CN107783112A - Rotor wing unmanned aerial vehicle complex environment collision avoidance system signal processing method based on combined waveform - Google Patents
Rotor wing unmanned aerial vehicle complex environment collision avoidance system signal processing method based on combined waveform Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
Abstract
A kind of rotor wing unmanned aerial vehicle complex environment collision avoidance system signal processing method based on combined waveform, belongs to field of signal processing, in order to solve the problems, such as rotor wing unmanned aerial vehicle complex environment anticollision, technical essential is：S1. to each section of waveform, the I/Q data that A/D is collected, the FFT of time-frequency is carried out, time domain data is converted into frequency data；S2. the plural modulus value after each section of waveform FFT is done into Threshold detection CFAR, exported threshold point position, point according to thresholding is crossed calculates its corresponding frequency values, and thus obtain the frequency matrix in corresponding points, calculating constant frequency section crosses phase value corresponding to threshold point simultaneously, and thus obtains the phasing matrix in corresponding points；S3. for constant frequency ripple, rate matrices are calculated；And for triangular wave, frequency matrix corresponding to swept frequency matrix and lower frequency sweep, carries out pairing and calculates distance and speed, and thus obtain distance matrix and rate matrices two-by-two thereon.
Description
Technical field
The invention belongs to field of signal processing, is related to the rotor wing unmanned aerial vehicle complex environment collision avoidance system based on combined waveform
Signal processing method.
Background technology
Unmanned plane is the abbreviation (Unmanned Aerial Vehicle) of UAV, is to utilize wireless remotecontrol
The not manned aircraft of equipment and the presetting apparatus provided for oneself, including depopulated helicopter, fixed-wing aircraft, multi-rotor aerocraft, nothing
People's dirigible, unmanned parasol.From the point of view of certain angle, unmanned plane can complete complicated airflight under conditions of unmanned
Task and various loading commissions, can be seen as " air-robot ".
Fixed-wing unmanned plane is the Mainstream Platform of military and most civilian unmanned planes, and maximum feature is that flying speed is very fast；
Depopulated helicopter is the most strong unmanned aerial vehicle platform of flexibility, can be taken off vertically and be hovered with original place；More rotor (multiaxis) unmanned planes
The preferred platform of consumer level and part civil use, flexibility among fixed-wing and helicopter (landing needs thrust),
But manipulation is simple, cost is relatively low.
The maximum market of civilian unmanned plane is the offer of Government public services, such as police, fire-fighting, meteorology at present
Deng, account for about the 70% of aggregate demand, and it is considered that following unmanned plane market with the largest potentiality may be just in civilian, newly-increased market
Demand possibly be present at the fields such as agricultural plant protection, goods speed, on-air radio network, data acquisition；Consumer level unmanned plane is general
Using lower-cost more rotor platforms, for the leisure purposes such as take photo by plane, play.
For unmanned plane, another important focus is unmanned plane anti-collision problem at present.Such as French unmanned plane is public
The AR.Drone unmanned planes taken charge of under Parrot, using ultrasonic wave mode toward lower section ranging, allow unmanned function to be fixed on same height
Flown on degree；Searcher's second generation (XIRO Xplorer 2) of zero degree unmanned plane is then using special 360 degree of surveys of infrared mode
Away from thereby avoidant disorder thing；Big boundary Phantom 4 or Yuneec Typhoon H is to pass through binocular inductor, as long as in light
Under the good environment of line, its automatic obstacle-avoiding distance is more much farther away than ultrasonic radar formula avoidance.But these current methods, surpass
The maximum operating range of sound wave mode is 8m, and the infrared mode most far 6m that zero degree unmanned plane uses, big boundary unmanned plane is by adopting
At most it is also 15m with binocular sensor.
The content of the invention
In order to solve the problems, such as rotor wing unmanned aerial vehicle complex environment anticollision, the present invention proposes a kind of based on combined waveform
Rotor wing unmanned aerial vehicle complex environment collision avoidance system signal processing method, resolved with realizing for speed of barrier etc..
