CN107783101A - Rotor wing unmanned aerial vehicle short distance CAS signal processing method and device based on combined waveform - Google Patents

Rotor wing unmanned aerial vehicle short distance CAS signal processing method and device based on combined waveform Download PDF

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CN107783101A
CN107783101A CN201610726209.5A CN201610726209A CN107783101A CN 107783101 A CN107783101 A CN 107783101A CN 201610726209 A CN201610726209 A CN 201610726209A CN 107783101 A CN107783101 A CN 107783101A
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value
threshold
point
frequency
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CN107783101B (en
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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
    • G01S13/02—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
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
    • 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

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

Rotor wing unmanned aerial vehicle short distance CAS signal processing method and device based on combined waveform, belong to radar signal processing field, for solving the technical problem of unmanned plane anticollision, technical essential is：To each section of waveform, the I/Q data that A/D is collected, direct current is removed after removing forward part data point, the FFT of time-frequency is carried out, time domain data is converted into frequency data；The plural modulus value after FFT of each section of waveform is done into CFAR Threshold detections, to the data after CFAR Threshold detections, it is a range cell to make each data, and carrying out binary system to the data of each range cell adds up, first peak point of thresholding was exported, phase is calculated；Calculate the one or more in the beat frequency value of sawtooth wave band, the Doppler frequency value of constant frequency section, relative velocity, calculating relative distance value, calculated direction angle.

Description

Rotor unmanned aerial vehicle short-distance anti-collision system signal processing method and device based on combined waveform
Technical Field
The invention belongs to the field of radar signal processing, and relates to a signal processing method and device for a short-distance collision avoidance system of a rotor unmanned aerial vehicle.
Background
In recent years, with the continuous development of technologies, the price of a civil small unmanned aerial vehicle is lower and lower, and the civil small unmanned aerial vehicle is widely applied to the fields of aerial photography, movies, agriculture, real estate, news, fire fighting, rescue, energy, remote sensing mapping, wild animal protection and the like. However, according to statistics of foreign relevant organizations, 10 accidents happen to helicopters in every 10000h of flight, and among various accidents, the accident rate caused by collision with obstacles in low-altitude flight accounts for about 35%, and is far more than other accident reasons. Threaten outdoor low-altitude flight safety's of unmanned aerial vehicle object mainly has natural object such as trees and artificial object such as power line, wire pole, building, wherein, because the power line is small, be difficult to discover with the naked eye, it is the biggest to unmanned aerial vehicle's flight safety harm. The reason for analyzing the frequent collision of the unmanned aerial vehicle on the high-voltage line mainly has two aspects: 1. the size of the high-voltage wire is small, and the high-voltage wire is difficult to identify by naked eyes in high altitude; 2. the current unmanned aerial vehicle possesses crashproof function seldom. In summary, the following steps: the development of the unmanned aerial vehicle collision avoidance system has great application value and practical significance from the safety perspective or the economic perspective.
Disclosure of Invention
In order to solve the technical problem of unmanned aerial vehicle collision avoidance, the invention provides a signal processing device of a rotor unmanned aerial vehicle short-distance collision avoidance system based on a combined waveform.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a signal processing device of a short-distance anti-collision system of a rotor unmanned aerial vehicle based on a combined waveform is characterized in that the combined waveform is a combined waveform of a sawtooth wave and a constant frequency wave, the first section of the waveform is a sawtooth wave FMCW, and the second section of the waveform is a constant frequency wave CW;
the processing device comprises:
the conversion module is used for removing front part data points and then removing direct current from IQ data acquired by A/D (analog to digital) for each section of waveform, performing time-frequency FFT (fast Fourier transform) and converting time-domain data into frequency data;
the threshold detection and binary accumulation module is used for performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, enabling each piece of data after CFAR threshold detection to be a distance unit, performing binary accumulation on the data of each distance unit, outputting a first peak point of a threshold, and calculating to obtain a phase;
a parameter calculating module for calculating the difference frequency value, constant frequency Doppler frequency value and relative frequency of sawtooth wave band
One or more of speed value, calculating relative distance value, calculating direction angle.
Further, the method for removing direct current in the conversion module is as follows:
(1) Calculating the mean value of the I and Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after the front part points are removed, and calculating the mean value of the I and Q data of the sawtooth wave band of the channel 2 after the front part points are removed;
(2) For each I and Q data, subtracting the mean value of the respective I and Q data obtained by the previous step, and finishing the direct current removing mode;
(3) The IQ data DC calculation formula is as follows:wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of remaining data points after removing the front part of data points;
the data I and Q after the direct current is removed are merged into a data form of I + jQ, then windowing processing is carried out, and windowing processing is carried out on the data of the first section of sawtooth wave FMCW, the second section of constant frequency wave CW in the channel 1 and the first section of sawtooth wave FMCW in the channel 2.
Further, the binary accumulation method in the threshold detection and binary accumulation module is as follows:
if the data of the distance units pass through the threshold, recording as 1, if the data of the distance units do not pass through the threshold, recording as 0, then performing multi-cycle accumulation, if the number of threshold accumulation 1 of a certain distance unit exceeds K, outputting the coordinate value of the point, otherwise, not outputting the point as a target of passing through the threshold, wherein K represents the number of accumulation 1;
the calculation mode is divided into two steps:
(1) Converting the detected output quantity into binary number, wherein the quantization relation is as follows:
|x i i denotes the magnitude of the modulus after FFT, γ i Represents a threshold value;
(2) Accumulating the quantization pulses in N1 periods, if the quantization pulse accumulation number m in N1 periods,
after binary accumulation, when the number of the points meeting the requirement of threshold passing is not unique, only the first peak point of the output threshold is selected.
Further, let the peak coordinate of the first threshold-crossing point of the chirp FMCW in the channel 1 be p1_ FMCW, the corresponding FFT-transformed data be a _ p1+1j × b _p1, and the phase be
The peak value coordinate of the first threshold-passing point of the constant frequency wave CW is p1_ CW;
let the peak coordinate of the first threshold-crossing point of the chirp FMCW in channel 2 be p2_ FMCW, the corresponding FFT-transformed data be a _ p2+1j b _p2, and the phase be
If the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
wherein: a represents the data value of the I path, b represents the data value of the Q path, a _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak value point of the threshold is p1, a _ p2 represents in the array formed by a + j × b, the corresponding coordinate of the peak value point of the threshold is p2, b _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak value point of the threshold is p1, b _ p2 represents in the array formed by a + j × b, and the corresponding coordinate of the peak value point of the threshold is p2.
