CN109633651A - 77G unmanned plane avoidance radar - Google Patents
77G unmanned plane avoidance radar Download PDFInfo
- Publication number
- CN109633651A CN109633651A CN201910030252.1A CN201910030252A CN109633651A CN 109633651 A CN109633651 A CN 109633651A CN 201910030252 A CN201910030252 A CN 201910030252A CN 109633651 A CN109633651 A CN 109633651A
- Authority
- CN
- China
- Prior art keywords
- radar
- unmanned plane
- distance
- barrier
- speed
- 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
- 230000004888 barrier function Effects 0.000 claims abstract description 53
- 238000004891 communication Methods 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000005070 sampling Methods 0.000 claims abstract description 14
- 238000009434 installation Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 230000009466 transformation Effects 0.000 claims description 7
- 230000002045 lasting effect Effects 0.000 claims description 4
- 238000013461 design Methods 0.000 claims description 3
- 210000004209 hair Anatomy 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 238000007789 sealing Methods 0.000 claims description 2
- 238000004078 waterproofing Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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
- G01S13/93—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
-
- 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
- G01S7/38—Jamming means, e.g. producing false echoes
-
- 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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention provides 77G unmanned plane avoidance radar, radar antenna array is designed on pcb board, ADC sampling module, dsp processor, master chip, communication interface modules, wherein: after the electromagnetic wave of the radar antenna array transmitting encounters barrier reflection, it is received by radar antenna array, data are acquired by ADC, data processing is carried out into dsp processor, it include: successively using distance dimension FFT, speed ties up FFT, CFAR detection CFAR, the estimation of the azimuth DOA, track algorithm, obtain the distance of barrier, speed, the information for the position that orientation and barrier occur next time；It relevant information is transferred to ARM master chip carries out decision-making treatment and finally according to demand transmit out by the information of needs, realize in complex environment, measure the barrier nearest from unmanned plane, measure the information of the same barrier in real time.
Description
Technical field
The invention belongs to unmanned plane avoidance technical field more particularly to radar avoidance, specifically a kind of 77G unmanned plane avoidance
Radar.
Background technique
Unmanned plane automatic obstacle-avoiding system can avoid the barrier in flight path in time, greatly reduce because of operation
It makes mistakes and the loss of bring items.Radar work is not influenced by ambient light, and night can also work normally, and radar avoidance is because of work
Make the advantage of principle, more general vision avoidance has higher adaptability and safety.
77G millimetre-wave radar key technology is monopolized by external company at present, and production domesticization is nearly at space state, state
Interior existing unmanned plane radar is mainly 24G radar, since 24G frequency radar bandwidth is too small, its distance and velocity resolution
It is not high, cause this frequency radar that can not identify the object of remote minor diameter, can not reach good on avoiding barrier
The bandwidth of effect, 24G radar can only accomplish 0.5-1GHz；The bandwidth b of 77G unmanned plane avoidance radar is 4GHz.Distance resolution
Calculation formula are as follows: r=c/2b, wherein c be the light velocity, b is bandwidth, by this formula it is understood that the bigger distance resolution of bandwidth
Higher, also only 77G unmanned plane avoidance radar can just play barrier avoiding function.
In the application of unmanned plane avoidance, to accomplish in complex environment, measure the barrier nearest from unmanned plane, realize
Difficulty is big, needs to curb the interference of other clutters, in addition to measure the information of the same barrier in real time, finally can be most
The object that 0.045 meter of minor diameter, which is measured, to be come.
