CN108627826A - Radar and its high method of survey, unmanned plane, storage medium and processor - Google Patents
Radar and its high method of survey, unmanned plane, storage medium and processor Download PDFInfo
- Publication number
- CN108627826A CN108627826A CN201710183699.3A CN201710183699A CN108627826A CN 108627826 A CN108627826 A CN 108627826A CN 201710183699 A CN201710183699 A CN 201710183699A CN 108627826 A CN108627826 A CN 108627826A
- Authority
- CN
- China
- Prior art keywords
- signal
- radar
- modulated signal
- slow
- slow modulated
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of radar and its survey high method, unmanned plane, storage medium and processor.Wherein, which includes：Radio-frequency module, slow modulated signal is sent for controlling R-T unit, wherein slow modulated signal includes the first slow modulated signal and the second slow modulated signal, the frequency of first slow modulated signal and time proportional, frequency and the time of the second slow modulated signal are in inversely prroportional relationship；R-T unit is connected with radio-frequency module, for emitting slow modulated signal, and receives the back scattered signal of observed object, wherein observed object is the target in the observation area in radar；Processor is connected with radio-frequency module, for obtaining the terrain information of observation area according to slow modulated signal and back scattered signal, wherein terrain information is used to characterize the relative altitude of the observed object in observation area.The present invention solves in the prior art that drone height measurement technology measurement distance is close, and the higher technical problem of cost.
Description
Technical field
The present invention relates to field of radar, in particular to a kind of radar and its survey high method, unmanned plane, storage medium
And processor.
Background technology
In many practical applications, unmanned plane needs know the currently height relative to ground.For example, in unmanned plane plant protection
When, need unmanned plane level altitude above crops to fly, no matter whether ground and vegetation rise and fall；To alpine skiing campaign
When member's carry out high-altitude photo, need unmanned plane that can keep constant height with sportsman always.
The existing following several schemes of drone height measurement generally use：Differential GPS；Ultrasonic radar and binocular are taken the photograph
As head, wherein differential GPS needs earth station and carries out difference measurement, is of limited application, volume is big and cost is higher；Ultrasound
Wave radar surveying distance is close, only several meters of measurement range；Binocular camera is easy to be influenced by weather, extreme in thick fog etc.
Almost can not work normally under weather condition, measurement distance it is closer, even if measurement distance under the conditions of weather conditions are good
Only at 10 meters or so, and data volume to be treated is big, of high cost.
It is close for drone height measurement technology measurement distance in the prior art, and the higher problem of cost, at present not yet
It is proposed effective solution scheme.
Invention content
An embodiment of the present invention provides a kind of radar and its high method, unmanned plane, storage medium and processor are surveyed, at least
It is close to solve drone height measurement technology measurement distance in the prior art, and the higher technical problem of cost.
One side according to the ... of the embodiment of the present invention provides a kind of radar, including：Radio-frequency module, for controlling transmitting-receiving
Device sends slow modulated signal, wherein slow modulated signal includes the first slow modulated signal and the second slow modulated signal, the first slow tune
The frequency of signal processed and time proportional, frequency and the time of the second slow modulated signal are in inversely prroportional relationship；Transmitting-receiving dress
It sets, is connected with radio-frequency module, for emitting slow modulated signal, and receive the back scattered signal of observed object, wherein observed object
For the target in the observation area of radar；Processor is connected with radio-frequency module, for according to slow modulated signal and being scattered back
Signal obtain range information, wherein range information is for characterizing radar at a distance from observed object.
One side according to the ... of the embodiment of the present invention provides a kind of high method of the survey of radar, including：Observation to radar
The slow modulated signal of field emission, wherein slow modulated signal includes the first slow modulated signal and the second slow modulated signal, the first slow tune
The frequency of signal processed and time proportional, frequency and the time of the second slow modulated signal are in inversely prroportional relationship；Receive by
The back scattered signal of observed object, wherein observed object is the target in the observation area in radar；According to slow modulated signal
The terrain information of observation area is obtained with back scattered signal, wherein terrain information is used to characterize the observation mesh in observation area
Target relative altitude.
One side according to the ... of the embodiment of the present invention provides a kind of unmanned plane, including any one of the above radar.
