CN108107433B - Method for accurately positioning millimeter wave radar system - Google Patents
Method for accurately positioning millimeter wave radar system Download PDFInfo
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- CN108107433B CN108107433B CN201711265369.5A CN201711265369A CN108107433B CN 108107433 B CN108107433 B CN 108107433B CN 201711265369 A CN201711265369 A CN 201711265369A CN 108107433 B CN108107433 B CN 108107433B
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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
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Abstract
The invention discloses a method for accurately positioning a millimeter wave radar system, which comprises the following steps: determining the positioning precision of the azimuth turntable; determining the sampling angle interval and the scanning range of the radar system according to the specific requirements of the radar system; and determining the angle position of the radar system to be calibrated according to the positioning precision, the sampling angle interval and the scanning range. The method for accurately positioning the millimeter wave radar system combines the position information fed back by the azimuth turntable in real time, and realizes the accurate positioning of the millimeter wave radar system by adjusting the angle position of the trigger millimeter wave signal.
Description
Technical Field
The invention relates to the technical field of radar detection. And more particularly, to a method for accurate positioning of millimeter wave radar systems.
Background
The airport runway foreign matter detection system mainly detects airport runway foreign matters by adopting millimeter wave broadband linear frequency modulation signals (LFMCW), and performs pulse compression on target echoes of the millimeter wave signals to obtain position information of the foreign matters. The current automatic detection system for foreign object debris on the airport runway is mainly divided into a radar detection system and an optical image detection system.
In the millimeter wave radar detection system, a millimeter wave radar sensor is used as an observation point, an observation direction is selected in a three-dimensional space, a sight line is formed when the observation point observes along the observation direction, a millimeter wave signal is emitted under each sight line to obtain the position of a foreign object and form image data, and after the processes are repeated, the image data obtained under each sight line are synthesized to obtain a two-dimensional millimeter wave radar image. The foreign matter detection algorithm adopted in the general case is a background difference method, namely, a millimeter wave image without a target is used as an empty background, and a scanned image and the empty background image are detected after being subjected to difference, so that the method has high requirement on the positioning precision of the millimeter wave system azimuth turntable, and the requirement is that the corresponding sight lines of the scanned image and the empty background image are kept consistent as much as possible, so that how to accurately position the millimeter wave radar system azimuth turntable is directly related to a final detection result.
The existing orientation rotary table has inherent errors when rotating due to the problems of mechanical structure and machining precision, so that a method for accurately positioning the orientation rotary table of the millimeter wave radar system is needed.
Disclosure of Invention
The invention aims to provide a method for accurately positioning a millimeter wave radar system, which enables a scanning image to accurately correspond to a background image when a millimeter wave detection system detects, and improves the accuracy and stability of a detection result.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a method for accurately positioning a millimeter wave radar system, which comprises the following steps:
s10, determining the positioning accuracy of the azimuth turntable;
s20, determining the sampling angle interval and the scanning range of the radar system according to the specific requirements of the radar system;
and S30, determining the angle position of the radar system needing to be calibrated according to the positioning precision, the sampling angle interval and the scanning range.
Further, the positioning accuracy of the orientation rotary table in the step S10 is already determined in the production of the orientation rotary table, and can be obtained through a product specification.
Further, the sampling angle interval of the radar system is determined according to the directional diagram of the antenna in step S20.
Further, the radar system in step S30 determines whether to transmit a radar signal after mainly determining by the angle information of the rotation of the azimuth turntable.
Further, the positioning accuracy in the present invention is set to
Sampling angle interval of
The scanning range is L, the angle position calibrated by the radar system is re-determined every k sampling points, and the angle positions to be calibrated by the radar system are respectively
Wherein n and k are positive integers and
the invention has the following beneficial effects:
the method for accurately positioning the millimeter wave radar system combines the position information fed back by the azimuth turntable in real time, and realizes the accurate positioning of the millimeter wave radar system by adjusting the angle position of the trigger millimeter wave signal.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Fig. 1 shows an ideal state scanning diagram of a radar system.
Fig. 2 shows a real case scanning diagram of a radar system.
Fig. 3 is a schematic diagram of a distributed airport runway foreign object debris detection system, wherein 1 is a certain sensor unit of the distributed airport runway foreign object debris automatic detection system, 2 is an airport runway, and a shaded portion is a scanning range of the sensor unit.
Fig. 4 shows a flow chart of a method for accurate positioning of a millimeter wave radar system.