Summary of the invention
Aiming at the problem that background technique proposes, it is an object of the present invention to provide a kind of 77G unmanned plane avoidance radars, realize
In complex environment, the barrier nearest from unmanned plane is measured, distinguish 0.045 meter of two articles of minimum spacing in real time and is measured relevant
The information of barrier.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of 77G unmanned plane avoidance radar, comprising: radar antenna array, radar radio-frequency front-end, ADC sampling module, DSP processing
Device, ARM master chip, communication interface modules；The radar antenna array is connect with radar radio-frequency front-end, the radar radio-frequency front-end
It is connect with ADC sampling module, the ADC sampling module is connect with dsp processor, data after the ADC sampling module sampling
It exports to dsp processor, the dsp processor is connect with ARM master chip and two-way communication, and the ARM master chip connects with communication
The connection of mouth mold block and two-way communication；
Wherein: radar antenna array receives Antenna Design using 2 hairs 4, and antenna gain is greater than 20 dBm；Radar radio-frequency front-end passes through logical
Letter interface module is connected with host computer, and host computer is allowed to configure parameter, and transmitting meets different distance precision, Range resolution
The electromagnetic wave of rate, velocity resolution and angle-resolved requirement；After the reflection of electromagnetic wave of 2 transmitting antennas transmitting, received by 4 piece-root graftings
Antenna is received, and acquires data by ADC, carries out data processing into dsp processor, relevant information is transferred to ARM main core
Piece carries out decision-making treatment, and the information of radar detection to barrier includes orientation, speed, distance, according to demand, finally by communication
The information of needs is transferred to host computer by interface module (CAN or serial communication).
Further, the 77G unmanned plane avoidance radar, the dsp processor carry out data processing, comprising: successively adopt
With distance dimension FFT, speed dimension FFT, the estimation of CFAR detection CFAR, DOA azimuth, track algorithm；
The first step first does distance dimension FFT operation, in the echo of radar, samples 256 points, corresponding bandwidth is 4GHz, it is assumed that
Sampled point is,, pass through FFT transformN number of distance unit is obtained, so
Afterwards in transformation resultsIn the position of maximum point is found in N number of distance unit, pass through the position
Estimate the distance of barrier；
Second step does speed dimension FFT operation, finishes distance dimension FFT for the first step and obtains N number of distance dimension unit, passes through speed
The FFT transform of dimension, N number of doppler cells are obtained, then in transformation results
The middle position for finding maximum point, the speed of barrier can be estimated by the position；
Third step is CFAR detection CFAR, and CFAR detection CFAR is exactly the threshold that a backward energy is arranged, and filters miscellaneous
Wave obtains N number of target data；
4th step, then do azimuth dimension FFT operation, i.e., the azimuth DOA is estimated, N number of for obtaining after third step CFAR detection
Target passes through FFT transform, then in transformation resultsMiddle searching pole
The position of big value point, the azimuth of barrier can be estimated by the position；
Final step, does track algorithm, realizes tracking, if unmanned plane speed is V, the receptions frame data time is T, unmanned plane from
The distance of barrier is S, and distance next time is S1, it is possible to which the distance prejudged next time is S1=S-V*T；
Tie up FFT by above-mentioned distance, speed ties up FFT, azimuth dimension FFT and tracking anticipation algorithm learn barrier distance,
The position that speed, orientation and barrier occur next time, can be measured in complex environment in this way the barrier of needs distance,
Speed, azimuth information can also track the distance that anticipation occurs next time to barrier, the lasting target for measuring needs.
Further, the 77G unmanned plane avoidance radar, the host computer configure parameter, comprising: configuration starting
Frequency, bandwidth, ADC frequency acquisition.
Further, the 77G unmanned plane avoidance radar, in 76G-77G, 77G-81G band operation, maximum bandwidth 4G,
Minimum range resolution ratio 0.045m, maximum equivalent isotropically radiated power ERIP are 22dbm, and horizontal beam is ± 60 °, vertical ±
15 °, maximum validity test distance can distinguish the two articles of minimum spacing 0.045m and measure, range accuracy is up to 120m
0.09m, power consumption < 2.5W.
Further, the 77G unmanned plane avoidance radar, the radar antenna array, radar radio-frequency front-end, ADC sampling
Module, dsp processor, ARM master chip, communication interface modules are arranged on one piece of pcb board, the 50 cm * 50 of pcb board size
cm。
Further, the 77G unmanned plane avoidance radar, at radar sealing install a waterproof material water proof ring into
Row waterproof, waterproofing grade IP67.
Further, the 77G unmanned plane avoidance radar, communication interface modules include serial communication and CAN communication, are led to
It crosses serial communication and CAN communication is connect with host computer, realize online upgrading function.
