CN108120959B - Rotary scanning method for millimeter wave radar system - Google Patents
Rotary scanning method for millimeter wave radar system Download PDFInfo
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- CN108120959B CN108120959B CN201711265347.9A CN201711265347A CN108120959B CN 108120959 B CN108120959 B CN 108120959B CN 201711265347 A CN201711265347 A CN 201711265347A CN 108120959 B CN108120959 B CN 108120959B
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- wave radar
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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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
- G01S13/04—Systems determining presence of a target
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a rotary scanning method for a millimeter wave radar system, which comprises the following steps: 1) opening the system, performing self-checking, and adjusting the azimuth turntable to a default position of the system; 2) confirming whether the scanning range is modified or not, and if the scanning range is not modified, performing the step 3); 3) confirming whether the system receives a scanning instruction, and if so, starting forward scanning by the azimuth turntable; 4) after the forward rotation is finished, judging whether the system reaches the end position, and if the system reaches the end position, starting reverse scanning by the azimuth turntable; 5) and after the reverse rotation is finished, judging whether the system reaches the initial position, and waiting for receiving the next scanning instruction if the system reaches the initial position. The invention realizes the scanning of the airport runway at proper angle intervals in the rotating process by monitoring the real-time position information of the azimuth turntable in the rotating process and combining the emission time sequence of the millimeter wave radar system, and can adjust the proper scanning angle and range according to the actual requirement.
Description
Technical Field
The invention relates to the technical field of radar system detection. And more particularly, to a rotational scanning method for a millimeter wave radar system.
Background
Airport runway foreign object debris is a foreign object that may present a hazard to aircraft present on the airport runway. At present, foreign object fragments of an airport runway mainly depend on a manual detection means, and along with the continuous development of civil aviation cause, automatic detection systems for the foreign object fragments are developed in succession, so that the working efficiency and the detection probability are greatly improved.
The conventional automatic detection system for the foreign object fragments on the airport runway is mainly divided into a radar detection system and an optical image detection system, the radar detection system adopts millimeter wave broadband linear frequency modulation signals (LFMCW) to detect the foreign object fragments, the acquisition of different angle information is realized through an azimuth turntable, and the requirements on indexes such as the repetition precision and the positioning precision of the turntable are high; the optical image detection system adopts a near-infrared optical sensor to detect foreign object fragments on the airfield runway, realizes the acquisition of optical images at different angles through the azimuth turntable, and has lower requirement on the precision of the turntable compared with a radar system. In practical scenario applications, the radar system needs to adjust the appropriate scan angle and range for the airport environment while transmitting signals at fixed position intervals.
Therefore, how to design an effective scanning method and realize stable and accurate scanning becomes one of the key technologies of the automatic detection system for foreign object debris on the airport runway, and the scanning method of the radar system is not researched in the existing scheme.
Disclosure of Invention
The invention aims to provide a rotary scanning method for a millimeter wave radar system, which realizes the equal-interval scanning of the millimeter wave radar system by monitoring the real-time position of an orientation rotary table in the mechanical rotation process of the orientation rotary table.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a rotary scanning method for a millimeter wave radar system, which comprises the following steps:
1) starting a radar system, carrying out self-checking on the whole system, and adjusting the azimuth turntable to a system default position;
2) confirming whether the scanning range is modified or not, if the scanning range needs to be modified, resetting and then adjusting the azimuth turntable to the initial position; if the modification is not needed, the next step is carried out;
3) confirming whether the system receives a scanning instruction, and if so, starting forward scanning by the azimuth turntable; if no scanning instruction exists, the scanning is finished;
4) after the forward rotation is finished, judging whether the system reaches the end position, if so, the system works normally, and the azimuth turntable starts to scan reversely; if the terminal position is not reached, entering a self-checking program and restarting working;
5) after the reverse rotation is finished, judging whether the system reaches the initial position, if so, indicating that the system normally works, and waiting for receiving a next scanning instruction; if the initial position is not reached, the self-checking program is entered, and the operation is restarted.
The millimeter wave radar system is generally realized by adopting an FPGA.