Other side according to the ... of the embodiment of the present invention, provides a kind of storage medium, and storage medium includes the journey of storage
Sequence, wherein equipment where controlling storage medium when program is run executes the high method of survey of above-mentioned radar.
Other side according to the ... of the embodiment of the present invention provides a kind of processor, which is characterized in that processor is for transporting
Line program, wherein program executes the survey high method of above-mentioned radar when running.
It is worth noting that, when above-mentioned radar application is surveyed high in unmanned plane, surveyed in high equipment existing, with GPS
For equipment, the cost of the radar in above-described embodiment is only 1 the percent of differential GPS；Optionally, radio-frequency module also size
It may also be only 40mm*40mm；Since processing data amount is few, in use, power consumption also can down to hundreds of milliwatts, to
It is greatly reduced the cost of unmanned plane, and improves nobody load-carrying.
In embodiments of the present invention, R-T unit is controlled by radio-frequency module and sends out slow modulated signal, and receive observation mesh
Back scattered signal is marked, and observation area is obtained according to slow modulated signal and the back scattered signal of observed object by processor
Terrain information.In the above scheme, the signal that the signal and observed object only sent out by radar returns can be seen
The terrain information in region is surveyed, processor data volume to be treated is small, so that radar is without being equipped with high-performance processor just
The accuracy and speed that measuring and calculating can be reached reduces tired cost；Further, high when surveying above-mentioned radar application to unmanned plane
When, it can be used under any weather, any environment, and far measuring distance, solve drone height measurement in the prior art
Technology measurement distance is close, and the higher technical problem of cost.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the schematic diagram of radar according to the ... of the embodiment of the present invention；
Fig. 2 is the schematic diagram according to a kind of optional slow modulated signal of the embodiment of the present application；
Fig. 3 is the schematic diagram according to a kind of optional radar of the embodiment of the present application；
Fig. 4 is the schematic diagram according to a kind of optional radio-frequency module of the embodiment of the present application；
Fig. 5 is the flow chart of the high method of survey of radar according to the ... of the embodiment of the present invention；And
Fig. 6 is the flow chart according to a kind of acquisition elevation information of the embodiment of the present application.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
It includes to be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment to cover non-exclusive
Those of clearly list step or unit, but may include not listing clearly or for these processes, method, product
Or the other steps or unit that equipment is intrinsic.
According to embodiments of the present invention, a kind of embodiment of radar is provided, Fig. 1 is radar according to the ... of the embodiment of the present invention
Schematic diagram, as shown in Figure 1, the radar includes：
Radio-frequency module 10 sends slow modulated signal for controlling R-T unit, wherein slow modulated signal includes the first slow tune
Signal processed and the second slow modulated signal, frequency and the time proportional of the first slow modulated signal, the second slow modulated signal
Frequency and time be in inversely prroportional relationship.
Specifically, above-mentioned slow modulated signal is for characterizing the modulation letter that the waveform time width of ramp signal is in preset range
Number, for example, slow modulated signal can be considered by being wider than 1ms when ramp signal waveform, said frequencies slope is for indicating frequency
The relationship of rate and time.
In a kind of optional embodiment, Fig. 2 is showing according to a kind of optional slow modulated signal of the embodiment of the present application
It is intended to, in conjunction with shown in Fig. 2, f0 is initial frequency, and f1 is cutoff frequency, and T is to modulate signals into the time of cutoff frequency, i.e. wave
Shape time width.In this example, the relationship of the time of the frequency of signal and modulation composition can be indicated by the slope of frequency slope,
The slope of frequency slope is bigger, and the waveform time width of modulated signal is smaller.Further, in this example, point (f0,0) is to point
(f1, T/2) and the first slow modulated signal, point (f can be characterized1, T/2) and to point (f0, T) and the second slow modulated signal can be characterized.
R-T unit 12, is connected with radio-frequency module, for emitting slow modulated signal, and receives the back scattered letter of observed object
Number, wherein observed object is the target in the observation area in radar.
Processor 14, is connected with radio-frequency module, for obtaining range information according to slow modulated signal and back scattered signal,
Wherein, range information is for characterizing radar at a distance from observed object.
Optionally, according to the above embodiments of the present application, the frequency range of above-mentioned radar is millimeter wave, and R-T unit includes：Transmitting
Antenna and reception antenna.