To achieve these goals, the technical scheme is that：
The combined waveform is the waveform that the FMCW signal of triangular modulation and the CW signals of constant frequency ripple modulation combine,
First paragraph is triangular wave, and second segment is constant frequency ripple；
The signal processing method comprises the following steps：
S1. to each section of waveform, the I/Q data that A/D is collected, the FFT of time-frequency is carried out, time domain data is converted into
Frequency data；
S2. the plural modulus value after each section of waveform FFT is done into Threshold detection CFAR, exports threshold point position, according to
The point for crossing thresholding calculates its corresponding frequency values, and thus obtains the frequency matrix in corresponding points, while calculates constant frequency section mistake
Phase value corresponding to threshold point, and thus obtain the phasing matrix in corresponding points；
S3. for constant frequency ripple, rate matrices are calculated；And for triangular wave, swept frequency matrix and lower frequency sweep thereon
Corresponding frequency matrix, pairing is carried out two-by-two and calculates distance and speed, and thus obtain distance matrix and rate matrices.
Beneficial effect：
1st, the processing of collision avoidance system overall signal is carried out in complex environment The present invention gives a kind of rotor wing unmanned aerial vehicle to set
Meter method；
2nd, The present invention gives a kind of combined waveform design of multi-target detection in complex environment, give simultaneously,
Can be achieved multi-target detection theory analysis, for unmanned plane anticollision multi-targets recognition, there is provided a kind of Waveform Design thinking with
And solves method.
3rd, The present invention gives resolving, the relative distance solution of detailed signal processing, including multiple target relative velocity
Calculate, the resolving of phase difference deflection, and really matching process of target velocity etc. is carried out using the speed of constant frequency ripple, for setting
Meter rotor wing unmanned aerial vehicle complex environment collision avoidance system provides a kind of specific signal processing method.
Brief description of the drawings
Fig. 1 constant frequencies ripple and the frequency variation diagram in one frequency sweep cycle of linear frequency modulation triangular wave combined waveform；
(R, V) space diagram of Fig. 2 single goals；
(R, V) space diagram of Fig. 3 multiple targets；
Automobile lane change accessory system signal processing flow figures of the Fig. 4 based on combined waveform.
Embodiment
Embodiment 1：A kind of rotor wing unmanned aerial vehicle complex environment collision avoidance system signal processing method based on combined waveform, institute
State the waveform that the CW signals of FMCW signal that combined waveform is triangular modulation and the modulation of constant frequency ripple combine, first paragraph three
Angle ripple, second segment are constant frequency ripple；
The signal processing method comprises the following steps：
S1. to each section of waveform, the I/Q data that A/D is collected, the FFT of time-frequency is carried out, time domain data is converted into
Frequency data；
S2. the plural modulus value after each section of waveform FFT is done into Threshold detection CFAR, exports threshold point position, according to
The point for crossing thresholding calculates its corresponding frequency values, and thus obtains the frequency matrix in corresponding points, while calculates constant frequency section mistake
Phase value corresponding to threshold point, and thus obtain the phasing matrix in corresponding points；
S3. for constant frequency ripple, rate matrices are calculated；And for triangular wave, swept frequency matrix and lower frequency sweep thereon
Corresponding frequency matrix, pairing is carried out two-by-two and calculates distance and speed, and thus obtain distance matrix and rate matrices.
As a kind of embodiment：Also there is step：
S4. by the rate matrices and triangular wave of constant frequency ripple obtain rate matrices carry out multiple target true velocity match with
And search, while obtain the actual distance of multiple target.
As a kind of embodiment, also with step：
S5. the azimuth of multiple target is calculated.
Step S1 method is：To frequency sweep section and second segment triangular wave FMCW on the first paragraph triangular wave FMCW in passage 1
Lower frequency sweep section, the 3rd section of constant frequency ripple CW1 section, the constant frequency ripple CW2 sections in passage 2 remove forward part data point, it is described remove it is anterior
Fraction strong point, exactly in the data that AD is collected, the forward part data point that AD is collected first is got rid of, typically at 50~70
Point, 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.