Further, the method for calculating the difference frequency value of the sawtooth waveband is as follows: in the channel 1, the linear frequency modulation sawtooth wave FMCW, the coordinate p1_ FMCW of the point with the maximum threshold point amplitude value, according to the following rule, the corresponding difference frequency value is f b ；
The rule is:
if the number of the points with the maximum amplitude of the threshold passing point is obtained, the p1_ fmcw is more than or equal to 1 and less than or equal to 256, and the frequency value of the difference frequency at the corresponding point is obtained
If the obtained maximum point number p1_ fmcw is more than 256 and p1_ fmcw is less than or equal to 512, the difference frequency value at the corresponding pointf s Representing the system sampling frequency.
Further, the method for calculating the doppler frequency value of the constant frequency band is as follows: in the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the threshold-passing point, and the corresponding Doppler frequency f is calculated according to the following rule d ；
The rules are as follows: if a 512-point FFT transformation is performed,
the number x of points is more than or equal to 1 and less than or equal to 256, the target is judged to approach, and the Doppler frequency on the corresponding point is judged
The number x of points is more than 256 and less than or equal to 512, the target is judged to be far away, and the Doppler frequency on the corresponding point is judged
Further, the method for calculating the relative velocity value is as follows: according to the calculated Doppler frequency value f d Calculating the velocity v of the target, the velocity formula of the calculated target isWhere c is the speed of light and f is the center frequency.
Further, the method for calculating the relative distance value is as follows: calculating the Doppler frequency value f according to the constant frequency band d And the frequency value f of the difference frequency obtained from the sawtooth band b Calculating the distance R of the target according to the formulaWherein T is the period and B is the bandwidth.
Further, the phase difference is calculated by the phase calculated by the chirp sawtooth wave band in the channel 1 and the channel 2 respectively, according to the formula:
calculating to obtain a phase difference delta psi;
according to the angle calculation formulaAnd calculating the azimuth angle of the target, wherein d is the distance between the antennas, and lambda is the wavelength of the radar wave.
Further, the device further comprises a filtering tracking module, which performs filtering tracking and predicts the distance and velocity values at the next measurement time, preferably, the filtering uses an α - β filter, and the prediction equation of a constant gain filter is X (k + 1/k) = Φ X (k/k);
the filter equation is
X(k+1/k+1)＝X(k+1/k)+K[Z(k+1)-H(k+1/k)]；
Wherein X (k/k) is a filter value at the time k, X (k + 1/k) is a predicted value of the time k to the next time, and Z (k) is an observed value of the time k;
when the target motion equation adopts a constant velocity model, the constant gain matrix K = [ alpha, beta/T =] T Its state transition matrixThe measurement matrix of the model is H = [1,0 ]]；
Wherein: alpha is more than 0 and less than 1, beta is more than 0 and less than 1.
Has the beneficial effects that:
1. the invention provides a waveform design for realizing an unmanned aerial vehicle short-distance anti-collision millimeter wave radar system based on a combined waveform of a sawtooth wave and a constant frequency wave;
2. the invention provides a short-distance anti-collision millimeter wave radar signal processing system of a rotor unmanned aerial vehicle, which is designed by adopting a millimeter wave radar, and can realize the detection of the relative distance and the relative speed of a single target and the detection function of the direction angle of the target.
Drawings
FIG. 1 is a diagram of frequency variations of a sawtooth FMCW wave and a constant frequency CW wave in a frequency sweep period;
figure 2 rotor unmanned aerial vehicle short distance collision avoidance system signal processing flow chart.
Detailed Description
Example 1: a signal processing method of a short-distance anti-collision system of a rotor unmanned aerial vehicle based on a combined waveform is characterized in that the radar center frequency f is 24.125GHz, the combined waveform is a combined waveform of sawtooth waves and constant frequency waves, the emission waveform selects the combined waveform of the sawtooth waves and the constant frequency waves, the first section of the waveform is the sawtooth waves, the period is 10ms, the working frequency change range is changed from 24.025GHz to 24.225GHz, and the bandwidth is 200MHz. The second section selects constant frequency wave with a period of 10ms and a working frequency of 24.125GHz. The transmit waveform is shown in fig. 1.
The processing method comprises the following steps:
s1, for each section of waveform, removing IQ data acquired by A/D, removing direct current after removing front part of data points, performing time-frequency FFT (fast Fourier transform) and converting time-domain data into frequency data;
as a technical scheme: the time-frequency FFT transformation method of the step S1 comprises the following steps: IQ data collected by a first sawtooth wave FMCW and a second constant frequency wave CW and A/D in a channel 1 are respectively subjected to FFT conversion of 512 time-frequency points, and IQ data collected by the second constant frequency wave CW and the A/D in a channel 2 are subjected to FFT conversion of 512 time-frequency points.
The removing of the front part of data points is to remove the front part of data points collected by AD first in the data collected by AD, generally at 50 to 70 points, for example, if 700 points are collected, the first 50 points are removed, and the data from 51 to 700 are dc-removed and FFT-converted. The partial point to be removed has two reasons, namely, the data is the abnormal partial data caused by the pulse generated by the voltage when the waveform is changed, and the second reason is the distance ambiguity. This part is not the cause of the previously described reduction in range resolution, but is rather the linearity of the transmit waveform, causing this reduction in resolution.
The method for removing direct current in the step S1 comprises the following steps:
(1) Calculating the mean value of the I and Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after the front part points are removed, and calculating the mean value of the I and Q data of the sawtooth wave band of the channel 2 after the front part points are removed;
(2) For each I and Q data, subtracting the mean value of the respective I and Q data obtained by the previous step, and finishing the direct current removing mode;
(3) The IQ data DC calculation formula is as follows:wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of remaining data points after removing the front part of data points;
the data I and Q after the direct current is removed are merged into a data form of I + jQ, then windowing processing is carried out, and windowing processing is carried out on the data of the first section of sawtooth wave FMCW, the second section of constant frequency wave CW in the channel 1 and the first section of sawtooth wave FMCW in the channel 2. A Hanning window or a Hamming window and the like can be selected to reduce side lobes, so that the detection performance of the target is improved; the hanning window will cause the main lobe to widen and decrease, but the side lobes will decrease significantly.