Above-mentioned transmitting antenna is for emitting slow modulated signal, and reception antenna is for receiving the back scattered signal of observed object.
Specifically, the common radar frequency band of unmanned plane in compared with the prior art, such as：Metric wave, decimetric wave and centimeter wave
Etc. frequency ranges, millimeter wave frequency band radar have following advantage：First, radar operating wave length, smaller antenna size can obtain
Obtain higher angular resolution；Secondly, rf chip integrated level is high, and entire radar radio-frequency front-end can use a millimeter
Wave radio frequency chip is completed；Furthermore the radar radio-frequency front-end based on high integration, complete machine radar cost are relatively low.
Optionally, according to the above embodiments of the present application, radio-frequency module includes：
Voltage controlled oscillator, for generating slow modulated signal.
Specifically, voltage controlled oscillator, which is used to refer to output frequency, the oscillating circuit of correspondence with the control voltage inputted,
The frequency of the modulated signal sent out can be adjusted by adjusting the input voltage to voltage controlled oscillator.
First power amplifier, is connected with voltage controlled oscillator, for amplifying slow modulated signal.
Second power amplifier, is connected with reception antenna, for amplifying back scattered signal.
Frequency mixer is connected with voltage controlled oscillator and the second power amplifier respectively, for will slow modulated signal and amplification after
Back scattered signal be mixed.
Specifically, the frequency that frequency mixer is used to refer to output signal is the sum of frequency of two input signals, difference or other groups
The circuit of conjunction generates intermediate-freuqncy signal for passing through frequency spectrum shift.
Fig. 3 is according to a kind of schematic diagram of optional radar of the embodiment of the present application, and Fig. 4 is according to the embodiment of the present application
A kind of schematic diagram of optional radio-frequency module.With reference to Fig. 3 and example shown in Fig. 4, to the radar in above-described embodiment into
Row further describes.
In a kind of optional embodiment, in conjunction with shown in Fig. 3, the transmitting antenna and reception antenna of the radar with radio frequency core
Piece (i.e. radio-frequency module) is connected, and for sending out slow modulated signal, and receives the back scattered signal of observed object.In conjunction with shown in Fig. 4,
Slow modulated signal, the slow tune of voltage controlled oscillator output can be exported by controlling voltage controlled oscillator to voltage controlled oscillator input voltage
On the one hand signal processed is input to frequency mixer, another further aspect is emitted by transmitting antenna to sight after power amplifier 1 is amplified
Survey region；The observed object of observation area is scattered slow modulated signal, receives back scattered signal by reception antenna, and lead to
After overpower amplifier 2 is amplified, it is input to frequency mixer；Frequency mixer mixes slow modulated signal and back scattered signal
Frequently, radar return data are obtained, unit (processor) then can arrive observation area according to radar return data acquisition in order to control
Terrain information.
Embodiment 2
According to embodiments of the present invention, a kind of embodiment of the high method of survey of radar is provided, it should be noted that in attached drawing
Flow the step of illustrating can be executed in the computer system of such as a group of computer-executable instructions, although also,
Logical order is shown in flow charts, but in some cases, can with different from sequence herein execute it is shown or
The step of description.
Step S501 emits slow modulated signal to the observation area of radar, wherein slow modulated signal includes the first slow modulation
Signal and the second slow modulated signal, frequency and the time proportional of the first slow modulated signal, the second slow modulated signal
Frequency is in inversely prroportional relationship with the time.
Specifically, above-mentioned slow modulated signal is for characterizing the modulation letter that the waveform time width of ramp signal is in preset range
Number, for example, slow modulated signal can be considered by being wider than 1ms when ramp signal waveform, said frequencies slope is for indicating frequency
The relationship of rate and time.
Step S503 is received by the back scattered signal of observed object, wherein observed object is the observation area in radar
In target.
In a kind of optional embodiment, Fig. 2 is showing according to a kind of optional slow modulated signal of the embodiment of the present application
It is intended to, in conjunction with shown in Fig. 2, f0 is initial frequency, and f1 is cutoff frequency, and T is to modulate signals into the time of cutoff frequency, i.e. wave
Shape time width.In this example, the relationship of the time of the frequency of signal and modulation composition can be indicated by the slope of frequency slope,
The slope of frequency slope is higher, and the waveform time width of modulated signal is smaller.Further, in this example, point (f0,0) is to point
(f1, T/2) and the first slow modulated signal can be characterized, point (f1, T/2) to point (f0, T) can characterize the second slow modulated signal.