Why to get rid of this partial dot has two reasons, first, inside these data, partial data is due to waveform in transformation
When, pulse caused by voltage, cause the reason for this partial data is abnormal, and second reason is due to range ambiguity.This portion
Dividing 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 ratio
Reduce.The FFT suitably counted according to data points selection, carries out time-frequency change, time domain data is converted into frequency domain
Data.
Step S2 method is：If in passage 1, the points that frequency sweep crosses thresholding on triangular wave have n1, its corresponding position
Matrix is N_up=[a1,a2,…an1], calculate frequency valuesAnd thus obtain the frequency matrix F in corresponding points_up=
[fa1,fa2,…fan1], wherein：fsFor sample rate, M is the points of FFT, and N is location point；Frequency sweep crosses thresholding under triangular wave
Points have n2, and its corresponding location matrix is N_down=[b1,b2,…bn2], the frequency matrix being calculated is F_down=
[fb1,fb2,…fbn2]；The points that constant frequency section crosses thresholding have n3, and its corresponding location matrix is N_cw1=[c1,c2,…cn3],
The frequency matrix being calculated is F_cw1=[fc1,fc2,…fcn3], while assume the complex data after FFT corresponding to peak point
For a_cw1+1j*b_cw1, its phase is according to formulaIt is calculated, is corresponded to if it crosses the point of thresholding
Phasing matrix be ψCW1=[ψc1,ψc2,…ψcn3]；Constant frequency section crosses the points of thresholding with crossing threshold point in passage 1 in passage 2
It is also n3 to count identical, and its corresponding location matrix is N_cw2=[c1,c2,…cn3], the frequency matrix being calculated is F_cw2
=[fc1,fc2,…fcn3], its corresponding phasing matrix is ψCW2=[ψ 'c1,ψ′c2,…ψ′cn3]；Wherein：A represents the data on I roads
Value, b represent the data value on Q roads, i.e. the I+jQ meaning, and a_cw1 is represented in the array of a+j*b compositions, crosses the peak point of thresholding
Corresponding coordinate is cw1, and b_cw1 represents that in the array of a+j*b compositions coordinate corresponding to the peak point of thresholding is cw1 excessively,
If the location point for crossing thresholding is equal to 1, then it is assumed that it is DC component, not as target discrimination, directly rejects the position
Put a little；
Step S3 method is：According to the frequency matrix F of the constant frequency section of passage 1_cw1=[fc1,fc2,…fcn3], calculate speed
DegreeIt is V to obtain its rate matrices_cw1=[vc1,vc2,…vcn3], wherein, c is the light velocity, c=3
×108, f0Centered on frequency, f0=24.125GHz；
Swept frequency matrix F on the triangular wave of passage 1_up=[fa1,fa2,…fan1] and lower frequency sweep corresponding to frequency matrix
F_down=[fb1,fb2,…fbn2], according to formulaIts distance value is calculated, according to formulaIts velocity amplitude is calculated, wherein, T is triangle wave period, and T=20ms, B are modulating bandwidth, B=
200MHz, c are the light velocity, c=3.0 × 108, f0Centered on frequency, f0=24.125GHz.According to described above, by matrix F_up
=[fa1,fa2,…fan1] in data and matrix F_down=[fb1,fb2,…fbn2] in data, carry out two-by-two pairing calculate away from
From and speed, the distance matrix being calculated beWherein raibj(1≤i≤n1,1≤j
≤ n2), expression is by F in upper frequency sweep matrix_upI-th element and F in lower frequency sweep matrix_downJ-th of element calculate
The distance value arrived；The rate matrices being calculated areWherein vaibj(1≤i≤n1,1
≤ j≤n2), expression is by F in upper frequency sweep matrix_upI-th element and F in lower frequency sweep matrix_downJ-th of element is counted
Obtained velocity amplitude.If as can be seen that drawing real goal in rate matrices from distance matrix R and rate matrices V
Coordinate value, pass through the coordinate value distance value that it is really target that distance value corresponding to corresponding coordinate, which is then, in distance matrix R.