Further, the installation method of the 77G unmanned plane avoidance radar, the 77G unmanned plane avoidance radar are mounted on
Immediately ahead of unmanned plane, installation site: there cannot be any shelter in radar horizon ± 60 °, vertical ± 15 ° of beam areas；Installation
Direction: being arranged radiating groove on the 77G unmanned plane avoidance radar outer casing base, the dual-mode antenna of the radar is located at pedestal heat dissipation
(position that the radar antenna array of the i.e. described 77G unmanned plane avoidance radar is located at pcb board corresponds to the position of pedestal radiating groove at slot
Set), top is arranged grey antenna house and protects the dual-mode antenna, and when installation, radiating groove is upward, grey antenna house installs outwardly；
Setting angle: the antenna surface of radar installation is directed toward immediately ahead of unmanned plane, vertical-horizontal installation, when radar is equipped with angle tilt
When, it will cause main lobe beam deviation, influence radar effect, so angular error is less than ± 3 °.
Further, the working method of the 77G unmanned plane avoidance radar, the 77G unmanned plane avoidance radar use 2
Antenna is emitted, and is adjusted the distance precision, distance resolution, velocity resolution and angle-resolved requirement according to radar, is carried out
Radar front end parameter configuration, after the electromagnetic wave of transmitting encounters barrier reflection, 4 receiving antennas receive electromagnetic wave respectively, and ADC is adopted
Collection data are sent to dsp processor processing, and the dsp processor carries out data processing；
The data processing successively includes: to be estimated using distance dimension FFT, speed dimension FFT, CFAR detection CFAR, DOA azimuth
It calculates, track algorithm, the first step, in the echo of radar, samples 256 points, corresponding bandwidth is 4GHz, in this 256 points,
Distance dimension FFT operation is first done, point of maximum intensity is calculated, the distance of barrier is estimated；Second step ties up FFT to the by speed
The distance dimension unit for the target that one step is found out is accumulated, and the speed of barrier is estimated；Third step does CFAR detection
CFAR, CFAR detection CFAR are exactly the threshold that a backward energy is arranged, and filter clutter, obtain N number of target data；4th
Step, the azimuth DOA estimation, for the N number of target obtained after third step CFAR detection, does azimuth dimension FFT operation, estimates barrier
The azimuth for hindering object finds out the orientation of detection target；Final step does track algorithm and realizes tracking, if unmanned plane speed is V,
Receiving the frame data time is T, and unmanned plane is S with a distance from barrier, and distance next time is S1, it is possible to be prejudged next
Secondary distance is S1=S-V*T；Obtain the speed, distance, angle, echo-peak, location information of barrier；
Lasting detection, tracking target, are transferred to master chip for relevant information and carry out decision-making treatment, finally by CAN or serial ports
Communications come out.
The beneficial effect comprise that achieving the effect that a filtering clutter by CFAR detection CFAR；Unmanned plane
In flight course, can detect outside maximum 120 meters of front barrier relevant information (position of barrier, the speed of barrier,
The echo-peak of barrier)；And the object of two articles minimum spacing 0.045m can be distinguished and them can be measured, when unmanned plane avoidance
After detections of radar to barrier, by track algorithm tenacious tracking, it will not lose；Radar pcb board size 50cm*50cm, volume
Small, radar plate weight 100g, weight is light, is easily installed；Installation method is simple；Pass through the upper computer software of independent development, weight
Newly downloaded firmware realizes online upgrading, simple and convenient, facilitates product renewing iteration.
Detailed description of the invention
A kind of structural schematic diagram of 77G unmanned plane avoidance radar of Fig. 1；
A kind of 1 workflow schematic diagram of 77G unmanned plane avoidance radar embodiment of Fig. 2.
Specific embodiment
With reference to the accompanying drawing, the present invention is further illustrated, in order to those skilled in the art understand that the present invention.
A kind of 77G unmanned plane avoidance radar is as shown in Fig. 1, before designing radar antenna array, radar radio frequency on pcb board
End, ADC sampling module, dsp processor, ARM master chip, communication interface modules, pcb board size 50cm*50cm, radar antenna battle array
Column receive Antenna Design using 2 hairs 4, and antenna gain is greater than 20 dBm；Radar radio-frequency front-end passes through communication interface modules and host computer
It is connected, allows to configure parameter, the parameter configuration includes configuration initial frequency, and bandwidth, ADC frequency acquisition, transmitting is completely
Sufficient different distance precision, distance resolution, velocity resolution and the electromagnetic wave of angle-resolved requirement；The reflection of electromagnetic wave of transmitting
Afterwards, it is received by 4 antennas, data is acquired by ADC, carried out data processing into dsp processor, relevant information is transferred to
Master chip carries out decision-making treatment, transmits out finally by CAN or serial communication.