Further, the scanning range in step 2) is determined according to the actual application situation, and the pitch angle is determined according to the directional diagram of the antenna, so as to ensure the maximum received power, which may be-90 ° +90 °, for example.
Further, the scanning instruction in the step 3) can be communicated through RS232 and RS485 transmission protocols, and the specific method needs to be confirmed according to the interface type of the azimuth turntable.
Further, while rotating in the forward direction or the reverse direction in steps 4) and 5), real-time feedback of angle information of the azimuth turntable is required, and the information is judged so as to ensure that the millimeter wave radar system transmits and receives millimeter wave signals at equal intervals.
Further, in the steps 4) and 5), whether the scanning range reaches the initial position or the end position is judged according to the scanning range in the step 2), if a fault occurs, a self-checking program is started, and the operation is restarted.
The invention has the following beneficial effects:
the rotary scanning method for the millimeter wave radar system realizes the scanning of the airport runway at proper angle intervals in the rotating process by monitoring the real-time position information of the azimuth turntable in the rotating process and combining the emission time sequence of the millimeter wave radar system, and can adjust the proper scanning angle and range according to the actual requirement.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Fig. 1 shows a flowchart of a rotational scanning method for a millimeter wave radar system.
Fig. 2 is a schematic diagram of a distributed airport runway foreign object debris detection system, where 1 is a certain sensor unit of the distributed airport runway foreign object debris automatic detection system, 2 is an airport runway, a shaded portion is a scanning range of the sensor unit, point a represents a starting point corresponding to an angle of-90 °, point B represents a terminating point corresponding to an angle of +90 °.
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 invention provides a rotary scanning method for a millimeter wave radar system, which comprises the following steps:
1) starting a radar system, carrying out self-checking on the whole system, and adjusting the azimuth turntable to a system default position;
2) confirming whether the scanning range is modified or not, if the scanning range needs to be modified, resetting and then adjusting the azimuth turntable to the initial position; if the modification is not needed, the next step is carried out;
3) confirming whether the system receives a scanning instruction, and if so, starting forward scanning by the azimuth turntable; if no scanning instruction exists, the scanning is finished;
4) after the forward rotation is finished, judging whether the system reaches the end position, if so, the system works normally, and the azimuth turntable starts to scan reversely; if the terminal position is not reached, entering a self-checking program and restarting working;
5) after the reverse rotation is finished, judging whether the system reaches the initial position, if so, indicating that the system normally works, and waiting for receiving a next scanning instruction; if the initial position is not reached, the self-checking program is entered, and the operation is restarted.
The millimeter wave radar system is generally realized by adopting an FPGA.
Further, the scanning range in step 2) is-90 ° - +90 °. The scanning range is determined according to the practical application condition, the pitching angle is determined according to the directional diagram of the antenna, and the maximum power is ensured to be received.
Further, the scanning instruction in the step 3) can be communicated through RS232 and RS485 transmission protocols, and the specific method needs to be confirmed according to the interface type of the azimuth turntable.
Further, while rotating in the forward direction or the reverse direction in steps 4) and 5), real-time feedback of angle information of the azimuth turntable is required, and the information is judged so as to ensure that the millimeter wave radar system transmits and receives millimeter wave signals at equal intervals.
Further, in the steps 4) and 5), whether the scanning range reaches the initial position or the end position is judged according to the scanning range in the step 2), if a fault occurs, a self-checking program is started, and the operation is restarted.
The specific implementation of the rotary scanning method for the millimeter wave radar system is shown in fig. 2, wherein 1 is a certain sensor unit of the distributed airport runway foreign object fragment automatic detection system, 2 is an airport runway, the shadow part in the figure is the scanning range of the sensor unit (-90 ° - +90 °, point a represents the starting point, the corresponding angle is-90 °, point B represents the ending point, and the corresponding angle is +90 °), after the system starts scanning, the sensor unit rotates clockwise from point a, rotates counterclockwise after reaching point B, and finishes single scanning after returning to point a again, and the millimeter wave radar system transmits signals once every 0.4 ° to collect data. The following describes, by way of example, a rotational scanning method comprising the steps of:
1) and (4) starting the radar system, carrying out self-checking on the whole system after the system starts to work, and adjusting the azimuth turntable to a default position of the system, namely a position A.