Detailed Description
In order to more clearly illustrate the invention, the invention is further described below with reference to preferred embodiments and the accompanying drawings. Similar parts in the figures are denoted by the same reference numerals. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
The ideal state scanning of the radar system is shown in fig. 1, and it is assumed that the radar system completes one sampling at the position No. 1, and the return value of the azimuth turntable is at this moment
Because the stepping of the rotation angle of the azimuth turntable is far smaller than the radar sampling angle interval, the azimuth turntable can be approximately considered to return angle information in real time, and when the angle information is returned, the azimuth turntable can be approximatelyA return angle of
A second sampling (i.e., position 2) is made, then referenced to position 2, when
A third sampling (i.e., position 3) is performed and the scan is completed iteratively in sequence.
The actual scanning of the radar system is shown in fig. 2, assuming that the radar system completes one sampling at the position of R1 (the position of 1 is overlapped with the position of R1), because the turntable has a certain positioning error, the second sampling is completed at the position of R2 in the actual scanning process, and the angle value returned by the turntable at this time is
And is provided with
The third sampling is done at position R3, where the returned angle value is
And is provided with
With the progress of iteration, errors are accumulated continuously, sampling times are inconsistent, and difference cannot be carried out after images are synthesized.
Thus, assuming an ideal state, the angle of sampling is
In the actual scanning process, the sampling angle is
In extreme conditions, i.e. each positioning error
When in use
In this case, the number of sampling points is not uniform, and the background difference cannot be obtained
Then to
Instead of the former
The next iteration is performed to eliminate the accumulated error.
Distributed airport runway foreign object debris detection as shown in fig. 3, when a certain sensor unit 1 of the distributed airport runway foreign object debris automatic detection system starts scanning on an airport runway 2, the sensor unit rotates clockwise from a point a, and a shaded part is a scanning range of the sensor unit 1.
Specifically, as shown in fig. 4, the method for accurately positioning the millimeter wave radar system includes the following steps:
s10, determining the positioning accuracy of the azimuth turntable, wherein the positioning accuracy of the azimuth turntable is 0.01 degree and can be obtained by inquiring in a use specification;
s20, according to the specific requirements of the radar system, determining that the sampling angle interval of the radar system is 0.5 degrees, the scanning range is 180 degrees, and the total number of sampling points is 450;
and S30, determining the position to be calibrated according to the positioning precision of the step S10 and the angle interval and the scanning range sampled by the radar system in the step S20.
Positioning accuracy of azimuth turntable
Angular interval of radar system sampling
The scan range is 180 deg., in extreme cases, when satisfied
The accumulated error is eliminated, and the maximum value of k, i.e. the maximum value of k, is taken to reduce the calibration position as much as possible
K =50, i.e. redefining the reference once every 50 sampling points
Since the scan range is 180 °, the angular positions to be calibrated are 25 °,50 °,75 °,100 °,125 °,150 °,175 °.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (1)
1. A method for accurately positioning a millimeter wave radar system is characterized by comprising the following steps:
determining the positioning precision of the azimuth turntable;
determining a sampling angle interval and a scanning range of the radar system according to specific requirements of the radar system, wherein the sampling angle interval of the radar system is determined according to a directional diagram of an antenna;
determining an angle position of a radar system to be calibrated according to positioning precision, sampling angle interval and scanning range, wherein the radar system determines whether to transmit a radar signal or not after mainly judging through angle information of rotation of an azimuth turntable;
setting the positioning accuracy to
Sampling angle interval of
The scanning range is L, the angle position calibrated by the radar system is re-determined every k sampling points, and the angle positions to be calibrated by the radar system are respectively
Wherein n and k are positive integers,
by
K is obtained.
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| CN101599734B (en) * | 2009-06-30 | 2010-12-08 | 河南中光学集团有限公司 | Method for realizing high-precision control of stepping motor by low-precision coded disc |
| CN103630949B (en) * | 2013-12-04 | 2016-08-31 | 中国电子科技集团公司第五十研究所 | Vehicular airfield runway foreign object detection system and method |
| CN106525035B (en) * | 2016-11-15 | 2019-06-14 | 中国有色金属长沙勘察设计研究院有限公司 | A kind of localization method based on automatic measurement machine people and inertial navigation system |
| CN107247261A (en) * | 2017-08-11 | 2017-10-13 | 武汉雷毫科技有限公司 | Millimetre-wave radar sensing device and system |
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| CN101222197A (en) * | 2007-12-26 | 2008-07-16 | 吉林大学 | Automobile permanent magnet synchronous motor control method using Hall transducer |
| CN101826955A (en) * | 2010-01-28 | 2010-09-08 | 陈秋玲 | Synchronization error correction method |
| CN101986095A (en) * | 2010-09-14 | 2011-03-16 | 天津大学 | Ground marking method for eliminating time drift of crystal oscillator |
| CN103259089A (en) * | 2013-04-22 | 2013-08-21 | 南京中网卫星通信股份有限公司 | Control method and control device of X-waveband weather radar antenna |
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