Step S505 obtains the terrain information of observation area, wherein landform according to slow modulated signal and back scattered signal
Information is used to characterize the relative altitude of the observed object in observation area.
Specifically, shown in combination 3, after radar generates slow modulated signal by radio frequency chip, set by transmitting antenna hair
Observation area is set, and combines the back scattered signal acquisition of observed object of slow modulated signal and observation area to the ground of observation area
Shape information.
From the foregoing, it will be observed that the above embodiments of the present application emit slow modulated signal to the observation area of radar, receive by observation mesh
Back scattered signal is marked, the terrain information of observed object is obtained according to slow modulated signal and back scattered signal.Said program is only
The signal that the signal and observed object sent out by radar returns can obtain the terrain information of observation area, and processor needs
Data volume to be processed is small, so that radar can reach the accuracy and speed of measuring and calculating without being equipped with high-performance processor,
Reduce tired cost；It further, can be in any weather, Ren Hehuan when above-mentioned radar application to unmanned plane is surveyed high
It is used under border, and far measuring distance, solves in the prior art that drone height measurement technology measurement distance is close, and cost is higher
The technical issues of.
Optionally, according to the above embodiments of the present application, step S501 emits slow modulated signal to the observation area of radar,
Including：
Step S5013 generates slow modulated signal.
In the above scheme, slow modulated signal can be generated by voltage controlled oscillator.
Step S5015 amplifies slow modulated signal, and amplified slow modulated signal is emitted to the observation area of radar.
In above-mentioned steps, in conjunction with shown in Fig. 4, slow modulated signal can be amplified by work(amplifier 1.
Optionally, it according to the above embodiments of the present application, receives by the back scattered signal of observed object, including：Amplification is by seeing
Survey the signal that target scattering returns.In above-mentioned steps, in conjunction with shown in Fig. 4, observed object can be scattered back by work(amplifier 2
Signal be amplified.
Optionally, according to the above embodiments of the present application, observation area is obtained according to slow modulated signal and back scattered signal
Terrain information, including：Amplified slow modulated signal and amplified back scattered signal are mixed, after obtaining mixing
Radar return；Obtain the elevation information of the observed object nearest apart from radar according to radar return, and according to multiple moment away from
The elevation information of the observed object nearest from radar, obtains the terrain information of observation area.Since terrain information is seen for characterizing
The relative altitude of observed object in region is surveyed, therefore after obtaining the elevation information of observed object, observation area can be got
Terrain information.Specifically, the elevation information of above-mentioned observed object can be the height above sea level of observed object, can also be observed object
Between relative altitude information.
As a kind of optional mode, radar return includes：Positive frequency modulation echo-signal corresponding with the first slow modulated signal
Negative frequency modulation echo-signal corresponding with the second slow modulated signal, wherein the sight nearest apart from radar is obtained according to radar return
The elevation information of target is surveyed, including：Two-dimensional Fourier transform is carried out to positive frequency modulation echo-signal and negative frequency modulation echo-signal, is obtained
The negative frequency modulation echo-signal after positive frequency modulation echo-signal and transformation after transformation；To after transformation positive frequency modulation echo-signal and transformation
Negative frequency modulation echo-signal afterwards carries out CFAR detection, obtains the first elemental height information of the observed object nearest apart from radar
With the second elemental height information；First elemental height information and the second elemental height information are smoothed, distance is obtained
The elevation information of the nearest observed object of radar.
As a kind of optional embodiment, two-dimentional Fourier can be carried out to positive frequency modulation echo-signal by following formula and become
It changes：Two-dimentional Fourier is carried out by following formula to negative frequency modulation echo-signal to become
It changes：Wherein, k is pendulous frequency, Sk(f) it is the two-dimentional echo after Fourier transformation
Signal, Sk(t) it is two-dimentional echo-signal, f is sample frequency, and t is sampling instant.