The Hanning window calculation formula is:
s2, performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, enabling each data to be a distance unit for the data after the CFAR threshold detection, performing binary accumulation on the data of each distance unit, outputting a first peak point passing through a threshold, and calculating to obtain a phase;
as a technical solution, the binary accumulation method in step S2 is:
if the data of the distance unit passes the threshold, marking as 1, if the data of the distance unit does not pass the threshold, marking as 0, then performing multi-cycle accumulation, if the number of threshold accumulation 1 of a certain distance unit exceeds K, the meaning of K represents the number of accumulation 1, the point of passing the threshold is marked as 1, when the number of accumulation 1 reaches K, outputting the coordinate value of the point, otherwise, not outputting the coordinate value as the target of passing the threshold;
the calculation mode is divided into two steps:
(1) Converting the detected output quantity into binary number, wherein the quantization relation is as follows:
where N represents 512;
|x i i denotes the magnitude of the modulus after FFT, γ i Indicating a threshold value. That is, the value of the modulus exceeding the threshold is recorded as 1, and the value of the modulus not exceeding the threshold is recorded as 0.
(2) Accumulating the quantization pulses in N1 periods, if the quantization pulse accumulation number m in N1 periods,
k means the number of accumulated 1, the point of passing the threshold is marked as 1, the whole process represents a period, the coordinate of the point of passing the threshold is counted once in each period, the threshold is 1, the value is 0 if the value is not passed, and N1 periods are continuously counted. The previous period is a value, and the value is output only when the condition is met after N1 periods are accumulated.
After binary accumulation, when the number of points meeting the requirement of threshold crossing is large, only the first peak point of the output threshold crossing is selected, mainly considering that the object which has the largest danger degree to the unmanned plane and is closest to the unmanned plane is selected, so the maximum peak points of all the threshold crossing are not found, but the peak value of the first threshold crossing is selected;
in step 2, the peak coordinate of the first threshold crossing point of the chirp FMCW in the channel 1 is p1_ FMCW, the corresponding FFT-transformed data is a _ p1+1j _ b _ p1, and the phase isWherein: a represents the data value of the I path, b represents the data value of the Q path, a _ p1 represents that the coordinate corresponding to the peak value point of the threshold passing is p1 in the array formed by a + j × bA _ p2 indicates that in the array a + j × b, the coordinate corresponding to the peak point of the threshold is p2, b _ p1 indicates that in the array a + j × b, the coordinate corresponding to the peak point of the threshold is p1, b _ p2 indicates that in the array a + j × b, the coordinate corresponding to the peak point of the threshold is p2.
The peak coordinate of the first threshold-crossing point of the constant frequency wave CW is p1_ CW, the peak coordinate of the first threshold-crossing point of the linear frequency modulation sawtooth wave FMCW in the channel 2 is p2_ FMCW, the corresponding FFT-transformed data is a _ p2+1j × b _p2, and the phase position isIf the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
the method for calculating the difference frequency value of the sawtooth wave band comprises the following steps: in the channel 1, the linear frequency modulation sawtooth wave FMCW, the coordinate p1_ FMCW of the point with the maximum threshold point amplitude value, according to the following rule, the corresponding difference frequency value is f b ，
The rule is:
if the number of the points with the maximum amplitude of the threshold passing point is obtained, the p1_ fmcw is more than or equal to 1 and less than or equal to 256, and the difference frequency value at the corresponding point isf s A magnitude representing a sampling rate of the system;
if the obtained maximum point number p1_ fmcw is more than 256 and p1_ fmcw is less than or equal to 512, the difference frequency value at the corresponding point
The method for calculating the Doppler frequency value of the constant frequency band comprises the following steps: in the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the threshold point is calculated according to the following rule that the corresponding Doppler frequency is f d ；
The rules are as follows:
if a 512-point FFT transformation is performed,
counting x, wherein x is more than or equal to 1 and less than or equal to 256, and judgingTarget approach, doppler frequency at its corresponding point
The number x of points is more than 256 and less than or equal to 512, the target is judged to be far away, and the Doppler frequency on the corresponding point is judged
And S3, calculating one or more of a difference frequency value of a sawtooth wave band, a Doppler frequency value of a constant frequency band, a relative speed value, a relative distance value and a direction angle.
As one technical solution, the method for calculating the relative velocity value is: according to the Doppler frequency value f obtained by calculation d Calculating the velocity v of the target by the formulaWhere c is the speed of light, c =3 × 10 8 F is the center frequency, f =24.125GHz.
The method for calculating the relative distance value is as follows: calculating the Doppler frequency value f according to the constant frequency band d And the difference frequency value f obtained from the sawtooth band b Calculating the distance R of the target according to the formulaWherein T is a period, T =10ms, B is a bandwidth, and B =200MHz.
Calculating the phase difference of the phase signals obtained by respectively calculating the linear frequency modulation sawtooth wave bands in the channel 1 and the channel 2 according to a calculation formulaObtaining a phase difference delta psi;
according to the formula for calculating the angle,calculating the azimuth angle of the target, wherein d isAnd the distance between the antennas is lambda, which is the wavelength of radar waves.
As a technical scheme, the method further comprises the step S4 of filtering and tracking, and predicting the distance and the speed value at the next measurement moment.
After the unmanned aerial vehicle short-distance anti-collision millimeter wave radar system finishes the resolving process of the relative speed, the relative distance and the corresponding azimuth angle of the single target, a filtering and tracking module is needed. Because the system output data has a high refresh rate and the variation of distance, speed and the like is small in a short time, the system can be approximately regarded as uniform motion, the variation rate of the height can be estimated through a certain algorithm, and the distance, the speed value and the like at the next measurement moment can be predicted. The tracking and predicting method is the premise and the basis of the self-adaptive tracking and tracking filtering. The main methods currently include linear autoregressive filtering, wiener filtering, weighted least squares filtering, alpha-beta and alpha-beta-gamma filtering, kalman filtering, simplified kalman filtering, and the like.
The present invention recommends the use of an alpha-beta filter. The alpha-beta filter is suitable for the condition that the change rate of the tracking error is relatively uniform, so that the alpha-beta filter is basically suitable for the flight scene of the unmanned aerial vehicle.
In the alpha-beta filter, the prediction equation of a constant gain filter is X (K + 1/K) = phi X (K/K), and the filter equation is X (K +1/K + 1) = X (K + 1/K) + K [ Z (K + 1) -H (K + 1/K) ], wherein X (K/K) is a filtered value at K time, X (K + 1/K) is a predicted value at K time to the next time, and Z (K) is an observed value at K time.
When the target motion equation adopts a constant velocity model, a constant gain matrix K = [ alpha, beta/T =] T Its state transition matrixThe measurement matrix of the model is H = [1,0 ]]. The alpha-beta filter is a constant gain filter satisfying the long gain matrix K, the state transition matrix phi and the measurement matrix H described by the above expressions, i.e. the constant gain filter
The selection of the parameters a and β in the a- β filter is relevant for the response of the tracking, the convergence speed and the tracking stability. It is generally required that 0 < alpha < 1,0 < beta < 1. In engineering, the values of alpha and beta can be calculated according to a formula, namelyAndwhere k is the number of times, and α and β take different values as k changes, in practice, these two parameters tend to be constant.
