CN107783098A - Rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit - Google Patents

Rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit Download PDF

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Publication number
CN107783098A
CN107783098A CN201610723747.9A CN201610723747A CN107783098A CN 107783098 A CN107783098 A CN 107783098A CN 201610723747 A CN201610723747 A CN 201610723747A CN 107783098 A CN107783098 A CN 107783098A
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data
passage
point
frequency sweep
thresholding
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田雨农
王鑫照
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Dalian Roiland Technology Co Ltd
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Dalian Roiland Technology Co Ltd
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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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • 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
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes

Abstract

A kind of rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit, belongs to field of signal processing, and the collision between barrier easily occurs during in order to solve the problems, such as rotor wing unmanned aerial vehicle low-latitude flying, and technical essential is：AD data acquisitions；Remove direct current；Window function processing；FFT；Threshold detection；Binary detection；One kind or combination in computing speed, distance or angle.

Description

Rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit
Technical field
The invention belongs to field of signal processing, is related to a kind of rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit.
Background technology
In recent years, with the continuous development of technology, civil small-scale rotor wing unmanned aerial vehicle price is more and more lower, is widely used in navigating The fields such as bat, film shooting, pesticide spraying, field rescue, the earth remote sensing mapping, the tour of high-voltage line power network.But because rotor The collision between barrier easily occurs during unmanned plane low-latitude flying, causes the damage of rotor wing unmanned aerial vehicle.At present threaten rotor without The object of man-machine outdoor low-latitude flying safety mainly has the natural forms such as trees and power line, electric pole, building etc. artificial Object.
The content of the invention
The collision between barrier easily occurs during in order to solve the problems, such as rotor wing unmanned aerial vehicle low-latitude flying, the present invention proposes A kind of rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit, to carry out speed to barrier, distance, azimuth solve Calculate, detected so as to be driven a vehicle to barrier, collision free.
In order to solve the above-mentioned technical problem, the technical scheme is that：
A kind of rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit, comprises the following steps：
Acquisition module, for AD data acquisitions；
DC Module is removed, for removing direct current；
Window function processing module, for window function processing；
FFT conversion module, for FFT；
Threshold detection module, for Threshold detection；
Binary detection module, for binary detection；
Module is resolved, for one kind in computing speed, distance or angle or combination.
Further, the acquisition module：
(1) by the continuous I/Q data in passage 1 and passage 2, processing is digitized by AD samplings；
(2) data collected in passage 1 and passage 2 are divided into the upper frequency sweep data of triangular wave and lower frequency sweep data, gone Except direct current is removed after forward part data point, the FFT of time-frequency is carried out, time domain data is converted into frequency data；
Further, it is described to remove DC Module：
(1) average of the upper and lower frequency sweep I/Q data of respective passage triangular wave in passage 1 and passage 2, will be calculated respectively；
(2) the upper and lower frequency sweep IQ of respective passage triangular wave each data are cut into the average that previous step is calculated.
Further, the window function processing module：By in passage 1 and passage 2, the upper and lower frequency sweep section of triangular wave is each Go the time domain data after direct current to carry out windowing process, select Hanning window and/or hamming window.
The FFT conversion module：By in passage 1 and passage 2, the upper and lower frequency sweep segment data of the triangular wave after adding window FFT is carried out, time domain data is converted into frequency data.
The Threshold detection module：
(1) by the triangle in the plural modulus value and passage 2 of each point after frequency sweep FFT on the triangular wave in passage 1 Plural modulus value in corresponding points on ripple after frequency sweep FFT, is averaging processing, by frequency sweep FFT under the triangular wave in passage 1 The plural modulus value in corresponding points under triangular wave in the plural modulus value and passage 2 of each point after conversion after frequency sweep FFT, It is averaging processing；
(2) data after will be average, carry out CFAR Threshold detections.
CFAR Threshold detections selecting unit averagely selects small Threshold detection method, and idiographic flow is as follows：
1) the long L of reference window is set, and its value can survey according to outfield to be changed, and is chosen for 15~20 points, protection location selection 2 ~3 points；
2) some modulus value point after single sawtooth period data FFT is directed to, calculates L data in its preceding reference window respectively Average β1With the average β of L data in rear reference window2If its front or rear window length is less than L, actual window length is taken to calculate average；
3) window average β before and after the point is compared1And β2, selection wherein smaller is as the estimation of its level α, i.e. α=min (β1, β2)；
4) thresholding Product-factor γ, the then point detection threshold T=α * γ are set；
5) compare the size of the modulus value and its threshold value, if its modulus value is more than thresholding, record the positional information of the point, Otherwise it is assumed that it does not cross thresholding；
6) for other all modulus value points, above step 2 is performed respectively)~5), i.e., sliding window detection is carried out for all points, Record all positional informations for crossing threshold point.
The binary detection module：
To the data after CFAR Threshold detections, it is a range cell to make each data, to each range cell Data carry out binary detection, if the data of the range cell cross thresholding, are designated as 1, if not having thresholding, are designated as 0, Then the progress multicycle adds up, if the number of the thresholding of some range cell accumulative 1 exports the point coordinates more than K Value, otherwise exported not as the target for crossing thresholding, wherein K represents accumulative 1 number；
After binary detection, when the points for crossing thresholding for meeting requirement simultaneously are not unique, only output is selected to move into one's husband's household upon marriage First peak point of limit.