As a kind of optional embodiment, the positive frequency modulation echo-signal after transformation can be carried out by following formula permanent empty
Alert detection：
CFAR detection is carried out to the negative frequency modulation echo-signal after transformation by following formula：
Wherein, c indicates that slow modulated signal spread speed, about 300000 kms are per second；T indicates waveform time width (in such as Fig. 1
T shown in)；B indicates waveform bandwidth (i.e. the difference of cutoff frequency and its real frequency)；ε, b and β join for preset CFAR detection
Number, the number that k is measured, f*For the frequency of slow modulated signal.
As a kind of optional embodiment, the range information of the nearest target of radar that can be adjusted the distance by following formula into
Row smoothing processing：Wherein, HkBe it is smooth after range information, Hk-1The distance letter measured for the last time
Breath.
Fig. 6 be according to a kind of flow chart of acquisition elevation information of the embodiment of the present application, in a kind of optional embodiment,
In conjunction with shown in Fig. 6, said program is described further.
Step S61 obtains radar return data.
Specifically, above-mentioned radar return data can be two-dimentional echo data.
Step S62 carries out two-dimensional Fourier transform to radar return data.
Step S63 carries out CFAR detection to the radar return data after transformation, obtains elemental height information.
Step S64 is smoothed elemental height information, obtains the actual height information of observed object.
Embodiment 3
According to embodiments of the present invention, a kind of unmanned plane is provided, which is characterized in that including any one thunder in embodiment 1
It reaches, radar is set to the underface of unmanned plane, the height for detecting unmanned plane.
It is worth noting that, being arranged with the radar below above-mentioned unmanned plane when surveying high applied to unmanned plane, existing
It surveys in high equipment, by taking GPS device as an example, the cost of the radar in above-described embodiment is only 1 the percent of differential GPS；It is optional
, also size may also be only 40mm*40mm to radio-frequency module；Since processing data amount is few, in use, power consumption also can
Down to hundreds of milliwatts, to be greatly reduced the cost of unmanned plane, and nobody load-carrying is improved.
From the foregoing, it will be observed that the application said program controls R-T unit by radio-frequency module sends out slow modulated signal, and receive
The back scattered signal of observed object, and observed according to slow modulated signal and the back scattered signal of observed object by processor
The terrain information in region.In the above scheme, the signal that the signal and observed object only sent out by radar returns can
The terrain information of observation area is obtained, processor data volume to be treated is small, so that radar is without being equipped at high-performance
Reason device can reach the accuracy and speed of measuring and calculating, reduce tired cost；Further, when by above-mentioned radar application to nobody
It when machine surveys high, can be used under any weather, any environment, and far measuring distance, it is high to solve unmanned plane in the prior art
It is close to spend measuring technique measurement distance, and the higher technical problem of cost.
Embodiment 4
According to embodiments of the present invention, a kind of storage medium is provided, storage medium includes the program of storage, wherein in journey
Equipment executes the high method of survey of the radar of any one of embodiment 2 where controlling storage medium when sort run.
Embodiment 5
According to embodiments of the present invention, a kind of processor is provided, which is characterized in that processor is for running program, wherein
The survey high method of the radar of any one of embodiment 2 is executed when program is run.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
In the above embodiment of the present invention, all emphasizes particularly on different fields to the description of each embodiment, do not have in some embodiment
The part of detailed description may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, for example, the unit division, Ke Yiwei
A kind of division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
It connects, can be electrical or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
On unit.Some or all of unit therein can be selected according to the actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes：USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can to store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (12)
1. a kind of radar, which is characterized in that including：
Radio-frequency module sends slow modulated signal for controlling R-T unit, wherein the slow modulated signal includes the first slow modulation
Signal and the second slow modulated signal, frequency and the time proportional of the first slow modulated signal, the described second slow tune
The frequency of signal processed is in inversely prroportional relationship with the time；
The R-T unit is connected with the radio-frequency module, and for emitting slow modulated signal, and it is back scattered to receive observed object
Signal, wherein the observed object is the target in the observation area of the radar；
Processor is connected with the radio-frequency module, for according to the slow modulated signal and the back scattered signal obtain away from
From information, wherein the range information is for characterizing the radar at a distance from the observed object.
2. radar according to claim 1, which is characterized in that the frequency range of the radar is millimeter wave, the R-T unit
Including：Transmitting antenna and reception antenna.
