage, and are shown in real time on city map in Surveillance center,
Realize in city to a wide range of monitoring of unmanned plane, ensure city protection safety.
The unmanned plane detection radar that the present embodiment is set up on base station iron tower carries out multistation networking, is known by unmanned plane target
Unmanned plane is not detected with localization method, detection data is transferred to Surveillance center by GPRS wireless communication networks, is supervised
The integrated treatment to target is realized at control center, and positioning monitoring is carried out to unmanned plane target.
If Fig. 1 is that the unmanned plane monitoring system based on mobile phone communication base station steel tower detects schematic diagram.
Further, mobile communication base steel tower is equipped with power-supply device, wireless device, transmission equipment etc., can be detection
Radar provides power supply and data communication transfer, and mobile communication base an iron rake with three to six teeth is typically erected in roof or free environments, and
With certain altitude, the detection performance and operating distance of radar are ensured, has realized comprehensive utilization of resources, in supervision of the cities region
Realize a wide range of covering.
Wherein, the GPS coordinate information of each communication base station is measured when building a station, and the base station is numbered, typing number
According to storehouse, after inspection center receives coordinates of targets information, according to base station number and target information, you can converse target at whole group
The location of in net environment, and the particular location of target is determined according to city map, for the prison to whole city overall situation
Depending on early warning.
Networking cloth station schematic diagram is as shown in Figure 2.
In urban environment, numerous targets similar to unmanned plane target be present, therefore, it is necessary to corresponding method is taken,
Target is carried out to integrate identification, mainly including following technological means.
(1) auxiliary antenna is used, removes 0 ° of target for pointing to the following elevation angle；
(2) numerical map is used, removes the target moved for a long time on traffic route；
(3) pass through above-mentioned relevant treatment, only exist aerial target.In subsequent algorithm, to the intensity, size, speed of target
The information such as degree carry out fusion judgement, reject large-scale aerial target.Some more difficult resolutions such as only remaining unmanned plane, curassow, kite
Target；
(4) because radar only has 1 second to the refresh interval of target, the detailed movement locus of target can be obtained, most
Afterwards according to target trajectory, target of the locking with unmanned plane feature.
Wherein radar bearing measuring principle is as follows：
Radar bearing uses and mutually sweeps realization, totally 10 120 ° of scanning beam covering orientations, by adjacent beams to same mesh
Target result of detection, target bearing is measured than width.Principle is as shown in Figure 3.
The direction of two beam intersections is θ, and wave beam 1, the directional diagram of wave beam 2 are respectively F1 (θ), F2 (θ), and maximum, which is pointed to, divides
Wei not θ 1, θ 2.By the function that amplitude comparator output valve K (θ) is angle where target, in advance by (θ 1- θ) and (θ-θ 2) point
Into some each areas, and K (θ) value in each subinterval is obtained, target side place value is obtained by tabling look-up,
Distance by radar measuring principle is as follows：
In order to measure target range, it is necessary to measure the two-way time between radar and target, i.e., echo lags behind transmitting
The time of signal.The relation that the time is lagged behind apart from echo-signal is：
R=ct/2
In formula, R is target range, c be electromagnetic wave in free-space propagation speed, when t is that echo-signal lags behind transmitting
Between.
Radar emission sawtooth linear frequency modulation continuous wave signal, can by measuring the difference on the frequency of transmission signal and reception signal
To determine that echo-signal lags behind the time of transmission signal, and then determine the distance of target.
Transmission signal, echo-signal, and the relationship between frequency and time of difference frequency signal are as shown in Figure 4.
Assuming that the time delay of transmission signal and echo-signal is τ, Tm is the cycle of each modulation waveform, and △ F are tune
The maximum frequency deviation of system, △ F/Tm are chirp rate, and f1 is the difference frequency of transmission signal and echo-signal.In the certain feelings of modulation parameter
Under condition, target range R and difference frequency (f1) are proportional.The distance of target is calculated as follows：
R=c τ/2=Tm × f1 × c/ (2 × △ F).
Wherein radar altitude measuring principle is as follows：
The target bearing that is highly measured using multi-site, range information, with reference to website GPS coordinate information, COMPREHENSIVE CALCULATING obtains
.