The binary detection module, after by CFAR detections and binary detection, for upper frequency sweep and lower frequency sweep The point that section crosses thresholding carries out pairing processing, if the point coordinates value that upper and lower frequency sweep crosses thresholding differs by more than threshold value, it is impossible to be defined as During the frequency sweep up and down of same target, handled without pairing.
In the resolving module, the calculation method for speed, distance and angle is：
(1) by peak point that is after successful matching or need not being matched, its corresponding frequency values is calculated, if in passage 1 Upper first peak coordinate for crossing threshold point of frequency sweep section is p1_up, then frequency values corresponding to the point are f1_up, and corresponding FFT becomes Data after changing are a_p1_up+1j*b_p1_up, and phase isUpper frequency sweep section is right in passage 2 Data after the FFT answered are a_p2_up+1j*b_p2_up, phaseIf passage Lower first peak coordinate for crossing threshold point of frequency sweep section is p1_down in 1, then frequency values corresponding to the point are f1_down；
Wherein：Wherein：A represents the data value on I roads, and b represents the data value on Q roads, and a_p1 represents the array in a+j*b compositions In, coordinate corresponding to the peak point of thresholding is p1 excessively, and b_p1 is represented in the array of a+j*b compositions, crosses the peak point pair of thresholding The coordinate answered is p1；
(2) frequency values f1_down corresponding to swept frequency value f1_up and lower frequency sweep will be gone up in obtained passage 1, according to public affairs FormulaTo the distance of obstacle target before calculating unmanned plane, wherein, T is triangle wave period, and B is frequency modulation Bandwidth, c are the light velocity, c=3.0 × 108；According to formulaWherein f0Centered on frequency calculate unmanned plane The speed of forward direction obstacle target, f0It is centre frequency；
(3) in passage 1 and passage 2, according to the respective phase that above frequency sweep is calculated respectivelyWithFurther according to calculation formula Phase difference ψ is calculated；According to formulaComputer azimuth angle, wherein, λ is wavelength, and d is antenna spacing.
Beneficial effect：
Rotor wing unmanned aerial vehicle anticollision millimetre-wave radar system is realized based on linear frequency modulation triangular wave The present invention gives a kind of Waveform Design；
The present invention provides the rotor wing unmanned aerial vehicle anticollision millimetre-wave radar high performance signal realized based on linear frequency modulation triangular wave Processing unit, the device can realize the detection of the relative distance and relative velocity to front obstacle, while can realize The detection function at target direction angle.As a result of more signal processing methods, CAS can be caused, can be exported more accurate Standby more stable target information, more accurately object judgement is made for unmanned plane anticollision.
Brief description of the drawings
Frequency variation diagrams of Fig. 1 linear frequency modulation triangular wave FMCW in a frequency sweep cycle；
Fig. 2 rotor wing unmanned aerial vehicle short distance CAS signal processing flow figures.
Embodiment
Embodiment 1：A kind of rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing method, comprises the following steps：
S1.AD data acquisitions；
S2. direct current is removed；
S3. window function is handled；
S4.FFT is converted；
S5. Threshold detection；
S6. binary detection；
S7. one kind in computing speed, distance or angle or combination.
Wherein：
The specific method of the step S1 is：
(3) by the continuous I/Q data in passage 1 and passage 2, processing is digitized by AD samplings；
(4) data collected in passage 1 and passage 2 are divided into the upper frequency sweep data of triangular wave and lower frequency sweep data, gone Except direct current is removed after forward part data point, the FFT of time-frequency is carried out, time domain data is converted into frequency data；Before the removal Partial data point, exactly in the data that AD is collected, the forward part data point that AD is collected first is got rid of, typically 50~70 It is individual, such as, if collecting 700 points, preceding 50 points are got rid of, the data from 51 to 700 remove direct current and carry out FFT changes Change.Why to get rid of this partial dot has two reasons, first, inside these data, partial data is due to that waveform is changing When, pulse caused by voltage, cause the reason for this partial data is abnormal, and second reason is due to range ambiguity.This Part is said before the reason for causing range resolution ratio to reduce, and is the linearity of transmitted waveform in fact, is caused this resolution Rate reduces.
The specific method of the step S2 is：
(3) average of the upper and lower frequency sweep I/Q data of respective passage triangular wave in passage 1 and passage 2, will be calculated respectively；
(4) the upper and lower frequency sweep IQ of respective passage triangular wave each data are cut into the average that previous step is calculated.
The specific method of the step S3 is：By in passage 1 and passage 2, the upper and lower frequency sweep section of triangular wave each removes direct current Time domain data afterwards carries out windowing process, selects Hanning window and/or hamming window.
The specific method of the step S4 is：By in passage 1 and passage 2, the upper and lower frequency sweep hop count of the triangular wave after adding window According to FFT is carried out, time domain data is converted into frequency data.