The course of work of radar is adjusted the distance essence according to radar as shown in Fig. 2, in use, first emitted using 2 antennas
Degree, distance resolution, velocity resolution and angle-resolved requirement carry out radar front end parameter configuration, the electromagnetic wave of transmitting
After encountering barrier reflection, 4 receiving antennas receive electromagnetic wave respectively, and ADC acquisition data are sent to dsp processor processing, institute
It states dsp processor and carries out data processing, comprising: FFT- > CFAR detection CFAR- > side DOA is tieed up using distance dimension FFT- > speed
Parallactic angle estimation -> track algorithm.
A kind of specific way is first to do distance dimension FFT operation to sample 256 points in the echo of radar, corresponding
Bandwidth is 4GHz, in this 256 points, by FFT operation, the echo of the barrier at same distance is added up and obtains target
Doppler frequency calculates point of maximum intensity, it can be deduced that the distance of barrier；Then, distance dimension FFT is finished for the first step to obtain
The distance unit arrived ties up FFT by speed and carries out the distance that FFT operation calculates object correlation to the target found out, and second
Step obtains the FFT operation that distance unit carries out speed dimension for the first step；Third step does CFAR detection CFAR, constant false alarm inspection
Surveying CFAR is exactly the threshold that a backward energy is arranged, and filters clutter, obtains qualified number of targets；4th step, the orientation DOA
Angle estimation, obtains number of targets for third step, does orientation FFT operation, finds out the orientation of detection target；Final step tracks
Algorithm realizes tracking, if unmanned plane speed is V, the one frame data time of reception is T, and unmanned plane is S with a distance from barrier, next
Secondary distance is S1, it is possible to which the distance prejudged next time is S1=S-V*T；It obtains the speed of barrier, distance, angle, return
Crest value, location information；The barrier that needs can be measured in complex environment in this way, can also trace into target, lasting survey
To the target of needs, relevant information is transferred to ARM master chip and carries out decision-making treatment, is passed finally by CAN or serial communication
Output comes.
The specific practice of FFT operation is: by taking distance ties up FFT operation as an example, in the echo of radar, 256 points are sampled, it is right
The bandwidth answered is 4GHz, it is assumed that sampled point is,.Pass through FFT transform, then in transformation resultsThe middle position for finding maximum point, by this
Position can estimate the distance of barrier。
Above embodiments are merely to illustrate a specific embodiment of the invention, rather than for limiting the present invention, the present invention
Range claimed is subject to described in claims.
Claims (10)
1. a kind of 77G unmanned plane avoidance radar characterized by comprising radar antenna array, radar radio-frequency front-end, ADC sampling
Module, dsp processor, ARM master chip, communication interface modules；The radar antenna array is connect with radar radio-frequency front-end, described
Radar radio-frequency front-end is connect with ADC sampling module, and the ADC sampling module is connect with dsp processor, the ADC sampling module
Data are exported to dsp processor after sampling, the dsp processor is connect with ARM master chip and two-way communication, the ARM master
Chip is connect with communication interface modules and two-way communication；
Wherein: after the electromagnetic wave of the radar antenna array transmitting encounters barrier reflection, received by radar antenna array, by
ADC acquires data, carries out data processing into dsp processor, comprising: successively ties up FFT, constant false alarm using distance dimension FFT, speed
The estimation of the azimuth CFAR, DOA, track algorithm are detected, distance, speed, orientation and the barrier for obtaining barrier occur next time
Position information；Relevant information is transferred to ARM master chip and carries out decision-making treatment, finally according to demand, by the information of needs
Transmission comes out.