In the step of step S4, the concrete operations of the speeds match and lookup are as follows：By constant frequency wave velocity matrix
V_cw1In each velocity amplitude and triangular wave rate matrices V carry out speeds match, find and rate matrices V_cw1It is middle mutually synchronized
Row value and train value where angle value and the velocity amplitude；, will after the speed for often finding a real goal in rate matrices V
All data of the row and column are deleted, and so then ensure unique pair relationhip between frequency.According to the speed of real goal
Degree, row value and train value where in rate matrices V, finds the row and the distance corresponding to the row in corresponding distance matrix
Value, the distance value is then real goal corresponding distance value under the velocity amplitude.Thus complete all real goals distance and
The lookup of speed.
Step S5 Direction-of-Arrivals angle calculate the step of be：The phasing matrix of the constant frequency section cw1 of passage 1 acquisitions is calculated
ψCW1=[ψc1,ψc2,…ψcn3] and the constant frequency section cw2 of passage 2 obtain phasing matrix ψCW2=[ψ 'c1,ψ′c2,…ψ′cn3] correspondence
Data on row, phasing matrix ψCW1=[ψc1,ψc2,…ψcn3] and the constant frequency section cw2 of passage 2 obtain phasing matrix ψCW2=
[ψ′c1,ψ′c2,…ψ′cn3], the phase data in the two matrixes in respective column；
Pass through formulaIt is calculated
Its phase difference, then its phase difference matrix is Δ ψ=[Δ ψc1,Δψc2,…Δψcn3], according to formulaCalculating side
Parallactic angle, wherein, d is antenna spacing, and λ is wavelength.
Embodiment 2：As the supplement of embodiment 1, avoid-obstacle behavior can be realized to complex environment for rotor wing unmanned aerial vehicle, then
It is required that test problems while rotor wing unmanned aerial vehicle anticollision millimetre-wave radar can realize multiple target.Multiple target is realized for millimeter wave
Detection, main method have a variety of, and the present embodiment realizes multiple target by a kind of using the combined waveform of triangular wave and constant frequency ripple
Accurate detection function.The present embodiment is that the centre frequency of millimeter wave is adjusted in 24GHz or 77GHz, waveform using based on constant frequency ripple
The waveform that the CW signals of system and the FMCW signal of triangular modulation combine.Waveform transmitting form is that first paragraph is triangle
Ripple, working frequency excursion are to change to 24.225GHz from 24.025GHz, and with a width of 200MHz, triangle wave period is
20ms, second segment are constant frequency ripple, working frequency 24.125GHz, cycle 20ms.Constant frequency ripple CW and linear frequency modulation triangular wave
Frequency variation diagrams of the FMCW in the range of a frequency sweep cycle is as shown in Figure 1.
The reason for selecting the waveform is that resolvings of the triangular wave FMCW for single target distance and speed is mainly logical
Cross each self-corresponding frequency values of target peak institute that frequency sweep obtains up and down and carry out pairing realization.But for multiple target,
Upper and lower frequency sweep pair detects multiple peak points simultaneously, if matched one by one between frequency sweep peak point up and down, can cause true
Real target and substantial amounts of false target.When the peak point of detection is more, false target then can be more after matching.
It is exactly in order to realize the single calculating to multiple target speed by constant frequency ripple, in turn to triangular wave using constant frequency ripple
The rate matrices that peak point is calculated after matching one by one carry out the search one by one of real goal speed.Come for real goal
To say, in the short time, constant frequency wave band obtains velocity amplitude and triangular wave and obtains that velocity amplitude is substantially the same, and error understands very little, by
It is really coordinate position in target corresponding speed matrix that this can find in triangular wave, the distance matrix and speed of real goal
Matrix be completely corresponding to, thus the distance value of relevant position is then the distance of real goal in distance matrix, so as to reach pair
The detection work of real goal, greatly reduces false target.As shown in Fig. 2 it can see in R-V space diagrams, constant frequency ripple
Realize that single target must resolve principle apart from speed with frequency sweep above and below triangular wave；It can then be seen well by Fig. 3, composite wave
Shape is for realizing the resolving principle of the speed distance of multiple targets.