The specific method of the step S5 is：
(1) by the triangle in the plural modulus value and passage 2 of each point after frequency sweep FFT on the triangular wave in passage 1 Plural modulus value in corresponding points on ripple after frequency sweep FFT, is averaging processing, by frequency sweep FFT under the triangular wave in passage 1 The plural modulus value in corresponding points under triangular wave in the plural modulus value and passage 2 of each point after conversion after frequency sweep FFT, It is averaging processing；
(2) data after will be average, carry out CFAR Threshold detections.CFAR Threshold detections selecting unit averagely selects small thresholding Detection method SOCA-CFAR, SOCA-CFAR are that cell-average selects small CFAR to handle, and idiographic flow is as follows：
1) the long L of reference window is set, and its value can survey according to outfield to be changed, and is chosen for 15~20 points, protection location selection 2 ~3 points；
2) some modulus value point after single sawtooth period data FFT is directed to, calculates L data in its preceding reference window respectively Average β1With the average β of L data in rear reference window2If its front or rear window length is less than L, actual window length is taken to calculate average；
3) window average β before and after the point is compared1And β2, selection wherein smaller is as the estimation of its level α, i.e. α=min (β1, β2)；
4) thresholding Product-factor γ, the then point detection threshold T=α * γ are set；Thresholding Product-factor γ can be according to multiple Field testing result adjusts accordingly；
5) compare the size of the modulus value and its threshold value, if its modulus value is more than thresholding, record the positional information of the point, Otherwise it is assumed that it does not cross thresholding；
6) for other all modulus value points, above step 2~5 is performed respectively, i.e., carries out sliding window detection, note for all points Record all positional informations for crossing threshold point.
The specific method of the step S6 is：
To the data after CFAR Threshold detections, it is a range cell to make each data, to each range cell Data carry out binary detection, if the data of the range cell cross thresholding, are designated as 1, if not having thresholding, are designated as 0, Then the progress multicycle adds up, if the number of the thresholding of some range cell accumulative 1 exports the point coordinates more than K Value, otherwise exported not as the target for crossing thresholding, wherein K represents accumulative 1 number；
After binary detection, when the points for crossing thresholding for meeting requirement simultaneously are not unique, only output is selected to move into one's husband's household upon marriage First peak point of limit, mainly consider to be the thing nearest apart from unmanned plane to unmanned plane aircraft degree of danger maximum Body, so being not to look for all maximal peak points for crossing thresholding, but select first peak value for crossing thresholding.
The step S6, after by CFAR detections and binary detection, thresholding is crossed for upper frequency sweep and lower frequency sweep section Point carry out pairing processing, if frequency sweep crosses the point coordinates value of thresholding and differs by more than threshold value up and down, it is impossible to be defined as same mesh Above and below target during frequency sweep, handled without pairing.As a kind of scheme, the threshold value is arranged to the seat that upper and lower frequency sweep crosses the point of thresholding Scale value differ 25 points and more than.
In the step S7, the calculation method for speed, distance and angle is：
(3) by peak point that is after successful matching or need not being matched, its corresponding frequency values is calculated, if in passage 1 Upper first peak coordinate for crossing threshold point of frequency sweep section is p1_up, then frequency values corresponding to the point are f1_up, and corresponding FFT becomes Data after changing are a_p1_up+1j*b_p1_up, and phase isUpper frequency sweep section is right in passage 2 Data after the FFT answered are a_p2_up+1j*b_p2_up, phaseIf passage Lower first peak coordinate for crossing threshold point of frequency sweep section is p1_down in 1, then frequency values corresponding to the point are f1_down；
Wherein：A represents the data value on I roads, and b represents the data value on Q roads, and a_p1 is represented in the array of a+j*b compositions, mistake Coordinate corresponding to the peak point of thresholding is p1, and b_p1 is represented in the array of a+j*b compositions, crosses and is sat corresponding to the peak point of thresholding It is designated as p1；
(4) frequency values f1_down corresponding to swept frequency value f1_up and lower frequency sweep will be gone up in obtained passage 1, according to public affairs FormulaCalculate to the distance of obstacle target before unmanned plane, wherein, T is triangle wave period, T= 20ms, B are modulating bandwidth, and B=200MHz, c are the light velocity, c=3.0 × 108；According to formulaWherein f0Centered on frequency calculate unmanned plane before to obstacle target speed, f0It is centre frequency, f0=24.125GHz, radar emission The centre frequency of frequency, it is from 24.015 to 24.225,24.125 be exactly centre frequency if bandwidth 200MHz.
(3) in passage 1 and passage 2, according to the respective phase that above frequency sweep is calculated respectivelyWithFurther according to calculation formula Phase difference ψ is calculated；According to formulaComputer azimuth angle, wherein, λ is wavelength, and d is antenna spacing.
Embodiment 2：Supplement of the present embodiment as embodiment 1, what the present embodiment was mainly introduced is to use millimetre-wave radar Realize the barrier avoiding function of unmanned plane.Because millimetre-wave radar operation wavelength is between 1mm~10mm, with other detection modes Compare, mainly there is that detection performance is stable, environment is well-adjusted, size is small, price is low, can make in the sleety weather of rather harsh The advantages that using.Therefore, the present invention introduces the unmanned plane barrier avoiding function system signal processing method based on millimetre-wave radar Realize.
The present embodiment is mainly distance, speed and the orientation of Environment Obstacles thing in front of completion rotor wing unmanned aerial vehicle flies to it Measure.Front obstacle is mainly for the target such as people, tree, wall, net and high-voltage line.The present embodiment patent is mainly by adopting With millimetre-wave radar, the ultimate range of unmanned plane avoidance is reached into 50m, can be with simultaneously because perceptual performance of the radar to environment Realize to the quick sensings of surrounding objects, before can accurately judging to the relative distance of risk object, relative velocity and Azimuth.
