CN110261838B - Method and device for detecting foreign objects outside road surface and detection radar - Google Patents
Method and device for detecting foreign objects outside road surface and detection radar Download PDFInfo
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- CN110261838B CN110261838B CN201910589140.XA CN201910589140A CN110261838B CN 110261838 B CN110261838 B CN 110261838B CN 201910589140 A CN201910589140 A CN 201910589140A CN 110261838 B CN110261838 B CN 110261838B
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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
- 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
- G01S7/414—Discriminating targets with respect to background clutter
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/38—Processing data, e.g. for analysis, for interpretation, for correction
Abstract
The application relates to a method for detecting foreign objects outside a pavement, which belongs to the technical field of radar detection and is used for identifying and shielding large targets in environments such as airports and the like, wherein the method comprises the steps of acquiring echo data and background clutter data of the foreign objects outside the pavement, and determining constant false alarm detection reference data of a unit to be detected according to the echo data; determining a floating threshold k for constant false alarm rate detectionaAnd a fixed threshold kbAnd a background clutter threshold kcEstablishing a target judgment condition according to a threshold; if a predetermined condition is satisfied, a certain detection means determines that foreign objects are present on the road surface, and if the predetermined condition is not satisfied, determines that the foreign objects are large targets and masks the foreign objects. The method and the device for detecting the foreign objects on the road surface and the detection radar can identify the large target on the road surface and automatically shield the large target while realizing normal detection of the foreign objects on the road surface, and can greatly improve the accuracy and the detection efficiency of detection of the foreign objects on the road surface, and reduce the false alarm rate of detection of the foreign objects and the operation and maintenance pressure of an airport.
Description
Technical Field
The application belongs to the technical field of radar detection, and particularly relates to a radar detection method and device for a foreign object on a road surface and a detection radar.
Background
A runway Foreign Object (FOD) refers to a foreign object that may damage an aircraft on the runway of an airport, such as metal parts, broken stones or bottles, which seriously affect the safety of the aircraft in taking off and landing. In order to identify FOD, the mainstream detection technology at present is a mode combining radar foreign matter detection and optical foreign matter confirmation, namely, the radar continuously and automatically detects the airport pavement, after finding out foreign matters, information such as positions and sizes of the foreign matters is automatically transmitted to an optical device, and the optical device confirms the foreign matters and obtains foreign matter images. In the existing foreign object detection system on the road surface, a radar is a key device, and the accuracy and efficiency of the detection system on the road surface are restricted by the detection accuracy and efficiency of the radar. In the foreign matter detection process, the detection technology of Constant False Alarm Rate (CFAR) detection or the combination of constant false alarm rate detection and clutter map cancellation detection is mainly used by the road surface foreign matter detection radar.
The CFAR detection mode can be used for detecting foreign objects on the road surface, but the airfield runway contains more auxiliary navigation equipment such as runway edge lights, central lights and the like, and the auxiliary navigation equipment on the road surface is easily misjudged as foreign objects on the road surface only by using the CFAR detection, so that false alarms are caused.
In order to solve the above problems, a detection technique combining constant false alarm rate detection and clutter map cancellation detection is usually adopted, however, this detection method utilizes a runway background clutter map to cancel facilities at fixed positions such as runway sidelight and center line light while realizing detection of foreign objects on the road surface, so that the false alarm is not generated.
However, in addition to the fixed position devices such as sidelights and center lights, there are other non-fixed objects on the road surface, such as an airplane waiting to fly in line for a short time at the junction. The alarm caused by such objects cannot be solved by using the above two detection methods.
Disclosure of Invention
The present application is directed to a method and apparatus for detecting foreign objects outside a road surface, and a detection radar, which solve or alleviate at least one of the problems of the related art.
In one aspect, the present application provides a method for detecting foreign objects outside a road surface for identifying and shielding large targets in a radar detection process, the method comprising
Acquiring echo data and background clutter data of a road surface foreign object, and determining constant false alarm detection reference data of a unit to be detected according to the echo data;
determining a floating threshold k for constant false alarm rate detectionaAnd a fixed threshold kbAnd a background clutter threshold kcAccording to a floating threshold kaFixed threshold kbAnd background clutter threshold kcEstablishing target judgment conditions, wherein the judgment conditions comprise:
E1:xi>kb；
E2:xi>ka+yi；
E3:xi＝max{xj},j＝i-B2,...,i+B2when j is<0 or j>When N is, xj＝0；
E4:xi>kc+ci；
E5:pL-i<kc+ci；
E6:pR-i<kc+ci；
In the formula, xiIs the power modulus, y, of the i-th detection unitiFor the power modulus of the reference cell corresponding to the ith detection cell, ciPower module value, p, corresponding to background clutter of the ith detection unitL-iIs the average power of the reference cell to the left of the i-th detection cell, pR-iThe average power of the reference unit at the right side of the ith detection unit;
for a certain detection unit, if xiWhile satisfying the condition E1～E6Then, it is determined as a foreign object on the road surface, if xiWhile satisfying the condition E1～E4And does not satisfy E5Or E6Then the target is judged to be large and masked.