Rotor wing unmanned aerial vehicle complex environment collision avoidance system designed by the present embodiment, it is desirable to not only mainly real to multiple targets
Existing ranging, speed measuring function, also certain angle measurement function, avoid-obstacle behavior so is carried out to barrier for later stage rotor wing unmanned aerial vehicle
More preferable space foundation is provided, rotor wing unmanned aerial vehicle can be better achieved the perception of flight front environment and decision-making are sentenced
Cutting capacity.Therefore, the present embodiment employs the collection of binary channels I/Q data.Realized by twin-channel phase comparing method to target bearing
The calculating at angle.
Rotor wing unmanned aerial vehicle complex environment collision avoidance system signal processing flow figure based on combined waveform, as shown in Figure 4 such as
Under：
It is as follows to implement step：
1. frequency sweep section, the 3rd under frequency sweep section and second segment triangular wave FMCW on the first paragraph triangular wave FMCW in pair passage 1
Section constant frequency ripple CW1 sections, the constant frequency ripple CW2 sections in passage 2, choose the high data of each section of linearity, according to data points select into
The FFT that row is suitably counted, time-frequency change is carried out, time domain data is converted into frequency domain data；
2. the plural modulus value after each section of waveform FFT is done into Threshold detection CFAR, threshold point position, thresholding inspection were exported
Survey can by selecting unit averagely select big or cell-average select it is small etc. in a manner of design corresponding thresholding.Point according to thresholding is crossed calculates
Its corresponding frequency values, while calculate constant frequency section and cross phase value corresponding to threshold point.
If in passage 1, the points that frequency sweep crosses thresholding on triangular wave have n1, and its corresponding location matrix is N_up=[a1,
a2,…an1], according to formula(fsFor sample rate, M is FFT points, and N is location point, and f is frequency values) calculate
Frequency matrix in corresponding points, the frequency matrix being calculated are F_up=[fa1,fa2,…fan1]；Similarly frequency sweep mistake under triangular wave
The points of thresholding have n2, and its corresponding location matrix is N_down=[b1,b2,…bn2], the frequency matrix being calculated is
F_down=[fb1,fb2,…fbn2]；The points that constant frequency section crosses thresholding have n3, and its corresponding location matrix is N_cw1=[c1,
c2,…cn3], the frequency matrix being calculated is F_cw1=[fc1,fc2,…fcn3], while after assuming FFT corresponding to peak point
Complex data is a_cw1+1j*b_cw1, and its phase can be according to formulaIt is calculated, if it crosses thresholding
Point corresponding to phasing matrix ψCW1=[ψc1,ψc2,…ψcn3]；Constant frequency section crosses the points of thresholding with being moved into one's husband's household upon marriage in passage 1 in passage 2
The identical points of point of accumulation are also n3, and its corresponding location matrix is N_cw2=[c1,c2,…cn3], the frequency matrix being calculated
For F_cw2=[fc1,fc2,…fcn3], its corresponding phasing matrix ψCW2=[ψ 'c1,ψ′c2,…ψ′cn3]。
If the location point for crossing thresholding is equal to 1, then it is assumed that it is DC component, not as target discrimination, directly rejects the position
Put a little；
3. the F calculated according to passage in step 21_cw1=[fc1,fc2,…fcn3], according to speed calculation formulaIt is V to obtain its rate matrices_cw1=[vc1,vc2,…vcn3], wherein, c is the light velocity, c=3 ×
108, f0Centered on frequency, f0=24.125GHz.