3. radar according to claim 2, which is characterized in that the radio-frequency module includes：
Voltage controlled oscillator, for generating slow modulated signal；
First power amplifier is connected with the voltage controlled oscillator, for amplifying the slow modulated signal；
Second power amplifier is connected with the reception antenna, for amplifying the back scattered signal；
Frequency mixer is connected with the voltage controlled oscillator and second power amplifier respectively, is used for the slow modulated signal
It is mixed with the amplified back scattered signal.
4. a kind of high method of the survey of radar, which is characterized in that the radar, including：
Emit slow modulated signal to the observation area of the radar, wherein the slow modulated signal includes the first slow modulated signal
With the second slow modulated signal, frequency and the time proportional of the first slow modulated signal, the described second slow modulation letter
Number frequency and the time be in inversely prroportional relationship；
It receives by the back scattered signal of observed object, wherein the observed object is in the observation area of the radar
Target；
The terrain information of the observation area is obtained according to the slow modulated signal and the back scattered signal, wherein described
Terrain information is used to characterize the relative altitude of the observed object in the observation area.
5. according to the method described in claim 4, it is characterized in that, emit slow modulated signal to the observation area of the radar,
Including：
Generate slow modulated signal；
Amplify the slow modulated signal, and the amplified slow modulated signal is emitted to the observation area of the radar.
6. according to the method described in claim 5, it is characterized in that, receive by the back scattered signal of observed object, including：Amplification
It is described by the back scattered signal of observed object.
7. according to the method described in claim 6, it is characterized in that, according to the slow modulated signal and the back scattered signal
The terrain information of the observation area is obtained, including：
The amplified slow modulated signal and the amplified back scattered signal are mixed, the thunder after being mixed
Up to echo；
Obtain the elevation information of the observed object nearest apart from the radar according to the radar return, and according to multiple moment away from
The elevation information of the observed object nearest from the radar, obtains the terrain information of the observation area.
8. the method according to the description of claim 7 is characterized in that the radar return includes：Believe with the described first slow modulation
Number corresponding positive frequency modulation echo-signal and negative frequency modulation echo-signal corresponding with the described second slow modulated signal, wherein according to institute
It states radar return and obtains the elevation information of the observed object nearest apart from the radar, including：
Two-dimensional Fourier transform is carried out to the positive frequency modulation echo-signal and the negative frequency modulation echo-signal, after being converted just
Negative frequency modulation echo-signal after frequency modulation echo-signal and transformation；
CFAR detection is carried out to the positive frequency modulation echo-signal after the transformation and the negative frequency modulation echo-signal after the transformation, is obtained
To the first elemental height information and the second elemental height information of the observed object nearest apart from the radar；
The first elemental height information and the second elemental height information are smoothed, obtained apart from the radar
The elevation information of nearest target.
9. according to the method described in claim 8, it is characterized in that, to after transformation positive frequency modulation echo-signal and the transformation after
Negative frequency modulation echo-signal carry out CFAR detection, including：
CFAR detection is carried out to the positive frequency modulation echo-signal after the transformation by following formula：
CFAR detection is carried out to the negative frequency modulation echo-signal after the transformation by following formula：
Wherein, c indicates that slow modulated signal spread speed, T indicate waveform time width；B indicates waveform bandwidth；ε, b and β are preset perseverance
False-alarm detection parameters, the number that k is measured, f*For the frequency of the slow modulated signal.
10. a kind of unmanned plane, which is characterized in that including any one radar in claims 1 to 3, the radar is set to institute
The underface for stating unmanned plane, the height for detecting the unmanned plane.
11. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein run in described program
When control the storage medium where equipment perform claim require the high method of survey of the radar described in any one of 4 to 9.
12. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Profit requires the high method of the survey of the radar described in any one of 4 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710183699.3A CN108627826A (en) | 2017-03-24 | 2017-03-24 | Radar and its high method of survey, unmanned plane, storage medium and processor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710183699.3A CN108627826A (en) | 2017-03-24 | 2017-03-24 | Radar and its high method of survey, unmanned plane, storage medium and processor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108627826A true CN108627826A (en) | 2018-10-09 |
Family
ID=63707692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710183699.3A Pending CN108627826A (en) | 2017-03-24 | 2017-03-24 | Radar and its high method of survey, unmanned plane, storage medium and processor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108627826A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707285A (en) * | 2012-05-28 | 2012-10-03 | 河海大学 | Method for detecting frequency domain constant false alarm of vehicle-mounted millimeter-wave anti-collision radar system |
| CN103257346A (en) * | 2013-05-15 | 2013-08-21 | 桂林电子科技大学 | Automotive anti-collision radar multi-target detecting method and system |
| CN104076352A (en) * | 2014-06-27 | 2014-10-01 | 电子科技大学 | Low-interception speed measurement method and radar device |
| CN104408927A (en) * | 2014-10-23 | 2015-03-11 | 南京航空航天大学 | Model classification method based on frequency modulation continuous wave radar |
| CN205539456U (en) * | 2016-03-31 | 2016-08-31 | 大连楼兰科技股份有限公司 | A 77GHz millimeter wave radar altimeter for unmanned aerial vehicle |
-
2017
- 2017-03-24 CN CN201710183699.3A patent/CN108627826A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707285A (en) * | 2012-05-28 | 2012-10-03 | 河海大学 | Method for detecting frequency domain constant false alarm of vehicle-mounted millimeter-wave anti-collision radar system |
| CN103257346A (en) * | 2013-05-15 | 2013-08-21 | 桂林电子科技大学 | Automotive anti-collision radar multi-target detecting method and system |
| CN104076352A (en) * | 2014-06-27 | 2014-10-01 | 电子科技大学 | Low-interception speed measurement method and radar device |
| CN104408927A (en) * | 2014-10-23 | 2015-03-11 | 南京航空航天大学 | Model classification method based on frequency modulation continuous wave radar |
| CN205539456U (en) * | 2016-03-31 | 2016-08-31 | 大连楼兰科技股份有限公司 | A 77GHz millimeter wave radar altimeter for unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Riley et al. | Design considerations for an harmonic radar to investigate the flight of insects at low altitude | |
| Šipoš et al. | A lightweight and low-power UAV-borne ground penetrating radar design for landmine detection | |
| Garcia-Fernandez et al. | Airborne multi-channel ground penetrating radar for improvised explosive devices and landmine detection | |
| US6982666B2 (en) | Three-dimensional synthetic aperture radar for mine detection and other uses | |
| Tahir et al. | Recent developments and recommendations for improving harmonic radar tracking systems | |
| CN109188434B (en) | SAR system based on frequency modulation continuous wave system and processing method thereof | |
| US20170245419A1 (en) | System and method for application of materials through coordination with automated data collection vehicles | |
| CN107783133B (en) | Anti-collision system and anti-collision method for fixed-wing unmanned aerial vehicle of millimeter wave radar | |
| CN107656253B (en) | Electromagnetic vortex synthetic aperture radar echo signal simulation method and device | |
| CN110501702B (en) | Real-time flight height measuring method, device, equipment and storage medium for unmanned aerial vehicle | |
| Dworak et al. | Ranging sensors for vehicle-based measurement of crop stand and orchard parameters: a review | |
| CN113874751A (en) | System and method for combining radar data | |
| CN107783107A (en) | The millimetre-wave radar altimeter of plant protection rotor wing unmanned aerial vehicle | |
| US20170010350A1 (en) | Systems and methods for load aware radar altimeters | |
| CN107783115A (en) | The remote complex environment anticollision millimetre-wave radar system of rotor wing unmanned aerial vehicle | |
| Mallett et al. | Cumulative probability of detection for targets approaching a uniformly scanning search radar | |
| Samczynski et al. | XY-DemoRad–Novel K-and mm-band radar demo kit for educational and commercial applications | |
| CN107783114A (en) | The remote complex environment anticollision MMW RADAR SIGNAL USING processing system of rotor wing unmanned aerial vehicle and method | |
| Simpson et al. | Development of a UAS-based ultra-wideband radar for fine-resolution soil moisture measurements | |
| Akhter et al. | Photonics radar based LSS targets’ postures’ mD and cadence frequency imaging using empirical wavelet transform technique | |
| EP3508869A1 (en) | Light-weight radar system | |
| CN108627826A (en) | Radar and its high method of survey, unmanned plane, storage medium and processor | |
| BATLIVALA et al. | Radar look direction and row crops | |
| Sheen et al. | UHF wideband SAR design and preliminary results | |
| CN108427111A (en) | A kind of radar range finding method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181009 |
|
| RJ01 | Rejection of invention patent application after publication |