In an embodiment of the present application, the method further includes performing secondary identification on the target, where the secondary identification includes:
setting a distance threshold DeltaR, the first large target Tgt1-. DELTA.R and the last large target TgtnTargets within the range of +. DELTA.R are determined as large targets.
In an embodiment of the present application, the average power of the left reference unit of the i-th detection unit
Average power of reference unit at right side of ith detection unit
In the formula, xjThe power module value of the jth detection unit is M, the reference unit number and B, the protection unit number and both M and B are even numbers.
In an embodiment of the application, when the attribute of the target is determined to be a foreign object on the road surface, the target is alarmed.
In another aspect, the present application provides an off-road foreign object detection apparatus comprising
The data processing module is used for acquiring echo data and background clutter data of a foreign object on the road surface and determining constant false alarm detection reference data of the unit to be detected according to the echo data;
a condition establishing module for determining a floating threshold k for constant false alarm rate detectionaAnd a fixed threshold kbAnd a background clutter threshold kcAccording to a floating threshold kaFixed threshold kbAnd a background clutter threshold kcEstablishing target judgment conditions, wherein the judgment conditions comprise:
E1:xi>kb；
E2:xi>ka+yi；
E3:xi＝max{xjj ═ i-B/2., i + B/2, when j is<0 or j>When N is, xj＝0；
E4:xi>kc+ci；
E5:pL-i<kc+ci；
E6:pR-i<kc+ci；
In the formula, xiIs the power modulus, y, of the i-th detection unitiFor the power modulus of the reference cell corresponding to the ith detection cell, ciPower module value, p, corresponding to background clutter of the ith detection unitL-iIs the average power of the reference cell to the left of the i-th detection cell, pR-iThe average power of the reference unit at the right side of the ith detection unit;
a condition judging module for judging whether x is the same as the detected unitiWhile satisfying the condition E1～E6Then, it is determined as a foreign object on the road surface, if xiWhile satisfying the condition E1～E4And does not satisfy E5Or E6Then the target is judged to be large and masked.
In an embodiment of the present application, the apparatus further includes a secondary recognition module, where the secondary recognition module is configured to perform secondary recognition on the target, and the secondary recognition process includes:
setting a distance threshold DeltaR, the first large target Tgt1-. DELTA.R and the last large target TgtnTargets within the range of +. DELTA.R are determined as large targets.
In an embodiment of the present application, in the condition establishing module, an average power of a left reference unit of the i-th detecting unit is
The average power of the reference unit at the right side of the ith detection unit is
In the formula, xjThe power module value of the jth detection unit is M, the reference unit number and B, the protection unit number and both M and B are even numbers.
In an embodiment of the present application, the apparatus further includes an alarm module, configured to alarm the target when it is determined that the attribute of the target is a foreign object on the road surface.
In a final aspect, the present application provides a radar system comprising:
one or more processing devices;
a storage device having one or more programs stored thereon;
when executed by the one or more processing devices, cause the one or more processors to implement a method as any one of above.
The method and the device for detecting the foreign objects on the road surface and the detection radar can identify the large targets (such as airplanes, vehicles and the like) on the road surface and automatically shield the large targets while realizing normal detection of the foreign objects on the road surface, and can greatly improve the accuracy and the detection efficiency of detecting the foreign objects on the road surface, and reduce the false alarm rate of detecting the foreign objects and the operation and maintenance pressure of an airport.
Drawings
In order to more clearly illustrate the technical solutions provided by the present application, the following briefly introduces the accompanying drawings. It is to be expressly understood that the drawings described below are only illustrative of some embodiments of the invention.
Fig. 1 is a flowchart of a method for detecting a foreign object on a road surface according to the present application.
Fig. 2 is a diagram of original echoes and background clutter according to an embodiment of the present disclosure.
Fig. 3 is a schematic diagram of a detection result of a road surface foreign object detection method in the background art.