4. by swept frequency matrix F on the triangular wave of passage one obtained in step 2_up=[fa1,fa2,…fan1] and under sweep
Frequency matrix F corresponding to frequency_down=[fb1,fb2,…fbn2], according to formulaCalculate its distance value, root
According to formulaIts velocity amplitude is calculated, wherein, T is triangle wave period, and T=20ms, B are modulating bandwidth, B
=200MHz, c are the light velocity, c=3.0 × 108, f0Centered on frequency, f0=24.125GHz.According to described above, by matrix
F_up=[fa1,fa2,…fan1] in data and matrix F_down=[fb1,fb2,…fbn2] in data, carry out pairing meter two-by-two
Calculate distance and speed.The distance matrix being calculated isWherein raibj(1≤i≤n1,
1≤j≤n2), expression is by F in upper frequency sweep matrix_upI-th element and F in lower frequency sweep matrix_downJ-th of element is counted
Obtained distance value；The rate matrices being calculated areWherein vaibj(1≤i≤
N1,1≤j≤n2), expression is by F in upper frequency sweep matrix_upI-th element and F in lower frequency sweep matrix_downJ-th of element enters
The velocity amplitude that row is calculated.If as can be seen that drawing real goal in velocity moment from distance matrix R and rate matrices V
The coordinate value of battle array, passes through the coordinate value distance value that it is really target that distance value corresponding to corresponding coordinate, which is then, in distance matrix R.
5. below by the rate matrices V of constant frequency ripple_cw1The true speed of rate matrices V progress multiple targets is obtained with triangular wave
The matching and lookup of degree, while obtain the actual distance of multiple target.
Concrete operations are as follows：By constant frequency wave velocity matrix V_cw1In each velocity amplitude enter with triangular wave rate matrices V
Row speeds match, find and rate matrices V_cw1In identical velocity amplitude and row value and train value where the velocity amplitude.In speed
Spend in matrix V, after the speed for not finding a real goal, all data of the row and column are deleted, so then ensured
Unique pair relationhip between frequency.According to the speed of real goal, row value and train value where in rate matrices V, in phase
The row and the distance value corresponding to the row are found in the distance matrix answered, the distance value is then right under the velocity amplitude for real goal
The distance value answered.Thus the lookup of all real goal distances and speed is completed.
6. carry out the azimuthal angle calculation of multiple target.Due to the phase of the constant frequency section CW1 of passage 1 acquisitions in step 2, is calculated
Bit matrix ψCW1=[ψc1,ψc2,…ψcn3] and the constant frequency section CW2 of passage 2 obtain phasing matrix ψCW2=[ψ 'c1,ψ′c2,…ψ′cn3],
Data in respective column, pass through formulaCounted
Calculation obtains its phase difference, then its phase difference matrix is Δ ψ=[Δ ψc1,Δψc2,…Δψcn3].According to formula
Computer azimuth angle, wherein, d is antenna spacing, and λ is wavelength.
Thus several steps then complete multiple target distance, speed and azimuthal resolving work in complex environment above, complete
Rotor wing unmanned aerial vehicle flight front have multiple target barrier complex environment perception work, so as to for rotor wing unmanned aerial vehicle in complexity
Avoid-obstacle behavior is made in environment, there is provided the more accurately perception of complex environment and faster judgement and execution energy
Power.
Embodiment 3：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 model
Enclose for 1.5~1.9, the selection reason of the modifying factor is：Due to it is initial whenA point symmetries point A2 is sat
It is designated as (a2, k1)=(a1+2e, k1), A point transverse axis coordinate points and A2 transverse axis coordinates are on maximal peak point pair during primary condition
Claiming, i.e., A2 coordinate points are a1+2e, if deviation e is more than set error E, illustrate that A2 coordinate selection is excessive,
Be maximal peak point 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 pass through
Change modifying factor β size so as to change l values, then carry out e continuous iteration, untill e is less than the error E of setting.