The working frequency of millimetre-wave radar designed by the present embodiment is in 24GHz or 77GHz, using FMCW continuous wave bodies System, using linear frequency modulation, its range resolution ratio is high.Waveform uses linear frequency modulation triangular wave FMCW, and being primarily due to the present embodiment will Realize the calculating to target range and speed.Target range and speed can be realized by the upper frequency sweep and lower frequency sweep of triangular wave Degree resolves.The maximum flying speed of the rotor wing unmanned aerial vehicle of the present embodiment design is 40km/h, and the maximum measure distance of unmanned plane anticollision is 50m, more than 3 times are higher by than unmanned plane anticollision distance at present on the market.
The present embodiment is mainly the design and signal transacting for providing unmanned plane anticollision MMW RADAR SIGNAL USING process part Method.
The radar center frequency f of the present embodiment design is 24.125GHz.Transmitted waveform selection triangular wave, cycle 20ms, With a width of 200MHz.Transmitted waveform is as shown in Figure 1.
The present embodiment realizes the resolving to target range speed by single channel I/Q data, because the present embodiment realizes target side The calculating of parallactic angle, so the present embodiment is by the way of double reception antenna, i.e. binary channels I/Q data, by binary channels each on The angle measurement function of the target is realized in the calculating of frequency sweep section.
Rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING process chart, as shown in Figure 2：It is as follows to implement step：
1st, AD data acquisitions are data processing
(1) by the continuous I/Q data in passage 1 and passage 2, processing is digitized by AD samplings；
(2) data collected in passage 1 and passage 2 are divided into the upper frequency sweep data of triangular wave and lower frequency sweep data, and The good data of the linearity are chosen respectively does subsequent treatment；
2nd, direct current is removed
(1) average of the upper and lower frequency sweep I/Q data of respective passage triangular wave in passage 1 and passage 2, will be calculated respectively；
(2) the upper and lower frequency sweep IQ of respective passage triangular wave each data are cut into the average that previous step is calculated, from And complete to go the purpose of direct current, reduce the influence that direct current component detects to target gate.
3rd, window function is handled
The time domain data that in passage 1 and passage 2, the upper and lower frequency sweep section of triangular wave is each gone after direct current is carried out at adding window Reason, Hanning window, hamming window etc. can be selected, secondary lobe be reduced, so as to improve the detection performance of target；Hanning window can cause main lobe to add Width is simultaneously reduced, but secondary lobe can be substantially reduced.Hamming window and Hanning window are all Cosine Windows, and simply weight coefficient is different.Hamming window The coefficient of weighting can make secondary lobe reach smaller.
4th, FFT
By in passage 1 and passage 2, the upper and lower frequency sweep segment data of the triangular wave after adding window carries out FFT, by time domain number According to being converted into frequency data.
5th, CFAR Threshold detections
(1) by the triangle in the plural modulus value and passage 2 of each point after frequency sweep FFT on the triangular wave in passage 1 Plural modulus value in corresponding points on ripple after frequency sweep FFT, is averaging processing, and will similarly be swept under the triangular wave in passage 1 The plural number in corresponding points under triangular wave in the plural modulus value and passage 2 of each point after frequency FFT after frequency sweep FFT Modulus value, it is averaging processing；
(2) data after will be average, carry out CFAR Threshold detections.CFAR Threshold detections can averagely be selected small with selecting unit Threshold detection method SO-CFAR, protection location can select 1 to 2 points, and window points can select 15~20.
6th, binary detection
To the data after CFAR Threshold detections, it is a range cell to make each data.To each range cell Data carry out binary detection, i.e., if the data of the range cell cross thresholding, are then designated as 1, if not having thresholding, are designated as 0.Then the progress multicycle adds up, if the number of the thresholding of some range cell accumulative 1 more than K, exports point seat Scale value, otherwise exported not as the target for crossing thresholding.
(3) after binary detection, when the points for meeting to require thresholding simultaneously are a lot, only selection exported thresholding First peak point, mainly consider that maximum to unmanned plane aircraft degree of danger is the object nearest apart from unmanned plane, So being not to look for all maximal peak points for crossing thresholding, but select first peak value for crossing thresholding.
7th, pairing is handled
Carried out by CFAR detections and binary detection, the point that thresholding is crossed for upper frequency sweep and lower frequency sweep section at pairing Reason.If the point coordinates value difference that upper and lower frequency sweep crosses thresholding is too big, it is impossible to when being defined as the frequency sweep up and down of same target, does not enter Row pairing is handled.
8th, speed, distance resolve
(1) by the peak point after successful matching, its corresponding frequency values is calculated, if upper frequency sweep first mistake of section in passage 1 The peak coordinate of threshold point is p1_up, then frequency values corresponding to the point are f1_up, and the data after corresponding FFT are a_p1_up+ 1j*b_p1_up, phase, the data in passage 2 after point FFT corresponding to upper frequency sweep section are a_p2_up+1j*b_p2_up, phase Position；If lower first peak coordinate for crossing threshold point of frequency sweep section is p1_down in passage 1, then frequency values corresponding to the point are f1_ down；
(2) by frequency values f1_ corresponding to upper swept frequency value f1_up in the passage 1 obtained in step 3 and lower frequency sweep Down, according to formula, wherein, T is triangle wave period, and T=20ms, B are modulating bandwidth, and B=200MHz, c are the light velocity,；According to Formula, wherein centered on frequency ,=24.125GHz.According to the two formula, obtain before unmanned plane to the distance of obstacle target And speed；
9th, angle resolves
In passage 1 and passage 2, the phase that is calculated respectively according to respective upper frequency sweep and, calculate and obtained according to calculation formula It is to phase difference.