The target speed and distance of single settlement can be filtered, tracked and predicted through the alpha-beta filter. The target tracking can be better realized, the output data is smoother, the appearance of abnormal values is reduced, and the stability of the system is effectively improved.
The existing signal processing method generally adopts AD-FFT-threshold-resolving, and AD-DC-removing-windowing-FFT-threshold-binary accumulation-resolving-predicting tracking is added in the new processing method. More links are added. Especially de-dc and binary accumulation prediction and tracking.
The advantages of DC removal are: because the direct current data can raise the nearby threshold value, the data of the target nearby the direct current can be directly transmitted
Certain interference exists during threshold detection, so that the detection probability of the target can be effectively improved by adopting a DC-removing mode.
Benefits of windowing: a Hanning window or a Hamming window and the like are selected to reduce side lobes, so that the detection performance of the target is improved; the hanning window will cause the main lobe to widen and decrease, but the side lobes will decrease significantly.
The use of binary cumulative benefits: the points which pass the threshold can be more stable, the threshold is not bounced back between certain points, and the reliability of the system is improved.
Example 2: as a technical solution supplement of embodiment 1, in this embodiment, a continuous wave system is adopted for a radar system with a center frequency of 24GHz or 77GHz, a waveform is formed by combining an FMCW waveform based on sawtooth modulation and a CW signal modulated by a constant frequency wave, and a signal processing method of an anti-collision system of a rotor unmanned aerial vehicle is implemented according to the modulated waveform.
According to rotor unmanned aerial vehicle's maximum flying speed, the distance scope of unmanned aerial vehicle anticollision is for designing 2m ~ 30m, so this system is mainly the design of many rotor unmanned aerial vehicle to the anticollision signal processing of the environment object of single target in this distance scope, and the place ahead barrier is mainly for people, the detection of target distance such as tree, wall, net and high-voltage line, speed and position.
The embodiment provides a system parameter scheme capable of realizing unmanned aerial vehicle collision avoidance, and relevant parameters can be selected subsequently according to application scene requirements or product performance requirements.
The radar center frequency f designed by the embodiment is 24.125GHz. The emission waveform is a combined waveform of a sawtooth wave and a constant frequency wave. The first section of the waveform is a sawtooth wave, the period is 10ms, the working frequency change range is from 24.025GHz to 24.225GHz, and the bandwidth is 200MHz. The second section selects constant frequency wave with a period of 10ms and a working frequency of 24.125GHz. The transmit waveform is shown in fig. 1.
So this embodiment has adopted the mode of binary channels, realizes rotor unmanned aerial vehicle range finding, the function of testing the speed to and the angle measurement function.
A signal processing flow chart of the short-distance collision avoidance system of the rotor unmanned aerial vehicle based on the combined waveform is shown in FIG. 2;
the method comprises the following concrete implementation steps:
1. and performing DC removal processing on IQ data acquired by A/D of each section of waveform. Because the direct current data can raise the nearby threshold value, certain interference exists when the data of the target nearby the direct current is subjected to threshold detection, and the detection probability of the target can be effectively improved by adopting a direct current removing mode.
The direct current removing method comprises the following steps:
(1) Calculating the mean value of the I and Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after the front part points are removed, and calculating the mean value of the I and Q data of the sawtooth wave band of the channel 2 after the front part points are removed;
(2) And for each I and Q data, subtracting the mean value of the respective I and Q data obtained by the previous step, and finishing the direct current removing mode.
(3) The IQ data DC-free calculation formula is as follows:wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of data points left after removing the former part of data points.
The direct-current removed I and Q data are combined into an I + jQ data form, then windowing processing is carried out, windowing processing is carried out on the data of a first section of sawtooth wave FMCW, a second section of constant frequency wave CW in a channel 1 and the data of the first section of sawtooth wave FMCW in a channel 2, a Hanning window or a Hamming window and the like can be selected, side lobes are reduced, and therefore the detection performance of a target is improved; the hanning window will cause the main lobe to widen and decrease, but the side lobes will decrease significantly.
The Hanning window calculation formula is:
2. performing time-frequency 512-point FFT on the data subjected to direct current removal and windowing respectively for a first section of sawtooth wave FMCW and a second section of constant frequency wave CW in a channel 1, and performing time-frequency 512-point FFT on the data subjected to direct current removal and windowing respectively for the first section of sawtooth wave FMCW in a channel 2;
3. and performing CFAR threshold detection on the complex modulus values after waveform FFT conversion of each section, outputting a first peak point of a threshold, mainly considering that the object which has the largest risk degree to the unmanned plane and is closest to the unmanned plane is the object, so that the maximum value of all the threshold is not found, and the peak value of the first threshold is selected. The threshold detection selectable unit averagely selects the threshold detection method of the small CFAR, and the specific threshold method can be selected according to the actual application scene.
4. And making each datum as a distance unit for the data after the CFAR threshold detection. The data of each distance unit is binary accumulated, namely, if the data of the distance unit passes a threshold, the data is recorded as 1, and if the data of the distance unit does not pass the threshold, the data of the distance unit is recorded as 0. And then carrying out multi-period accumulation, if the number of the threshold accumulation 1 of a certain distance unit exceeds K, outputting the coordinate value of the point, and otherwise, outputting the point as a target which passes the threshold.
The calculation mode is divided into two steps:
(1) Converting the detected output quantity into binary number, wherein the quantization relation is as follows:where N represents 512;
(2) Accumulating the quantization pulses in N1 periods, if the quantization pulse accumulation number m in N1 periods,
after binary accumulation, when the number of points meeting the requirement of threshold crossing is large, only the first peak point of the output threshold crossing is selected, mainly considering that the object which has the largest danger degree to the unmanned plane and is closest to the unmanned plane is considered, so the maximum peak points of all the threshold crossing are not found, but the peak value of the first threshold crossing is selected.
Let the peak coordinate of the first threshold crossing point of the chirp FMCW in the channel 1 be p1_ FMCW, the corresponding post-FFT data be a _ p1+1j × b _p1, and the phase positionThe peak coordinate of the first threshold-crossing point of the constant frequency wave CW is p1_ CW, the peak coordinate of the first threshold-crossing point of the linear frequency modulation sawtooth wave FMCW in the channel 2 is p2_ FMCW, the corresponding FFT data is a _ p2+1j × b _p2, and the phase position isIf the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
5. and calculating to obtain the difference frequency value of the sawtooth wave band.