Modifying factor β value principle can be chosen according to the required E values reached, if E demand precision is not high, modifying factor
β 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 modifying factor
Sub- β selects a little bit smaller as far as possible, and 1.5 can be selected to be modified, quickly maximal peak point is calculated The present invention gives one
The interval range value of modifying factor, i.e. modifying factor β=1.5~1.9.Change the value that modifying factor calculates e, to be calculated
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 (8)
- A kind of 1. rotor wing unmanned aerial vehicle complex environment collision avoidance system signal processing method based on combined waveform, it is characterised in that The combined waveform is the waveform that the FMCW signal of triangular modulation and the CW signals of constant frequency ripple modulation combine, and first paragraph is Triangular wave, second segment are constant frequency ripple；The signal processing method comprises the following steps：S1. to each section of waveform, the I/Q data that A/D is collected, the FFT of time-frequency is carried out, time domain data is converted into frequency Data；S2. the plural modulus value after each section of waveform FFT is done into Threshold detection CFAR, exported threshold point position, according to moving into one's husband's household upon marriage The point of limit calculates its corresponding frequency values, and thus obtains the frequency matrix in corresponding points, while calculates constant frequency section and cross thresholding Phase value corresponding to point, and thus obtain the phasing matrix in corresponding points；S3. for constant frequency ripple, rate matrices are calculated；And for triangular wave, swept frequency matrix and lower frequency sweep are corresponding thereon Frequency matrix, carry out pairing two-by-two and calculate distance and speed, and thus obtain distance matrix and rate matrices.
- 2. the rotor wing unmanned aerial vehicle complex environment collision avoidance system signal transacting side based on combined waveform as claimed in claim 1 Method, it is characterised in that there is step：S4. rate matrices are obtained by the rate matrices and triangular wave of constant frequency ripple and carries out multiple target True velocity matching and search, while obtain the actual distance of multiple target.
- 3. the rotor wing unmanned aerial vehicle complex environment collision avoidance system signal transacting side based on combined waveform as claimed in claim 2 Method, it is characterised in that there is step：S5. the azimuth of multiple target is calculated.
- 4. the rotor wing unmanned aerial vehicle complex environment collision avoidance system signal transacting side based on combined waveform as claimed in claim 1 Method, step S1 characterization method are：To under frequency sweep section and second segment triangular wave FMCW on the first paragraph triangular wave FMCW in passage 1 Frequency sweep section, the 3rd section of constant frequency ripple CW1 section, the constant frequency ripple CW2 sections in passage 2, forward part data point is removed, counted and selected according to data The FFT suitably counted is selected, time-frequency change is carried out, time domain data is converted into frequency domain data.
- 5. the rotor wing unmanned aerial vehicle complex environment collision avoidance system signal transacting side based on combined waveform as claimed in claim 1 Method, step S2 characterization method are：If in passage 1, the points that frequency sweep crosses thresholding on triangular wave have n1, its corresponding position square Battle array is N_up=[a1,a2,…an1], calculate frequency valuesAnd thus obtain the frequency matrix F in corresponding points_up= [fa1,fa2,…fan1], wherein：fsFor sample rate, M is the points of FFT, and N is location point；Frequency sweep crosses thresholding under triangular wave Points have n2, and its corresponding location matrix is N_down=[b1,b2,…bn2], the frequency matrix being calculated is F_down= [fb1,fb2,…fbn2]；The points that constant frequency section crosses thresholding have n3, and its corresponding location matrix is N_cw1=[c1,c2,…cn3], The frequency matrix being calculated is F_cw1=[fc1,fc2,…fcn3], while assume the complex data after FFT corresponding to peak point For a_cw1+1j*b_cw1, its phase is according to formulaIt is calculated, is corresponded to if it crosses the point of thresholding Phasing matrix be ψCW1=[ψc1,ψc2,…ψcn3]；Constant frequency section crosses the points of thresholding with crossing threshold point in passage 1 in passage 2 It is also n3 to count identical, and its corresponding location matrix is N_cw2=[c1,c2,…cn3], the frequency matrix being calculated is F_cw2 =[fc1,fc2,…fcn3], its corresponding phasing matrix is ψCW2=[ψ 'c1,ψ′c2,…ψ′cn3]；Wherein：A represents the data on I roads Value, b represent the data value on Q roads, i.e. the I+jQ meaning, and a_cw1 is represented in the array of a+j*b compositions, crosses the peak point of thresholding Corresponding coordinate is cw1, and b_cw1 represents that in the array of a+j*b compositions coordinate corresponding to the peak point of thresholding is cw1 excessively, if The location point for crossing thresholding is equal to 1, directly rejects the location point.