Fig. 4 is a schematic view of the detection effect of the method for detecting foreign objects on the road surface according to the present application.
Fig. 5 is a schematic diagram of a final detection result by the method for detecting a foreign object on a road surface according to the present application.
Fig. 6 is a schematic diagram illustrating the composition of the road surface foreign object detection apparatus according to the present application.
Fig. 7 is a schematic view of the composition of the radar for detecting foreign matter on a road surface according to the present invention.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the drawings in the embodiments of the present application.
In order to improve the detection accuracy and detection efficiency of foreign objects on the road surface in complex environments such as airports and the like, the application firstly provides a large target identification and shielding method in the detection process of the foreign objects on the road surface. The method can identify the large targets (such as airplanes, vehicles and the like) on the road surface while realizing normal detection of the foreign objects on the road surface, automatically shields the large targets, and greatly improves the accuracy and detection efficiency of the detection of the foreign objects on the road surface.
The method for detecting the foreign matters on the pavement comprises the following steps:
s10, firstly, based on FOD detection radar, obtaining a model value vector X ═ X of echo data to be detected1,x2,…,xN]TAnd the corresponding background clutter data module value vector C ═ C1,c2,…,cN]TUsing sliding window method to obtain constant false alarm detection reference data vector Y ═ Y of unit to be detected1,y2,…,yN]T. Wherein x isiRepresenting the modulus of the frequency domain echo data of the ith range gate, N representing the total number of range gates, yiRepresents the constant false alarm detection reference value of the ith detection cell (range gate).
The calculation steps for calculating the constant false alarm detection reference data vector Y of the unit to be detected by adopting the sliding window method are as follows:
s11, determining the number M of reference units and the number B of protection units, wherein M and B are both even numbers;
s12, calculating a reference data vector Y by a sliding window method,
wherein when j<0 or j>When N is, xj＝0。
S20, determining the detection threshold of constant false alarm rate and the background clutter threshold kcWherein the constant false alarm rate detection threshold comprises a floating threshold kaAnd a fixed threshold kb。
In the conventional method for detecting foreign objects on the road surface, a detection mode based on the combination of CFAR and clutter map cancellation is generally used, and for a certain detection unit, the conditions for determining whether the detection unit is a foreign object are as follows:
E1:xi>kb；
E2:xi>ka+yi；
E3:xi＝max{xjj ═ i-B/2., i + B/2, when j is<0 or j>When N is, xj＝0；
E4:xi>kc+ci(ii) a (conditions for excluding objects at fixed positions on the course)
In the formula, xiIs the power modulus, y, of the i-th detection unitiFor the power modulus of the reference cell corresponding to the ith detection cell, ciAnd the power mode value corresponding to the background clutter of the ith detection unit.
Since the power in the front and rear reference units of the detected unit will be increased when a large target such as an airplane, a vehicle, etc. appears in the detected unit, the present application has increased determination conditions:
E5:pL-i<kc+ci；
E6:pR-i<kc+ci；
wherein p isL-iIs the average power of the reference cell to the left of the i-th detection cell, pR-iIs the average power of the reference cell to the right of the i-th detection cell.
In the present application, the average power of the left reference cell of the above-mentioned i-th detection cell
Average power of reference unit at right side of ith detection unit
Wherein x isjThe power module value of the jth detection unit, M is the reference unit number, B is the protection unit number, and M and B are both even numbers.
S30, for a certain detecting element, if xiWhile satisfying the condition E1～E6If so, judging the road surface foreign object to be a road surface foreign object and marking the target attribute of the road surface foreign object as a road surface Foreign Object (FOD)i) (ii) a For a certain detection unit, if xiWhile satisfying the condition E1～E4Does not satisfy E5Or E6If the target is not large, the target attribute is marked as a large target (Tgt)i) And for large targets (Tgt)i) And (6) shielding.
Because the equal volume of the airplane and the vehicle is large, the position frequency spectrum of the target presents a power fluctuation cluster, so that a certain small-power range gate reflected by the target can be judged as a foreign object on the road surface in the target identification process, secondary identification is provided in the application, and the secondary identification process comprises the following steps:
setting a distance threshold Delta R and setting a first large target Tgt1-. DELTA.R and the last large target TgtnTargets in the range of +. DELTA.R (Mark Attribute FOD)i) High strengthDecision making to Large target (Mark Attribute Tgt)i). Finally, outputting the target attribute as a pavement Foreign Object (FOD) in the radar display systemi) And alarms, and automatically masks the attribute as a large target (Tgt) in the display systemi) The object of (1).