2) The scanning range is a default value (-90 ° - +90 °, point a represents a starting point, corresponding to an angle of-90 °, point B represents an ending point, corresponding to an angle of +90 °), so that the next step can be directly performed without modification.
3) The transmission instruction mode of the sensor is RS232 communication, a PELCO transmission protocol is adopted, and after the scanning instruction is received, the system starts forward scanning;
4) after the azimuth turntable starts to rotate in the forward direction, because RS232 communication is in a simplex communication mode, a control system is required to send an angle information inquiry command to the turntable, after the control system receives angle information returned by the azimuth turntable, the control system judges whether the returned angle is 0.4 degrees apart from the last signal transmission angle, if so, the control system triggers the system to transmit a signal, and if not, the control system continuously sends the inquiry command until the interval is met;
5) the control system continuously sends out an inquiry command to the orientation rotary table, when the return value of the rotary table is +90 degrees (namely point B), the rotary table starts to rotate reversely, the step 4) is consistent, and millimeter wave radar signals are transmitted at equal intervals; when the return value of the rotary table is-90 degrees (namely point A), the system finishes one scanning, and the whole process is finished and waits for the next scanning.
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 (3)
1. A rotary scanning method for a millimeter wave radar system, characterized by comprising the steps of:
1) starting a radar system, carrying out self-checking on the whole system, and adjusting the azimuth turntable to a system default position;
2) confirming whether the scanning range is modified or not, if the scanning range needs to be modified, resetting and then adjusting the azimuth turntable to the initial position; if the modification is not needed, performing the step 3);
3) confirming whether the system receives a scanning instruction, and if so, starting forward scanning by the system; if no scanning instruction exists, the scanning is finished;
4) after the forward rotation is finished, judging whether the system reaches the end position, if so, the system works normally and starts to scan reversely; if the terminal position is not reached, entering a self-checking program and restarting working;
5) after the reverse rotation is finished, judging whether the system reaches the initial position, if so, indicating that the system normally works, and waiting for receiving a next scanning instruction; if the initial position is not reached, entering a self-checking program and restarting working;
feeding back the angle information of the azimuth turntable in real time while rotating forwards or backwards in the steps 4) and 5) to judge the information;
the millimeter wave radar system transmits signals every 0.4 degrees to collect data.
2. The rotational scanning method according to claim 1, wherein the scanning command in step 3) is communicated via RS232, RS485 transmission protocol.
3. The rotational scanning method according to claim 1, wherein the scanning range in step 2) is-90 ° - +90 °.
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| CN109471109A (en) * | 2018-10-19 | 2019-03-15 | 芜湖易来达雷达科技有限公司 | A kind of method of the civilian adaptive ADAS of millimetre-wave radar coverage diagram |
| CN110320502B (en) * | 2019-05-27 | 2023-01-24 | 惠州市德赛西威汽车电子股份有限公司 | Calibration method of millimeter wave radar array antenna |
| CN110646775B (en) * | 2019-09-29 | 2023-03-14 | 凯迈（洛阳）测控有限公司 | Control method for quickly switching photoelectric radar from rotary scanning to staring mode |
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| 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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| DE102012213709A1 (en) * | 2012-08-02 | 2014-02-06 | Continental Automotive Gmbh | A method for detecting a fault of a motor assembly with an electric machine and engine control unit |
| CN203720349U (en) * | 2014-02-20 | 2014-07-16 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | Scanning system for realizing various scanning modes of marine radar |
| BR102014006109B1 (en) * | 2014-03-14 | 2021-10-19 | Embraer S.A. | HIGH-PRECISION RADAR FOR AIR TARGET MONITORING |
| CN104375123A (en) * | 2014-11-18 | 2015-02-25 | 无锡悟莘科技有限公司 | Radar system using dipole antenna |
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| CN105319536B (en) * | 2015-11-03 | 2018-03-16 | 深圳中智科创机器人有限公司 | A kind of radar three-dimensional scan control method and system |
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| 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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