It is as shown in Figure 5 that three-dimensional localization schematic diagram is carried out to target using multistation.Stood firm in Fig. 5 by three exemplified by position.Three stations
Coordinate, it is known that being respectively (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), the Location-Unknown of UAV targets is set to
(x, y, z), R1, R2, R3 are respectively the distance for the target that the radar detection being erected on steel tower obtains.
Equation below can be obtained using known parameters according to mathematical description：
Such three unknown numbers, three equations, can utilize solving equations method calculate target coordinate value (x, y,
z).Then the orientation α of UAV targets and elevation angle theta are obtained by following formula：
During multiple target, there are False Intersection Points in the positioning pairing of multistation target, the target bearing information measured by each station, auxiliary
Judge to remove False Intersection Points, finally by flight path comprehensive descision, solve the z coordinate information of each target, then be scaled object height
Information.
Radar detection overall technological scheme is as follows：
(1) radar system：Radar uses C-band, and CW with frequency modulation system is mutually swept in fixed orientation.
(2) form is scanned：Radar antenna is fixed.60 ° of pitching broad beam covering, the form that orientation use is mutually swept, 10
Individual 120 ° of orientation of wave cover.
(3) form is launched：To reduce volume, transmitting uses solid-state amplifier.In order to reduce transmitting chain loss, using point
Cloth, required transmission power is amplified to after every independent phase shift in road.
(4) transmitted waveform：Sawtooth linear frequency modulation continuous wave signal shown in Fig. 4.Each waveform widths 0.5ms, frequency modulation band
Wide 40MHz, each wave beam residence time 100ms, it is 1s that required time is completed in 120 ° of overlay area scannings.
Unmanned plane detection system main performance index is analyzed as follows：
1. pitching coverage
Pitching coverage is drawn according to operating distance and antenna radiation pattern, center of antenna points to elevation angle dimension coverage such as
Shown in Fig. 6.
2. azimuthal measurement precision
During azimuth determination, systematic error and accidental error be present.
σθns--- refer to northern correction error；
σat--- antenna beam orientation-correcting error；
σθn--- random error under white noise；
The random error of angle measurement is in white noise environment：
COMPREHENSIVE CALCULATING radar angle measurement accuracy is 1 °.
3rd, range measurement accuracy
During range measurement, systematic error and accidental error be present.
σrn--- thermal noise error in machine；
σrm--- multipath causes delay；
σrd--- delay residual error in receiver；
σrfd--- frequency modulation pulse pressure circuit causes the distance of output pulse to be coupled with Doppler；
σrs--- sampling error；
σrgl--- range error caused by the flicker of objective body strong reflection spot；
σrq--- output data quantifies error；
σrf--- range error caused by atmospheric propagation influence.
COMPREHENSIVE CALCULATING radar ranging accuracy is 7m.
4th, elevation carrection precision
Emulation statistics position error, simulation parameter are as follows：
Stand 1：(- 200,0,15)；Stand 2：(200,0,15)；Stand 3：(0,300,15)；Unit：Rice.
Target：(100,200,600)；Unit：Rice
Range accuracy：7 meters；
The three-dimensional coordinate error of each website：7 meters；
Statistics number：100 times
Monte Carlo simulation result is as shown in Figure 7.Statistics surveys high about 11.6 meters of root-mean-square error.
Single portion's radar population parameter is as follows：
(1) working frequency：C-band, 5.3GHz；
(2) radar size：40mm×320mm×150mm；
(3) bearing range：120°；
(4) pitching scope：60°；
(5) distance range：1km；
(6) direction finding precision：1°；
(7) range accuracy：7m；
(8) altimetry precision：12m (three and more than)；
(9) radiant power：10W；
(10) power consumption：90W；
(11) multi-target processing ability：30 batches；
(12) minimum detectable target velocity：1m/s；
(13) unmanned plane target identification accuracy：99%.
Presently preferred embodiments of the present invention is these are only, is not intended to limit the invention, it is all in the spirit and principles in the present invention
Within, any modification, equivalent substitution and improvements done etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of target identification and localization method based on radar network, it is characterised in that methods described includes：
Target acquisition radar is set up on communication base station steel tower, carries out networking cloth station；
Target is detected using radar network, detection data is transferred to remote server；
Remote server is identified and positioned to target data integrated treatment, and to target.