In the channel 1, a linear frequency modulation sawtooth wave FMCW, the coordinate p1_ FMCW of the point with the maximum threshold point amplitude value corresponds to the difference frequency value f according to the following rule b . That is, if the maximum number of points obtained is p1_ fmcw is less than or equal to 1 and less than or equal to 256, the difference frequency value at the corresponding pointIf the number of the points is more than 256 and p1_ fmcw is less than or equal to 512, the difference frequency value of the corresponding point
6. And calculating to obtain the Doppler frequency value of the constant frequency band.
In the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the threshold-passing point, and the corresponding Doppler frequency f is calculated according to the following rule d . If the FFT of 512 points is performed, the number of the points is more than or equal to 1 and less than or equal to 256, the target is judged to be close to, and the Doppler frequency on the corresponding point is judgedIf the number of points is more than 256 and less than or equal to 512, the target is determined to be far away, and the Doppler frequency at the corresponding point is determined
7. A relative velocity value is calculated.
According to the obtained Doppler frequency value f d Calculating the velocity v of the target by the formulaWhere c is the speed of light, c =3 × 10 8 F is the center frequency f =24.125GHz;
8. a relative distance value is calculated.
Calculating the Doppler frequency value f according to the constant frequency band d And the difference frequency value f obtained from the sawtooth band b And calculating the distance R of the target. The distance is calculated by the formulaWherein, T =10ms, B is the bandwidth, and B =200MHz.
9. The direction angle is calculated.
As can be seen from description 2, the phase difference is calculated by the phase calculated by the chirp sawtooth wave band in channel 1 and channel 2, respectively, according to the calculation formula
The phase difference Δ ψ is obtained.
According to the formula for calculating the angle,and calculating the azimuth angle of the target, wherein d is the antenna spacing.
The signal processing of the unmanned aerial vehicle short-distance anti-collision millimeter wave radar system based on the combined waveform of the sawtooth wave and the constant frequency wave is completed through the steps, and the resolving process of the relative speed, the relative distance and the corresponding azimuth angle of the single target is completed.
After the unmanned aerial vehicle short-distance anti-collision millimeter wave radar system finishes the resolving process of the relative speed, the relative distance and the corresponding azimuth angle of the single target, a filtering and tracking module is needed. Because the system output data has a high refresh rate and the variation of distance, speed and the like is small in a short time, the system can be approximately regarded as uniform motion, the variation rate of height can be estimated through a certain algorithm, and the distance, speed value and the like at the next measurement moment can be predicted. The tracking and predicting method is the premise and the basis of the self-adaptive tracking and tracking filter. The main methods currently include linear autoregressive filtering, wiener filtering, weighted least squares filtering, alpha-beta and alpha-beta-gamma filtering, kalman filtering, simplified kalman filtering, and the like.
The present invention recommends the use of an alpha-beta filter. The alpha-beta filter is suitable for the condition that the change rate of the tracking error is relatively uniform, so that the alpha-beta filter is basically suitable for the flight scene of the unmanned aerial vehicle.
In the alpha-beta filter, the prediction equation of a constant gain filter is X (K + 1/K) = phi X (K/K), and the filter equation is X (K +1/K + 1) = X (K + 1/K) + K [ Z (K + 1) -H (K + 1/K) ], wherein X (K/K) is a filtered value at K time, X (K + 1/K) is a predicted value at K time to the next time, and Z (K) is an observed value at K time.
When the target motion equation adopts a constant velocity model, the constant gain matrix K = [ alpha, beta/T =] T Its state transition matrixThe measurement matrix of the model is H = [1,0 ]]. The alpha-beta filter is a constant gain filter satisfying the long gain matrix K, the state transition matrix phi and the measurement matrix H described by the above expressions, i.e. the constant gain filter
The selection of the parameters a and β in the a- β filter is relevant for the response of the tracking, the convergence speed and the tracking stability. It is generally required that 0 < alpha < 1,0 < beta < 1. In engineering, the values of alpha and beta can be calculated according to a formula, namelyAndwhere k is the number of times, and α and β take different values as k changes, in practice, these two parameters tend to be constant.
The target speed and distance of single settlement can be filtered, tracked and predicted through the alpha-beta filter. The target tracking can be better realized, the output data is smoother, the appearance of abnormal values is reduced, and the stability of the system is effectively improved.
Example 3: as a device corresponding to the technical scheme of the method of embodiment 1 or 2, the embodiment discloses a signal processing device of a short-distance collision avoidance system of a rotary wing unmanned aerial vehicle based on a combined waveform, wherein the combined waveform is a combined waveform of a sawtooth wave and a constant frequency wave, a first section of the waveform is a sawtooth wave FMCW, and a second section of the waveform is a constant frequency wave CW;
the processing device comprises:
the conversion module is used for removing the IQ data acquired by the A/D for each section of waveform, removing direct current after removing the front part of data points, performing time-frequency FFT (fast Fourier transform) and converting time-domain data into frequency data;
the threshold detection and binary accumulation module is used for performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, enabling each datum to be a distance unit for the data after the CFAR threshold detection, performing binary accumulation on the datum of each distance unit, outputting a first peak point passing through a threshold, and calculating to obtain a phase;
a parameter calculating module for calculating the difference frequency value, constant frequency Doppler frequency value and relative frequency of sawtooth wave band
Speed value, calculating relative distance value, calculating direction angle.
The method for removing direct current in the conversion module comprises the following steps:
(1) Calculating the mean value of the I and Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after removing the front part points, and calculating the mean value of the I and Q data of the sawtooth wave band and the constant frequency wave band of the channel 2 after removing the front part points;
(2) For each I and Q data, subtracting the mean value of the respective I and Q data obtained by the previous step, and finishing the direct current removing mode;
(3) The IQ data DC calculation formula is as follows:wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of remaining data points after removing the front part of data points;
the data I and Q after the direct current is removed are merged into a data form of I + jQ, then windowing processing is carried out, and windowing processing is carried out on the data of the first section of sawtooth wave FMCW, the second section of constant frequency wave CW in the channel 1 and the first section of sawtooth wave FMCW in the channel 2.