2. a kind of 77G unmanned plane avoidance radar according to claim 1, which is characterized in that the dsp processor carries out data
The specific method of processing is:
The first step first does distance dimension FFT operation, in the echo of radar, samples 256 points, corresponding bandwidth is 4GHz, it is assumed that
Sampled point is,, pass through FFT transformIt is single to obtain N number of distance
Member, then in transformation resultsIn the position of maximum point is found in N number of distance unit, pass through the position
Set the distance that can estimate barrier；
Second step does speed dimension FFT operation, finishes distance dimension FFT for the first step and obtains N number of distance dimension unit, passes through speed
The FFT transform of dimension obtains N number of doppler cells, and the position of maximum point is then found in transformation results, is by the position
The speed of barrier can be estimated；
Third step is CFAR detection CFAR, and CFAR detection CFAR is exactly the threshold that a backward energy is arranged, and filters miscellaneous
Wave obtains N number of target data；
4th step, then do azimuth dimension FFT operation, i.e., the azimuth DOA is estimated, N number of for obtaining after third step CFAR detection
Then target finds the position of maximum point in transformation results, can estimate obstacle by the position by FFT transform
The azimuth of object；
Final step, does track algorithm, realizes tracking, if unmanned plane speed is V, the receptions frame data time is T, unmanned plane from
The distance of barrier is S, and distance next time is S1, and the distance that can be prejudged next time is S1=S-V*T；
By above-mentioned operation, the position that distance, speed, orientation and the barrier of barrier occur next time is obtained.
3. 77G unmanned plane avoidance radar according to claim 1 or claim 2, which is characterized in that the radar antenna array uses 2
Hair 4 receives Antenna Design, and antenna gain is greater than 20 dBm；The radar radio-frequency front-end passes through communication interface modules and host computer phase
Even, host computer is allowed to configure parameter, transmitting meets different distance precision, distance resolution, velocity resolution and angle
Degree differentiates desired electromagnetic wave.
4. 77G unmanned plane avoidance radar according to claim 3, which is characterized in that the host computer configures parameter,
It include: configuration initial frequency, bandwidth, ADC frequency acquisition.
5. 77G unmanned plane avoidance radar according to claim 3, which is characterized in that radar works in 76G-77G or 77G-
81G frequency range, maximum bandwidth 4G, minimum range resolution ratio 0.045m, maximum equivalent isotropically radiated power ERIP are 22dbm, function
Consumption < 2.5W.
6. 77G unmanned plane avoidance radar according to claim 1 or claim 2, which is characterized in that the radar antenna array, radar
Radio-frequency front-end, ADC sampling module, dsp processor, ARM master chip, communication interface modules are arranged on one piece of pcb board, described
50 cm * of pcb board size, 50 cm.
7. 77G unmanned plane avoidance radar according to claim 1 or claim 2, which is characterized in that install one at radar sealing and prevent
The water proof ring of water material carries out waterproof, waterproofing grade IP67.
8. 77G unmanned plane avoidance radar according to claim 1 or claim 2, which is characterized in that communication interface modules includes that serial ports is logical
Letter and CAN communication, are connect by serial communication and CAN communication with host computer, realize online upgrading function.
9. the installation method of 77G unmanned plane avoidance radar according to claim 3, which is characterized in that the 77G unmanned plane is kept away
Barrier radar is mounted on immediately ahead of unmanned plane, and radiating groove is arranged on the 77G unmanned plane avoidance radar outer casing base, the radar
Dual-mode antenna is located at pedestal radiating groove, and top is arranged antenna house and protects the dual-mode antenna, when installation, radiating groove upward, day
Irdome is installed outwardly, and radar setting angle error is less than ± 3 °.