According to formula, computer azimuth angle, wherein, d is antenna spacing.
So far, complete single detection and complete rotor wing unmanned aerial vehicle anticollision millimetre-wave radar to unmanned plane operation preceding object object distance From the resolving function of the information such as, speed and azimuth.
In order to improve the distance of solving target, speed and the accuracy of angle information, using multiple cycle data sliding window Processing mode, i.e., the AD of each passage in the multiple cycles I/Q datas collected are averaging processing.Using multicycle sliding window The processing method of formula can effectively improve the degree of accuracy of detection target.Using sliding window periodicity number selection mainly according to According to target in the periodicity, premised on span does not occur from cell cases, then it can be reached in view of chip processing capabilities To the principle of real-time.
Embodiment 3：As with embodiment 1 or 2, device corresponding to methods described, a kind of rotor wing unmanned aerial vehicle anticollision millimeter Ripple radar signal processing device, comprises the following steps：
Acquisition module, for AD data acquisitions；
DC Module is removed, for removing direct current；
Window function processing module, for window function processing；
FFT conversion module, for FFT；
Threshold detection module, for Threshold detection；
Binary detection module, for binary detection；
Module is resolved, for one kind in computing speed, distance or angle or combination.
Wherein：The acquisition module：
By the continuous I/Q data in passage 1 and passage 2, processing is digitized by AD samplings；
The data collected in passage 1 and passage 2 are divided into the upper frequency sweep data of triangular wave and lower frequency sweep data, before removal Direct current is removed after partial data point, carries out the FFT of time-frequency, time domain data is converted into frequency data；
It is described to remove DC Module：
In passage 1 and passage 2, the average of respective passage triangular wave upper and lower frequency sweep I/Q data will be calculated respectively；
The upper and lower frequency sweep IQ of respective passage triangular wave each data are cut into the average that previous step is calculated.
The window function processing module：By in passage 1 and passage 2, after the upper and lower frequency sweep section of triangular wave each removes direct current Time domain data carries out windowing process, selects Hanning window and/or hamming window.
The FFT conversion module：By in passage 1 and passage 2, the upper and lower frequency sweep segment data of the triangular wave after adding window FFT is carried out, time domain data is converted into frequency data.
The Threshold detection module：
(1) by the triangle in the plural modulus value and passage 2 of each point after frequency sweep FFT on the triangular wave in passage 1 Plural modulus value in corresponding points on ripple after frequency sweep FFT, is averaging processing, by frequency sweep FFT under the triangular wave in passage 1 The plural modulus value in corresponding points under triangular wave in the plural modulus value and passage 2 of each point after conversion after frequency sweep FFT, It is averaging processing；
(2) data after will be average, carry out CFAR Threshold detections.
CFAR Threshold detections selecting unit averagely selects small Threshold detection method, and idiographic flow is as follows：
1) the long L of reference window is set, and its value can survey according to outfield to be changed, and is chosen for 15~20 points, protection location selection 2 ~3 points；
2) some modulus value point after single sawtooth period data FFT is directed to, calculates L data in its preceding reference window respectively Average β1With the average β of L data in rear reference window2If its front or rear window length is less than L, actual window length is taken to calculate average；
3) window average β before and after the point is compared1And β2, selection wherein smaller is as the estimation of its level α, i.e. α=min (β1, β2)；
4) thresholding Product-factor γ, the then point detection threshold T=α * γ are set；
5) compare the size of the modulus value and its threshold value, if its modulus value is more than thresholding, record the positional information of the point, Otherwise it is assumed that it does not cross thresholding；
6) for other all modulus value points, above step 2 is performed respectively)~5), i.e., sliding window detection is carried out for all points, Record all positional informations for crossing threshold point.
The binary detection module：
To the data after CFAR Threshold detections, it is a range cell to make each data, to each range cell Data carry out binary detection, if the data of the range cell cross thresholding, are designated as 1, if not having thresholding, are designated as 0, Then the progress multicycle adds up, if the number of the thresholding of some range cell accumulative 1 exports the point coordinates more than K Value, otherwise exported not as the target for crossing thresholding, wherein K represents accumulative 1 number；
After binary detection, when the points for crossing thresholding for meeting requirement simultaneously are not unique, only output is selected to move into one's husband's household upon marriage First peak point of limit.
The binary detection module, after by CFAR detections and binary detection, for upper frequency sweep and lower frequency sweep The point that section crosses thresholding carries out pairing processing, if the point coordinates value that upper and lower frequency sweep crosses thresholding differs by more than threshold value, it is impossible to be defined as During the frequency sweep up and down of same target, handled without pairing.