The method for the binary accumulation in the threshold detection and binary accumulation module comprises the following steps:
if the data of the distance units pass through the threshold, recording as 1, if the data of the distance units do not pass through the threshold, recording as 0, then performing multi-cycle accumulation, if the number of threshold accumulation 1 of a certain distance unit exceeds K, outputting the coordinate value of the point, otherwise, not outputting the point as a target of passing through the threshold, wherein K represents the number of accumulation 1;
the calculation mode is divided into two steps:
(3) Converting the detected output quantity into binary number, wherein the quantization relation is as follows:
|x i i denotes the magnitude of the modulus after FFT, γ i Represents a threshold value;
(4) Accumulating the quantization pulses in N1 periods, if the quantization pulse accumulation number m in N1 periods,
after binary system accumulation, when the number of points meeting the requirement of threshold crossing is not unique, only the first peak point of the threshold crossing is selected.
Let the peak coordinate of the first threshold-crossing point of the chirp FMCW in the channel 1 be p1_ FMCW, the corresponding FFT-transformed data be a _ p1+1j b _p1, and the phase beThe peak value coordinate of the first threshold point of the constant frequency wave CW is p1_ CW;
let the peak coordinate of the first threshold-crossing point of the chirp FMCW in channel 2 be p2_ FMCW, the corresponding FFT-transformed data be a _ p2+1j b _p2, and the phase be
If the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
wherein: a represents the data value of the I path, b represents the data value of the Q path, a _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak value point of the threshold is p1, a _ p2 represents in the array formed by a + j × b, the corresponding coordinate of the peak value point of the threshold is p2, b _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak value point of the threshold is p1, b _ p2 represents in the array formed by a + j × b, and the corresponding coordinate of the peak value point of the threshold is p2.
The method for calculating the difference frequency value of the sawtooth wave band comprises the following steps: in the channel 1, the coordinate p1_ FMCW of the point with the maximum threshold point amplitude value of the linear frequency modulation sawtooth wave FMCW is defined as f according to the following rule b ；
The rule is:
if the number of the points with the maximum amplitude of the threshold passing point is obtained, the p1_ fmcw is more than or equal to 1 and less than or equal to 256, and the difference frequency value at the corresponding point is
If the maximum point number p1_ fmcw is obtained, 256 < p1_ fmcw is less than or equal to 512, the frequency value of the difference frequency at the corresponding point
f s Representing the system sampling frequency.
The method for calculating the Doppler frequency value of the constant frequency band comprises the following steps: in the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the threshold-passing point, and the corresponding Doppler frequency f is calculated according to the following rule d (ii) a The rules are as follows: if a 512-point FFT is performed,
the number x of points is more than or equal to 1 and less than or equal to 256, the target is judged to be close, and the Doppler frequency on the corresponding point is judged
The number x is more than 256 and less than or equal to 512, the target is determined to be far away, and the Doppler frequency at the corresponding point is determined
The method for calculating the relative velocity value is as follows: according to the calculated Doppler frequency value f d Calculating the velocity v of the target, the velocity formula of the calculated target isWhere c is the speed of light and f is the center frequency.
The method for calculating the relative distance value is as follows: doppler frequency value f obtained by calculation according to constant frequency band d And the difference frequency value f obtained from the sawtooth band b Calculating the distance R of the target by the formulaWherein T is the period, and B is the bandwidth.
Calculating the phase difference of the phases respectively calculated by the linear frequency modulation sawtooth wave bands in the channel 1 and the channel 2 according to a formula:
calculating to obtain a phase difference delta psi;
according to the angle calculation formulaAnd calculating the azimuth angle of the target, wherein d is the distance between the antennas, and lambda is the wavelength of the radar wave.
The device also comprises a filtering tracking module which carries out filtering tracking and predicts the distance and speed value of the next measurement moment, wherein the filtering preferably uses an alpha-beta filter, and the prediction equation of a constant gain filter of the alpha-beta filter is X (k + 1/k) = phi X (k/k);
having a filter equation of
X(k+1/k+1)＝X(k+1/k)+K[Z(k+1)-H(k+1/k)]；
Wherein X (k/k) is a filtered value at the time k, X (k + 1/k) is a predicted value at the time k to the next time, and Z (k) is an observed value at the time k;
when the target motion equation adopts a constant velocity model, the constant gain matrix K = [ alpha, beta/T =] T Its state transition matrixThe measurement matrix of the model is H = [1,0 ]]；
Wherein: alpha is more than 0 and less than 1, beta is more than 0 and less than 1.
Example 4: for the peak processing in the above solutions, this embodiment provides a peak processing method applied to the signal of the unmanned aerial vehicle:
setting a peak point threshold factor α for limiting the absolute value of the difference between the detected threshold-crossing maximum peak point and the maximum peak point appearing in the previous cycle, so that the absolute value of the difference is not greater than the peak point threshold factor α:
the expression is as follows:
|L_max(k)-L_max(k-1)|≤α；
wherein: l _ max (k) is the coordinate of the maximum peak point of the threshold passing of the k period, L _ max (k-1) is the coordinate of the maximum peak point of the last period, and k represents the kth moment; v. of max The maximum flight speed of the unmanned aerial vehicle is set, lambda is the wavelength of the millimeter wave radar, fs is the sampling rate, and N is the number of points of FFT;
if the absolute value difference value of the threshold-crossing maximum peak point at the moment k, the threshold-crossing maximum peak point at the moment k-1 and the threshold-crossing maximum peak point at the moment k-1 is within the range of the set peak point threshold value factor alpha, the peak point of the kth period is considered to be effective; and if the threshold-crossing maximum peak point exceeds the set peak point threshold factor alpha at the moment k, replacing the peak point output at the moment k with the peak point at the moment k-1.
As an explanation of the above technical means, in a time unit of an adjacent period, a peak point calculated in a current period and a peak point of a previous period are kept unchanged, if a speed is not changed in the adjacent period, but if a horizontal flight speed of the unmanned aerial vehicle is changed in the adjacent period, the peak point of the current period is changed in the previous period, if the unmanned aerial vehicle is close to a target, the number of the current period is smaller than the number of the previous period, and if the unmanned aerial vehicle is far from the target, the number of the current period is larger than the number of the previous period, a change range of the peak point is a designed peak point threshold factor α, a value range selected by the factor is a main value range, and the main value range is a value range of the peak pointDependent on the maximum flight speed of the drone in adjacent periods, i.e. formulaWherein v is max The maximum flight speed of the unmanned aerial vehicle is determined, lambda is the millimeter wave radar wavelength, fs is the sampling rate, and N is the number of points of FFT.