10. the working method of 77G unmanned plane avoidance radar according to claim 3, which is characterized in that the 77G unmanned plane
77G unmanned plane avoidance radar described in avoidance radar is emitted using 2 antennas, is adjusted the distance precision according to radar, Range resolution
Rate, velocity resolution and angle-resolved requirement carry out radar front end parameter configuration, and it is anti-that the electromagnetic wave of transmitting encounters barrier
After penetrating, 4 receiving antennas receive electromagnetic wave respectively, and ADC acquisition data are sent to dsp processor processing, the dsp processor into
Row data processing；
The data processing successively includes: to be estimated using distance dimension FFT, speed dimension FFT, CFAR detection CFAR, DOA azimuth
It calculates, track algorithm, the first step, in the echo of radar, samples 256 points, corresponding bandwidth is 4GHz, in this 256 points,
Distance dimension FFT operation is first done, point of maximum intensity is calculated, the distance of barrier is estimated；Second step ties up FFT to the by speed
The distance dimension unit for the target that one step is found out is accumulated, and the speed of barrier is estimated；Third step does CFAR detection
CFAR, CFAR detection CFAR are exactly the threshold that a backward energy is arranged, and filter clutter, obtain N number of target data；4th
Step, the azimuth DOA estimation, for the N number of target obtained after third step CFAR detection, does azimuth dimension FFT operation, estimates barrier
The azimuth for hindering object finds out the orientation of detection target；Final step does track algorithm and realizes tracking；Pass through the data processing
Obtain the speed, distance, angle, echo-peak, location information of barrier；
Lasting detection, tracking target, are transferred to master chip for relevant information and carry out decision-making treatment, finally by CAN or serial ports
Communications come out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910030252.1A CN109633651A (en) | 2019-01-14 | 2019-01-14 | 77G unmanned plane avoidance radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910030252.1A CN109633651A (en) | 2019-01-14 | 2019-01-14 | 77G unmanned plane avoidance radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109633651A true CN109633651A (en) | 2019-04-16 |
Family
ID=66061801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910030252.1A Pending CN109633651A (en) | 2019-01-14 | 2019-01-14 | 77G unmanned plane avoidance radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109633651A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110596654A (en) * | 2019-10-18 | 2019-12-20 | 富临精工先进传感器科技(成都)有限责任公司 | Data synchronous acquisition system based on millimeter wave radar |
| CN110687530A (en) * | 2019-09-18 | 2020-01-14 | 上海广电通信技术有限公司 | Miniature security radar monitoring system |
| CN110940983A (en) * | 2019-12-10 | 2020-03-31 | 湖南纳雷科技有限公司 | Multi-beam radar for ground-imitating flight control of unmanned aerial vehicle and data fusion method |
| CN111145539A (en) * | 2019-12-12 | 2020-05-12 | 南京理工大学 | Traffic information data acquisition system and method based on ARM processor |
| CN112526501A (en) * | 2019-09-19 | 2021-03-19 | 苏州豪米波技术有限公司 | Radar system for detecting life breath |
| WO2021088133A1 (en) * | 2019-11-05 | 2021-05-14 | 上海为彪汽配制造有限公司 | Method and system for constructing flight trajectory of multi-rotor unmanned aerial vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140327566A1 (en) * | 2012-05-09 | 2014-11-06 | Stmicroelectronics S.R.L. | Method and devices for processing radar signals |
| CN107247265A (en) * | 2017-06-14 | 2017-10-13 | 苏州豪米波技术有限公司 | A kind of multiple antennas module unmanned plane millimetre-wave radar system |
| CN107688178A (en) * | 2017-08-25 | 2018-02-13 | 上海通趣科技有限公司 | A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars |
| CN107783133A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | The fixed-wing unmanned plane CAS and avoiding collision of millimetre-wave radar |
| CN107783114A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | The remote complex environment anticollision MMW RADAR SIGNAL USING processing system of rotor wing unmanned aerial vehicle and method |
| CN209525454U (en) * | 2019-01-14 | 2019-10-22 | 长沙莫之比智能科技有限公司 | 77G unmanned plane avoidance radar |
-
2019
- 2019-01-14 CN CN201910030252.1A patent/CN109633651A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140327566A1 (en) * | 2012-05-09 | 2014-11-06 | Stmicroelectronics S.R.L. | Method and devices for processing radar signals |