In the resolving module, the calculation method for speed, distance and angle is：
(1) by peak point that is after successful matching or need not being matched, its corresponding frequency values is calculated, if in passage 1 Upper first peak coordinate for crossing threshold point of frequency sweep section is p1_up, then frequency values corresponding to the point are f1_up, and corresponding FFT becomes Data after changing are a_p1_up+1j*b_p1_up, and phase isUpper frequency sweep section is right in passage 2 Data after the FFT answered are a_p2_up+1j*b_p2_up, phaseIf passage Lower first peak coordinate for crossing threshold point of frequency sweep section is p1_down in 1, then frequency values corresponding to the point are f1_down；
Wherein：Wherein：A represents the data value on I roads, and b represents the data value on Q roads, and a_p1 represents the array in a+j*b compositions In, coordinate corresponding to the peak point of thresholding is p1 excessively, and b_p1 is represented in the array of a+j*b compositions, crosses the peak point pair of thresholding The coordinate answered is p1；
(2) frequency values f1_down corresponding to swept frequency value f1_up and lower frequency sweep will be gone up in obtained passage 1, according to public affairs FormulaTo the distance of obstacle target before calculating unmanned plane, wherein, T is triangle wave period, and B is frequency modulation Bandwidth, c are the light velocity, c=3.0 × 108；According to formulaWherein f0Centered on frequency calculate unmanned plane before To the speed of obstacle target, f0It is centre frequency；
(3) in passage 1 and passage 2, according to the respective phase that above frequency sweep is calculated respectivelyWithFurther according to calculation formula Phase difference ψ is calculated；According to formulaComputer azimuth angle, wherein, λ is wavelength, and d is antenna spacing.
Embodiment 4：For in above-mentioned each scheme, peak value processing, the present embodiment provides a kind of applied to unmanned plane signal Peak value processing method：
One peak point threshold factor α is set, and it is used to limit the thresholding maximal peak point excessively detected and a upper cycle The absolute difference of the maximal peak point of appearance so that the absolute difference cannot be greater than peak point threshold factor α：
Expression formula is as follows：
|L_max(k)-L_max(k-1)|≤α；
Wherein：L_max (k) crosses thresholding maximal peak point coordinate for the k cycles, and L_max (k-1) was the maximum in a upper cycle Peak value point coordinates, k represent the kth moment；vmaxFor unmanned plane maximum flying speed, λ is millimetre-wave radar wavelength, and fs is sample rate, N is FFT points；
If the k moment, cross thresholding maximal peak point and cross the absolute value differences of thresholding maximal peak point set with the k-1 moment In the range of the peak point threshold factor α put, then it is assumed that the peak point in kth cycle is effective；If the k moment, thresholding peak-peak is crossed Point exceedes set peak point threshold factor α, then the peak point that the k moment exports is replaced with the peak point at k-1 moment.
As the explanation of above-mentioned technological means, in a time quantum of adjacent periods, peak that current period calculates It is worth point, the peak point with the last cycle, if in adjacent periods, speed does not change, then peak point is in adjacent periods It inside can also keep constant, but if within the adjacent periods time, unmanned plane horizontal flight speed changes, and can cause current Certain change occurs for peak point of the peak point in cycle in a upper cycle, if unmanned plane is close to target, then current period Points can be less than a upper cycle points, if unmanned plane can be more than a upper cycle away from target, the points of current period Points, the excursion of the peak point is designed peak point threshold factor α, and the span of the predictor selection is main To depend in adjacent periods, the maximum flying speed of unmanned plane, i.e. formulaWherein vmaxFor unmanned plane Maximum flying speed, λ are millimetre-wave radar wavelength, and fs is sample rate, and N is FFT points.
But if after rotor wing unmanned aerial vehicle flight environment of vehicle undergos mutation, the corresponding peak value points for crossing thresholding be able to may also connect Supervention life exceeds designed threshold factor.If without amendment, after undergoing mutation, what each cycle detection was arrived crosses thresholding most Big peak point can all exceed the threshold factor set, and each thresholding maximal peak point coordinate of crossing can all be corrected for last moment Peak value point coordinates, i.e., the value being similarly worth before also keeping mutation, it is impossible to the value after aristogenesis.In order to improve unmanned plane to various The adaptability of environment, a peak value point mutation is introduced for this and adds up factor φ.
Set peak value point mutation to add up factor φ, the definition that the peak value point mutation adds up factor φ is, if from k when Quarter, continuous b cycle, b span are 5~10, cross thresholding maximal peak point and previous cycle to cross thresholding maximum Peak point is compared, above threshold value threshold factor a, then kth+b the moment, the thresholding maximal peak point excessively that current time is calculated Thresholding maximal peak point is crossed as current time.In order to ensure the real-time of tracking, it is proposed that b value is 5~10.
It must be gone out by previous step after limiting maximal peak point, in order to improve the precision of table system value measurement, propose to improve The spectrum maximum estimated algorithm of range accuracy.
Ideally, the frequency spectrum of echo difference frequency signal only has a spectral line, but reality is in use, due to adopting There is fence effect in sample, discrete spectrum maximum amplitude spectral line will necessarily shift spectrum peak position, so as to be calculated by peak point The distance value gone out will have certain error with actual range.When spectral peak shifts, relative to main lobe peak value institute Corresponding central spectral line will two kinds of situations, i.e. left avertence or right avertence.If crossed in the left and right peak value of thresholding maximum peak point, Left side peak value is more than the right peak value, then the position where central spectral line, between maximal peak point and left side peak point, conversely, Then between maximal peak point and the right peak point.