2. target identification as claimed in claim 1 and localization method, it is characterised in that the GPS coordinate information of each base station exists
Measured when building a station, and the base station is numbered simultaneously input database, after remote server receives coordinates of targets information, according to base
Stand numbering and target information, you can converse target the location of in whole network environment.
3. target identification as claimed in claim 1 and localization method, it is characterised in that radar is surveyed to target acquisition including orientation
Amount, range measurement and elevation carrection.
4. target identification as claimed in claim 3 and localization method, it is characterised in that radar bearing measurement, which uses, mutually sweeps reality
It is existing, radar totally 10 120 ° of scanning beam covering orientations, the result of detection by adjacent beams to same target, mesh is measured than width
Mark orientation；
The direction of two beam intersections is θ, and wave beam 1, the directional diagram of wave beam 2 are respectively F1 (θ), F2 (θ), and maximum, which is pointed to, is respectively
θ 1, θ 2, by the function that amplitude comparator output valve K (θ) is angle where target, in advance by (θ 1- θ) and (θ-θ 2) if being divided into
Gan Ge areas, and K (θ) value in each subinterval is obtained, target side place value is obtained by tabling look-up, wherein,
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5. target identification as claimed in claim 3 and localization method, it is characterised in that
The time delay of transmission signal and echo-signal is τ, and Tm is the cycle of each modulation waveform, and △ F are the maximum of modulation
Frequency deviation, △ F/Tm are chirp rate, and f1 is the difference frequency of transmission signal and echo-signal；
In the case where modulation parameter is certain, target range R and difference frequency (f1) are proportional, and the distance of target is calculated as follows：
R=c τ/2=Tm × f1 × c/ (2 × △ F).
6. target identification as claimed in claim 3 and localization method, it is characterised in that radar altitude measurement is surveyed using multi-site
Target bearing, range information, with reference to website GPS coordinate information, COMPREHENSIVE CALCULATING obtains.
7. target identification as claimed in claim 6 and localization method, it is characterised in that calculated using three station target positioning are specific
Height fashion is as follows：
Three station coordinates, it is known that be respectively (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), the Location-Unknown of target
It is set to (x, y, z), R1, R2, R3 are respectively the distance for the target that the radar detection being erected on steel tower obtains, and are obtained such as lower section
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8. target identification as claimed in claim 7 and localization method, it is characterised in that when multiple target be present, multistation target
There are False Intersection Points in positioning pairing, the target bearing information measured by each station, auxiliary judgment removes False Intersection Points, finally by boat
Mark comprehensive descision, solves the z coordinate information of each target, then is scaled object height information.
9. target identification as claimed in claim 2 and localization method, it is characterised in that synthesis of the Surveillance center to target data
Processing comprises the following steps：
(1) auxiliary antenna is used, removes 0 ° of target for pointing to the following elevation angle；
(2) numerical map is used, removes the target moved for a long time on traffic route；
(3) to only existing the data of aerial target, fusion judgement is carried out according to information such as the intensity, size, speed of target, rejected
Large-scale aerial target, some only remaining more indistinguishable targets；
(4) the characteristics of according to radar to the refresh interval only 1 second of target, the detailed movement locus of target is obtained, according to mesh
Mark movement locus, target of the locking with target characteristic.
10. target identification as claimed in claim 2 and localization method, it is characterised in that remote server is Surveillance center, institute
State Surveillance center's integrated data processing and the identification to target and positioning result are subjected to real-time display on the display screen.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625266A (en) * | 2018-12-21 | 2019-04-16 | 云南电网有限责任公司电力科学研究院 | A kind of unmanned plane inspection tour system and method |
| CN110879616A (en) * | 2019-12-25 | 2020-03-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Non-satellite unmanned aerial vehicle landing method and system |
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| CN110879616A (en) * | 2019-12-25 | 2020-03-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Non-satellite unmanned aerial vehicle landing method and system |
| CN112163307A (en) * | 2020-09-29 | 2021-01-01 | 中国船舶重工集团公司第七二四研究所 | Target credible area plotting method for cross-station information guarantee |
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