| CN107783133A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | The fixed-wing unmanned plane CAS and avoiding collision of millimetre-wave radar |
| CN107783114A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | The remote complex environment anticollision MMW RADAR SIGNAL USING processing system of rotor wing unmanned aerial vehicle and method |
| CN107247265A (en) * | 2017-06-14 | 2017-10-13 | 苏州豪米波技术有限公司 | A kind of multiple antennas module unmanned plane millimetre-wave radar system |
| CN107688178A (en) * | 2017-08-25 | 2018-02-13 | 上海通趣科技有限公司 | A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars |
| CN209525454U (en) * | 2019-01-14 | 2019-10-22 | 长沙莫之比智能科技有限公司 | 77G unmanned plane avoidance radar |
Non-Patent Citations (3)
| Title |
|---|
| 张燕: "GMTI雷达STAP系统仿真研究", 系统仿真学报 * |
| 汪意焙: "24GHz汽车防撞雷达系统的研究与实现", 中国优秀硕士学位论文全文数据库 (工程科技Ⅱ辑) * |
| 王月鹏: "二维FFT算法在LFMCW 雷达信号处理中的应用及其性能分析", 电子科技 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110687530A (en) * | 2019-09-18 | 2020-01-14 | 上海广电通信技术有限公司 | Miniature security radar monitoring system |
| CN112526501A (en) * | 2019-09-19 | 2021-03-19 | 苏州豪米波技术有限公司 | Radar system for detecting life breath |
| CN110596654A (en) * | 2019-10-18 | 2019-12-20 | 富临精工先进传感器科技(成都)有限责任公司 | Data synchronous acquisition system based on millimeter wave radar |
| WO2021088133A1 (en) * | 2019-11-05 | 2021-05-14 | 上海为彪汽配制造有限公司 | Method and system for constructing flight trajectory of multi-rotor unmanned aerial vehicle |
| CN110940983A (en) * | 2019-12-10 | 2020-03-31 | 湖南纳雷科技有限公司 | Multi-beam radar for ground-imitating flight control of unmanned aerial vehicle and data fusion method |
| CN111145539A (en) * | 2019-12-12 | 2020-05-12 | 南京理工大学 | Traffic information data acquisition system and method based on ARM processor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109633651A (en) | 77G unmanned plane avoidance radar | |
| CN106405556B (en) | Vehicle target information detection identifying system and its signal processing method | |
| US20170045613A1 (en) | 360-degree electronic scan radar for collision avoidance in unmanned aerial vehicles | |
| CN103837867B (en) | A kind of AIS of utilization information carries out the method for higher-frequency radar antenna channels correction | |
| CN107783123B (en) | System and method for processing collision-proof millimeter wave radar signal in complex environment of unmanned vehicle | |
| CN108919270A (en) | A kind of single-emission and double-receiving CW with frequency modulation phased array radar system | |
| CN207867031U (en) | Radar sensor, Terrain Following System for plant protection drone terrain following | |
| US20150260837A1 (en) | High precision radar to track aerial targets | |
| CN109188355A (en) | A kind of optimization of multipoint location system receiving antenna and Optimal Station method | |
| CN106772263A (en) | Surveillance radar over the ground | |
| CN210572736U (en) | Low, small and slow target automatic detection, tracking and identification system | |
| CN107783114A (en) | The remote complex environment anticollision MMW RADAR SIGNAL USING processing system of rotor wing unmanned aerial vehicle and method | |
| CN102253382B (en) | Digital intermediate frequency single pulse orientation method | |
| CN209525454U (en) | 77G unmanned plane avoidance radar | |
| CN210166504U (en) | Robot obstacle avoidance system based on millimeter wave radar | |
| CN104200112B (en) | Omnidirectional radar angle-measurement method and system based on rotating-field antenna | |
| CN111208502B (en) | Positioning method and system for unmanned logistics vehicle | |
| CN1601298A (en) | Parameter estimation method for modelling noise Doppler of airborne radar | |
| WO2023083164A1 (en) | Target tracking method and apparatus, signal fusion method and apparatus, and terminal and storage medium | |
| Kenney et al. | Precise positioning with wireless sensor nodes: Monitoring natural hazards in all terrains | |
| CN107783124B (en) | Rotor unmanned aerial vehicle complex environment anti-collision radar system based on combined waveform and signal processing method | |
| CN113985376B (en) | Radar comprehensive display and control excitation system | |
| CN112455503A (en) | Train positioning method and device based on radar | |
| CN209432998U (en) | The small-sized MIMO radar sensor of short distance in high-precision wide wave beam | |
| Jung et al. | Localization based on distributed heterogeneous radar sensor network |
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 |