Because the frequency spectrum that FFT is calculated apart from general equidistantly sampling, its spectral magnitude maximum point to must continuously be located at Have in the main lobe of its curve, in main lobe and only two sampled points.If the coordinate for crossing thresholding maximal peak point A1 is (a1, k1), Wherein, a1 represented the value of thresholding maximal peak point, and k1 represented range value corresponding to thresholding peak point；Maximal peak point or so Both sides, minor peaks point coordinates is A3 (a3, k3), if required center peak point A is (amax, kmax), then e=amax-a1, then A1 points, be (a2, k1)=(a1+2e, k1) on A point symmetries point A2 coordinates, the zero point A4 of complex envelope for (a4, k1)=(a3+e, 0)；
Wherein：A2, a3, a4 are the values of the thresholding maximal peak point excessively of corresponding points, and k3, k4 are the threshold peaks excessively of corresponding points Range value corresponding to point；
A2, A3 and A4 are approximately straight line, and its linear relationship is：
OrderThen
Setting error E and deviation e are compared, if | e |<E, then the value for crossing thresholding peak point now is then required Center peak point value, if deviation e is more than set error E,β is modifying factor, value Scope is 1.5~1.9, and the selection reason of the modifying factor is：Due to it is initial whenA point symmetries point A2 Coordinate is (a2, k1)=(a1+2e, k1), and A point transverse axis coordinate points and A2 transverse axis coordinates are on maximal peak point during primary condition Symmetrically, i.e., A2 coordinate points are a1+2e, if deviation e is more than set error E, illustrate that A2 coordinate selection is excessive, Maximal peak point be that is to say between a1+2e, 2 times of deviation e needs to carry out to take small, and the modification method that the present invention uses is to lead to The size for changing modifying factor β is crossed so as to change l values, then carries out e continuous iteration, until e less than the error E set as Only.Modifying factor β value principle can be chosen according to the required E values reached, if E demand precision is not high, amendment Factor-beta can select 1.9 to be modified, if E demand precision is very high, it may be necessary to which successive ignition reaches requirement, then needs to repair Positive divisor β selects a little bit smaller as far as possible, and 1.5 can be selected to be modified, quickly peak-peak is calculated The present invention gives one The interval range value of the modifying factor of point, i.e. modifying factor β=1.5~1.9.Change the value that modifying factor calculates e, to calculate Obtain the value amax=a1+e of center peak point.
As another embodiment, in addition to step：Distance tracking：One threshold factor ε is set, and it is used to limit currently The absolute difference for the range data H (k-1) that range data H (k) occurred with a upper cycle so that the absolute difference must not be big In threshold factor ε；
Expression formula is as follows：
| H (k)-H (k-1) |≤ε, ε span are 0.8~1.3；
If the data at k moment and the absolute value differences at k-1 moment, in the range of set threshold factor ε, then it is assumed that The peak point in kth cycle is effective；If the k moment, data exceed set threshold factor ε, then the data k- that the k moment exports The data at 1 moment are replaced.
The accumulative factor θ of one mutation is set, and the definition that the mutation adds up factor θ is if that, since the k moment, continuous b is individual Cycle, data above threshold value threshold factor θ, then at the kth+b moment, will resolve at current time compared with the data in previous cycle Data of the data gone out as current time.
As a kind of embodiment, specific in the present embodiment, for it is above-mentioned be not carried out distance tracking or perform distance with Track, during output, for the range data of single output, the output of distance value is carried out using sliding window algorithm；
The data at kth moment are equal to the N in sliding windowcIndividual value removes the average after maximum and minimum value, as last Data output, its calculation formula are Wherein NcData are counted used by representing sliding window.
Using peak-tracking algorithm and track algorithm, it is possible to prevente effectively from the mistake due to single or multiple peak value searching And cause once or repeatedly data calculation anomaly, such as in single peak search procedure, generation peak value saltus step, it is adjacent Peak difference values between cycle are very big, while by the saltus step with peak value, caused by very big saltus step occurs, i.e., in the cycle, Saltus step scope caused by peak value saltus step, distance caused by a cycle as caused by unmanned plane speed has been far longer than it and has become Change scope.Thus peak time tracking and tracking be it is possible to prevente effectively from exceptional value caused by this anomaly peak, so as to effectively Improve the stability of the data of tracking.
It is described above, the only preferable embodiment of the invention, but the protection domain of the invention is not This is confined to, any one skilled in the art is in the technical scope that the invention discloses, according to the present invention The technical scheme of creation and its inventive concept are subject to equivalent substitution or change, should all cover the invention protection domain it It is interior.

Claims (10)

  1. A kind of 1. rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit, it is characterised in that including：
    Acquisition module, for AD data acquisitions；
    DC Module is removed, for removing direct current；
    Window function processing module, for window function processing；
    FFT conversion module, for FFT；
    Threshold detection module, for Threshold detection；
    Binary detection module, for binary detection；
    Module is resolved, for one kind in computing speed, distance or angle or combination.
  2. 2. rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit as claimed in claim 1, it is characterised in that described to adopt Collect module：
    (1) by the continuous I/Q data in passage 1 and passage 2, processing is digitized by AD samplings；
    (2) data collected in passage 1 and passage 2 are divided into the upper frequency sweep data of triangular wave and lower frequency sweep data, before removal Direct current is removed after partial data point, carries out the FFT of time-frequency, time domain data is converted into frequency data.