- 6. the rotor wing unmanned aerial vehicle complex environment collision avoidance system signal transacting side based on combined waveform as claimed in claim 1 Method, step S3 characterization method are：According to the frequency matrix F of the constant frequency section of passage 1_cw1=[fc1,fc2,…fcn3], calculating speedI=1,2 ... n3, it is V to obtain its rate matrices_cw1=[vc1,vc2,…vcn3], wherein, c is the light velocity, f0For in Frequency of heart,Swept frequency matrix F on the triangular wave of passage 1_up=[fa1,fa2,…fan1] and lower frequency sweep corresponding to frequency matrix F_down =[fb1,fb2,…fbn2], according to formulaIts distance value is calculated, according to formulaIts velocity amplitude is calculated, wherein, T is triangle wave period, and B is modulating bandwidth, and c is the light velocity, c=3.0 × 108, f0Centered on frequency, by matrix F_up=[fa1,fa2,…fan1] in data and matrix F_down=[fb1,fb2,…fbn2] in Data, carry out pairing calculating distance two-by-two and speed, the distance matrix being calculated are Wherein raibj(1≤i≤n1,1≤j≤n2), expression are by F in upper frequency sweep matrix_upI-th element and F in lower frequency sweep matrix_downThe The distance value that j element is calculated；The rate matrices being calculated areWherein vaibj(1≤i≤n1,1≤j≤n2), expression are by F in upper frequency sweep matrix_upI-th element and F in lower frequency sweep matrix_down The velocity amplitude that j-th of element is calculated.
- 7. the rotor wing unmanned aerial vehicle complex environment collision avoidance system signal transacting side based on combined waveform as claimed in claim 2 Method, in step S4 characterization step, the concrete operations of the speeds match and lookup are as follows：By constant frequency wave velocity matrix V_cw1 In each velocity amplitude and triangular wave rate matrices V carry out speeds match, find and rate matrices V_cw1In identical speed Row value and train value where value and the velocity amplitude；In rate matrices V, after the speed for often finding a real goal, by this All data of row and column are deleted, according to the speed of real goal, row value and train value where in rate matrices V, The row and the distance value corresponding to the row are found in corresponding distance matrix, the distance value is then real goal under the velocity amplitude Corresponding distance value.
- 8. the rotor wing unmanned aerial vehicle complex environment collision avoidance system signal transacting side based on combined waveform as claimed in claim 3 Method, step S5 Direction-of-Arrivals angle calculate the step of be：The phasing matrix ψ of the constant frequency section CW1 of passage 1 acquisitions is calculatedCW1= [ψc1,ψc2,…ψcn3] and the constant frequency section CW2 of passage 2 obtain phasing matrix ψCW2=[ψ 'c1,ψ′c2,…ψ′cn3] respective column on Data, phasing matrix ψCW1=[ψc1,ψc2,…ψcn3] and the constant frequency section CW2 of passage 2 obtain phasing matrix ψCW2=[ψ 'c1,ψ ′c2,…ψ′cn3], the phase data in the two matrixes in respective column；Pass through formula1≤i≤n3, carry out that its phase is calculated Difference, then its phase difference matrix is Δ ψ=[Δ ψc1,Δψc2,…Δψcn3], according to formulaComputer azimuth angle, Wherein, d is antenna spacing, and λ is wavelength.
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