However, if the flight environment of the unmanned rotorcraft changes suddenly, the number of corresponding peak points that pass the threshold may also continuously exceed the designed threshold factor. If the correction is not carried out, after mutation occurs, the threshold-passing maximum peak point detected in each period exceeds the set threshold factor, and the threshold-passing maximum peak point coordinate is corrected to the peak point coordinate at the last moment every time, namely, the value before mutation is kept in the same way, and the value after mutation cannot be adapted. In order to improve the adaptability of the unmanned aerial vehicle to various environments, a peak point mutation accumulation factor phi is introduced for the unmanned aerial vehicle.
And setting a peak point sudden change accumulation factor phi, wherein the peak point sudden change accumulation factor phi is defined as that if b periods are continuously carried out from the moment k, the value range of b is 5-10, and the threshold-crossing maximum peak point is compared with the threshold-crossing maximum peak point of the previous period and exceeds a threshold factor a, the threshold-crossing maximum peak point calculated at the moment k + b is taken as the threshold-crossing maximum peak point at the moment. In order to ensure the real-time performance of tracking, the value of b is recommended to be 5-10.
And after the threshold-crossing maximum peak point is obtained in the last step, in order to improve the precision of the measurement of the table system value, a spectrum maximum estimation algorithm for improving the distance measurement precision is provided.
Ideally, the frequency spectrum of the echo difference frequency signal has only one spectral line, but actually, in the using process, due to the barrier effect existing in sampling, the spectral line with the maximum amplitude of the discrete frequency spectrum inevitably shifts the position of a spectral peak, so that a certain error exists between the distance value calculated by the peak point and the actual distance. When a spectral peak is shifted, the central spectral line corresponding to the main lobe peak will be shifted to the left or to the right. If the left peak value is larger than the right peak value in the left and right peak values of the threshold-crossing maximum value peak value point, the position of the central spectral line is between the maximum peak value point and the left peak value point, otherwise, the position is between the maximum peak value point and the right peak value point.
Because the spectrum obtained by FFT calculation samples continuous distance spectrum at equal intervals, the maximum point of the spectrum amplitude is necessarily positioned in the main lobe of the curve, and the main lobe has two sampling points. Setting the coordinate of the threshold-crossing maximum peak point A1 as (A1, k 1), wherein A1 represents the value of the threshold-crossing maximum peak point, and k1 represents the amplitude value corresponding to the threshold-crossing peak point; the coordinates of the secondary peak points are A3 (A3, k 3), the coordinate of the central peak point a is (amax, kmax), e = amax-A1, the coordinate of A1 point is (A2, k 1) = (A1 +2e, k 1) about the point a symmetric point A2, and the zero point A4 of the complex envelope is (A4, k 1) = (A3 + e, 0);
wherein: a2, a3 and a4 are values of the threshold-crossing maximum peak value point of the corresponding point, and k3 and k4 are amplitude values corresponding to the threshold-crossing peak value point of the corresponding point;
a2, A3 and A4 are approximate to a straight line, and the linear relation is as follows:
order toThen
Setting error E and deviation E to compare, if | E tint&And E, the value of the over-threshold peak point at the moment is the value of the required central peak point, if the deviation E is greater than the set error E,beta is a correction factor, the value range is 1.5-1.9, and the reason for selecting the correction factor is as follows: due to the initial timeThe coordinate of the point A symmetry point A2 is (A2, k 1) = (a 1+2e, k 1), the coordinate of the point A horizontal axis and the coordinate of the point A2 horizontal axis are symmetrical about the maximum peak value point under the initial condition, namely the coordinate point of the point A2 is a1+2E, if the deviation E is greater than the set error E, the coordinate of the point A2 is selected to be too large, namely the maximum peak value point is between a1+2E, and the 2 times of deviation E needs to be reduced. The value principle of the correction factor beta can be selected according to the required E value, if the required precision of the E is not high, the correction factor beta can be selected to be 1.9 for correction, if the required precision of the E is high, multiple iterations are possibly required to meet the requirement, the correction factor beta needs to be selected to be a little as possible, and 1.5 can be selected for correction. The value of e is calculated by changing the correction factor to calculate the value amax = a1+ e for the central peak point.
As another embodiment, the method further comprises the steps of: distance tracking: setting a threshold factor epsilon for limiting the absolute value of the difference between the current distance data H (k) and the distance data H (k-1) appearing in the previous period so that the absolute value of the difference is not greater than the threshold factor epsilon;
the expression is as follows:
the value of | H (k) -H (k-1) | is less than or equal to epsilon, and the value range of epsilon is 0.8-1.3;
if the absolute value difference value of the data at the k moment and the absolute value difference value at the k-1 moment are within the range of the set threshold factor epsilon, the peak point of the k-th period is considered to be effective; if the data exceeds the set threshold factor epsilon at time k, the data output at time k is replaced with the data at time k-1.
And setting an abrupt change accumulation factor theta, wherein the abrupt change accumulation factor theta is defined in that if the data exceeds a threshold factor theta compared with the data of the previous period for b periods continuously from the moment k, the data obtained by resolving the current moment at the moment k + b is taken as the data of the current moment.
As an embodiment, specifically, in the embodiment, for the distance data which is not subjected to the distance tracking or is subjected to the distance tracking, when outputting, the distance value is output by using a sliding window algorithm for the distance data which is output once;
the data at time k is equal to N in the sliding window c The average value of the values after the maximum value and the minimum value are removed is used as the final data output, and the calculation formula is
Wherein N is c The number of data points used by the sliding window is represented.
By adopting the peak value tracking algorithm and the tracking algorithm, the abnormal phenomenon of one or more times of data calculation caused by single or multiple times of peak value searching errors can be effectively avoided, for example, in the single peak value searching process, peak value jumping occurs, the peak value difference value between adjacent periods is large, and simultaneously, the large jumping occurs caused by the jumping with the peak value, namely, the jumping range caused by the peak value jumping in the period is far larger than the distance change range caused by one period caused by the speed of the unmanned aerial vehicle. Therefore, the abnormal value caused by the abnormal peak can be effectively avoided by peak tracking and tracking, and the stability of the tracked data is effectively improved.
The above description is only for the purpose of creating a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims (10)

1. A rotor unmanned aerial vehicle short distance collision avoidance system signal processing device based on a combined waveform is characterized in that the combined waveform is a combined waveform of a sawtooth wave and a constant frequency wave, a first section of the waveform is a sawtooth wave FMCW, and a second section of the waveform is a constant frequency wave CW;
the processing device comprises:
the conversion module is used for removing front part data points and then removing direct current from IQ data acquired by A/D (analog to digital) for each section of waveform, performing time-frequency FFT (fast Fourier transform) and converting time-domain data into frequency data;
the threshold detection and binary accumulation module is used for performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, enabling each datum to be a distance unit for the data after the CFAR threshold detection, performing binary accumulation on the datum of each distance unit, outputting a first peak point passing through a threshold, and calculating to obtain a phase;
and the parameter calculation module is used for calculating one or more of a difference frequency value of a sawtooth wave band, a Doppler frequency value of a constant frequency band, a relative speed value, a relative distance value and a direction angle.