  3. 3. rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit as claimed in claim 1, it is characterised in that described to go DC Module：
    (1) average of the upper and lower frequency sweep I/Q data of respective passage triangular wave in passage 1 and passage 2, will be calculated respectively；
    (2) the upper and lower frequency sweep IQ of respective passage triangular wave each data are cut into the average that previous step is calculated.
  4. 4. rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit as claimed in claim 1, it is characterised in that the window Function processing module：The time domain data that in passage 1 and passage 2, the upper and lower frequency sweep section of triangular wave is each gone after direct current is added Window processing, selects Hanning window and/or hamming window.
  5. 5. rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit as claimed in claim 1, it is characterised in that described FFT conversion module：By in passage 1 and passage 2, the upper and lower frequency sweep segment data of the triangular wave after adding window carries out FFT, Time domain data is converted into frequency data.
  6. 6. rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit as claimed in claim 1, it is characterised in that the door Limit detection module：
    (1) by the triangular wave in the plural modulus value and passage 2 of each point after frequency sweep FFT on the triangular wave in passage 1 Plural modulus value in corresponding points after frequency sweep FFT, is averaging processing, by frequency sweep FFT under the triangular wave in passage 1 The plural modulus value in corresponding points under triangular wave in the plural modulus value and passage 2 of each point afterwards after frequency sweep FFT, carry out Average treatment；
    (2) data after will be average, carry out CFAR Threshold detections.
  7. 7. rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit as claimed in claim 6, it is characterised in that CFAR doors Limit detection selecting unit averagely selects small Threshold detection method, and idiographic flow is as follows：
    1) the long L of reference window is set, and its value can survey according to outfield to be changed, and is chosen for 15~20 points, protection location selection 2~3 Individual point；
    2) some modulus value point after single sawtooth period data FFT is directed to, calculates in its preceding reference window the equal of L data respectively Value β1With the average β of L data in rear reference window2If its front or rear window length is less than L, actual window length is taken to calculate average；
    3) window average β before and after the point is compared1And β2, selection wherein smaller is as the estimation of its level α, i.e. α=min (β1,β2)；
    4) thresholding Product-factor γ, the then point detection threshold T=α * γ are set；
    5) compare the size of the modulus value and its threshold value, if its modulus value is more than thresholding, record the positional information of the point, otherwise Think that it does not cross thresholding；
    6) for other all modulus value points, above step 2 is performed respectively)~5), i.e., carry out sliding window detection, record for all points All positional informations for crossing threshold point.
  8. 8. rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit as claimed in claim 1, it is characterised in that described two System detection module：
    To the data after CFAR Threshold detections, it is a range cell to make each data, to the data of each range cell Binary detection is carried out, if the data of the range cell cross thresholding, is designated as 1, if not having thresholding, is designated as 0, then The progress multicycle adds up, no if the number of the thresholding of some range cell accumulative 1 exports the point coordinates value more than K Then exported not as the target for crossing thresholding, wherein K represents accumulative 1 number；
    After binary detection, when the points for crossing thresholding for meeting requirement simultaneously are not unique, only selection exported thresholding First peak point.
  9. 9. rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit as claimed in claim 7, it is characterised in that described two System detection module, after by CFAR detections and binary detection, the click-through of thresholding is crossed for upper frequency sweep and lower frequency sweep section Row pairing is handled, if the point coordinates value that upper and lower frequency sweep crosses thresholding differs by more than threshold value, it is impossible to be defined as the upper of same target During lower frequency sweep, handled without pairing.
  10. 10. rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit as claimed in claim 1, it is characterised in that described Resolve in module, the calculation method for speed, distance and angle is：
    (1) by peak point that is after successful matching or need not being matched, its corresponding frequency values is calculated, if being swept in passage 1 The peak coordinate that frequency range first crosses threshold point is p1_up, then frequency values corresponding to the point are f1_up, after corresponding FFT Data be a_p1_up+1j*b_p1_up, phase isIn passage 2 corresponding to upper frequency sweep section Data after the FFT are a_p2_up+1j*b_p2_up, phaseIf in passage 1 Lower first peak coordinate for crossing threshold point of frequency sweep section is p1_down, then frequency values corresponding to the point are f1_down；
    Wherein：Wherein：A represents the data value on I roads, and b represents the data value on Q roads, and a_p1 is represented in the array of a+j*b compositions, It is p1 to cross coordinate corresponding to the peak point of thresholding, and b_p1 is represented in the array of a+j*b compositions, corresponding to the peak point for crossing thresholding Coordinate is p1；
    (2) frequency values f1_down corresponding to swept frequency value f1_up and lower frequency sweep will be gone up in obtained passage 1, according to formulaTo the distance of obstacle target before calculating unmanned plane, wherein, T is triangle wave period, and B is frequency modulation band Width, c are the light velocity, c=3.0 × 108；According to formulaWherein f0Centered on frequency calculate unmanned plane before To the speed of obstacle target, f0It is centre frequency；
    (3) in passage 1 and passage 2, according to the respective phase that above frequency sweep is calculated respectivelyWithFurther according to calculation formula Phase difference ψ is calculated；According to formulaComputer azimuth angle, wherein, λ is wavelength, and d is antenna spacing.
CN201610723747.9A 2016-08-25 2016-08-25 Rotor wing unmanned aerial vehicle anticollision MMW RADAR SIGNAL USING processing unit Pending CN107783098A (en)

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