2. A rotor-unmanned aerial vehicle short-range collision avoidance system signal processing apparatus based on a combined waveform of claim 1, wherein the dc removal method in the conversion module is:
(1) Calculating the mean value of the I and Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after the front part points are removed, and calculating the mean value of the I and Q data of the sawtooth wave band of the channel 2 after the front part points are removed;
(2) For each I and Q data, subtracting the mean value of the respective I and Q data obtained by the previous step, and finishing the direct current removing mode;
(3) The IQ data DC calculation formula is as follows:wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of remaining data points after removing the front part of data points;
the data I and Q after the direct current is removed are merged into a data form of I + jQ, then windowing processing is carried out, and windowing processing is carried out on the data of the first section of sawtooth wave FMCW and the second section of constant frequency wave CW in the channel 1 and the data of the first section of sawtooth wave FMCW in the channel 2.
3. A rotor-unmanned aerial vehicle short-range collision avoidance system signal processing apparatus based on a combined waveform of claim 1, wherein the binary accumulation in the threshold detection and binary accumulation module is by:
if the data of the distance units pass through the threshold, recording as 1, if the data of the distance units do not pass through the threshold, recording as 0, then performing multi-cycle accumulation, if the number of threshold accumulation 1 of a certain distance unit exceeds K, outputting the coordinate value of the point, otherwise, not outputting the point as a target of passing through the threshold, wherein K represents the number of accumulation 1;
the calculation mode is divided into two steps:
(1) Converting the detected output quantity into binary number, wherein the quantization relation is as follows:
|x i i denotes the magnitude of the modulus after FFT, γ i Represents a threshold value;
(2) Accumulating the quantization pulses in N1 periods, if the quantization pulse accumulation number m in N1 periods,
after binary accumulation, when the number of the points meeting the requirement of threshold passing is not unique, only the first peak point of the output threshold is selected.
4. The signal processing apparatus of a combined waveform-based rotary-wing drone short-range collision avoidance system of claim 1,
setting the peak value coordinate of the first threshold-passing point of the linear frequency modulation sawtooth wave FMCW in the channel 1 as p1_ FMCW, and corresponding data after FFT conversion asa _ p1+1j b _p1with a phase of
The peak value coordinate of the first threshold point of the constant frequency wave CW is p1_ CW;
setting the peak value coordinate of the first threshold-crossing point of the linear frequency modulation sawtooth wave FMCW in the channel 2 as p2_ FMCW, corresponding FFT-transformed data as a _ p2+1j b _p2, and the phase as
If the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
wherein: a represents the data value of the I path, b represents the data value of the Q path, a _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak value point of the threshold is p1, a _ p2 represents in the array formed by a + j × b, the corresponding coordinate of the peak value point of the threshold is p2, b _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak value point of the threshold is p1, b _ p2 represents in the array formed by a + j × b, and the corresponding coordinate of the peak value point of the threshold is p2.
5. A rotary wing drone short range collision avoidance system signal processing apparatus based on a combined waveform according to claim 1, wherein the method of calculating the difference frequency value of the sawtooth band is: in the channel 1, the coordinate p1_ FMCW of the point with the maximum threshold point amplitude value of the linear frequency modulation sawtooth wave FMCW is defined as f according to the following rule b ；
The rule is:
if the number of the points with the maximum amplitude of the threshold passing point is obtained, the p1_ fmcw is more than or equal to 1 and less than or equal to 256, and the frequency value of the difference frequency at the corresponding point is obtained
If the maximum point number p1_ fmcw is obtained, 256 < p1_ fmcw is less than or equal to 512, the frequency value of the difference frequency at the corresponding point
f s Representing the system sampling frequency.
6. The combined waveform-based rotary-wing drone short-range collision avoidance system signal processing apparatus of claim 1, wherein the method of calculating the constant-frequency-band doppler frequency value is: in the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the threshold-passing point, and the corresponding Doppler frequency f is calculated according to the following rule d ；
The rules are as follows: if a 512-point FFT transformation is performed,
the number x of points is more than or equal to 1 and less than or equal to 256, the target is judged to be close, and the Doppler frequency on the corresponding point is judged
The number x of points is more than 256 and less than or equal to 512, the target is judged to be far away, and the Doppler frequency on the corresponding point is judged
7. A combined waveform-based rotary-wing drone short-range collision avoidance system signal processing apparatus according to claim 1, wherein the method of calculating the relative velocity values is: according to the Doppler frequency value f obtained by calculation d Calculating the velocity v of the target, the velocity formula of the calculated target isWhere c is the speed of light and f is the center frequency.
8. A combined waveform-based rotary-wing drone short-range collision avoidance system signal processing apparatus according to claim 1, wherein the method of calculating the relative distance value is: calculated according to constant frequency bandDoppler frequency value f d And the frequency value f of the difference frequency obtained from the sawtooth band b Calculating the distance R of the target according to the formulaWherein T is the period, and B is the bandwidth.
9. A rotor-unmanned aerial vehicle short-range collision avoidance system signal processing apparatus based on a combined waveform of claim 2, wherein the phase difference is calculated from the phase calculated by passing through the chirped sawtooth band in channel 1 and channel 2, respectively, according to the formula:
calculating to obtain a phase difference delta psi;
according to the angle calculation formulaAnd calculating the azimuth angle of the target, wherein d is the distance between the antennas, and lambda is the wavelength of the radar wave.
10. A rotor unmanned aerial vehicle short range collision avoidance system signal processing apparatus based on combined waveform of claim 1, further comprising a filtering tracking module for performing filtering tracking and predicting distance and velocity values at the next measurement time, preferably, the filtering uses an α - β filter with constant gain filter prediction equation of X (k + 1/k) = Φ X (k/k);
the filter equation is
X(k+1/k+1)＝X(k+1/k)+K[Z(k+1)-H(k+1/k)]；
Wherein X (k/k) is a filtered value at the time k, X (k + 1/k) is a predicted value at the time k to the next time, and Z (k) is an observed value at the time k;
when the target motion equation adopts a constant velocity model, the constant gain matrix K = [ alpha, beta/T =] T Moment of state transition thereofMatrixThe measurement matrix of the model is H = [1,0 ]]；
Wherein: alpha is more than 0 and less than 1, beta is more than 0 and less than 1.
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