The method for detecting foreign objects on the road surface of the present application is further described below with a specific set of data.
In one embodiment of the present application, a mode value vector X ═ X of echo data to be detected obtained by the FOD detection radar is set as ═ X1,x2,…,xN]TAnd N is 13312. In the echo data, metal cylinders with the diameter of 2.0cm and the height of 2.0cm are respectively arranged at positions which are far away from the FOD detection radars 299.7m, 309.6m and 319.7m, and the target echo power is 94.91dBm, 93.11dBm and 92.87dBm respectively; the distance FOD detection radar is between about 335m and 365m, which is the echo of the airplane on the runway. As shown in fig. 1, the abscissa of the graph is distance (in m) and the ordinate is power (in dBm); the solid line is an echo data graph, and the dotted line is a runway background clutter graph of the azimuth; x and Y in the notation are distance and power values, respectively.
The method for detecting the foreign matters on the road surface comprises the following steps:
s10, based on the module value vector X ═ X of the echo data to be detected1,x2,…,xN]TThe constant false alarm detection reference vector Y ═ Y of the unit to be detected is calculated by a sliding window method1,y2,…,yN]T(ii) a Wherein, yiThe constant false alarm detection reference value of the ith detection unit (range gate) is calculated as follows: s11, setting the number of reference units to be 16 and the number of protection units to be 8, wherein the setting is an experience setting;
s12, calculating a reference vector Y by a sliding window method,
wherein when j<0 or j>13312 is xj＝0；
S20, determining the detection threshold of constant false alarm rate and the floating threshold ka8, fixed threshold k b90, background clutter threshold kc＝13。
Based on the module value vector X ═ X of the echo data to be detected1,x2,…,xN]TThe background clutter data module value vector C corresponding to the echo is ═ C1,c2,…,cN]TAnd the constant false alarm detection reference vector Y ═ Y1,y2,…,yN]TFor each detection unit, the detection is carried out according to the following conditions:
E1:xi>kb；
E2:xi>ka+yi；
E3:xi＝max{xjj ═ i-B/2., i + B/2, when j is<0 or j>13312 is xj＝0；
E4:xi>kc+ci；
E5:pL-i<kc+ci；
E6:pR-i<kc+ci；
S30, target detection and identification
As shown in FIG. 2, in the case of the above data, if the method of combining the constant false alarm rate detection and the clutter map detection in the prior art is adopted, all targets will be determined as the Foreign Objects (FOD) on the road surface1，FOD2，FOD3，FOD4，FOD5，FOD6，FOD7)；
As shown in fig. 3, the metal cylinders at 299.7m, 309.6m and 319.7m are identified as foreign objects on the road surface (FOD) using the decision conditions in the detection method proposed by the present application1，FOD2，FOD3) (ii) a Three of the four targets caused by the aircraft are identified as large targets (Tgt)1，Tgt2，Tgt3) One of the foreign objects identified as pavement Foreign Objects (FOD)4)。
As shown in fig. 4 and 5, due to the large object at the extreme ends(Tgt1，Tgt3) With a road surface foreign body (FOD) in between4) Therefore, the target is identified twice, when identifying twice, a distance threshold DeltaR is set as 5m, the first large target (Tgt)1) Is 336.3m, the last large target (Tgt)3) Is 352.5m, so that all target attributes in the range between 331.3m and 357.5m can be forced to be large targets (Tgt), road-side Foreign Objects (FOD)4) Is 337m, so that Foreign Objects (FOD) on the road surface are identified twice4) Target property of (2) into a large target (Tgt)4)。
Finally, the metal cylinders at the radar display system output 299.7m, 309.6m, and 319.7m are road surface Foreign Objects (FOD)1，FOD2，FOD3) And the display system automatically masks the large target warning (Tgt) caused by the aircraft1，Tgt2，Tgt3，Tgt4)。
In the above warning, the foreign objects on the road surface may be displayed in a warning in a special color (e.g., red) in the display system to represent the operator.
The method for detecting the foreign objects on the road surface not only successfully detects the foreign objects on the three road surfaces, but also successfully carries out automatic identification and shielding on large targets which do not need to be alarmed, achieves the expected effect, effectively improves the accuracy and detection efficiency of detecting the foreign objects on the road surface, and reduces the false alarm rate of detecting the foreign objects and the airport operation and maintenance pressure.
As shown in fig. 6, the present application provides in another aspect an off-road foreign object detecting device 10, including:
the data processing module 11 is configured to acquire echo data and background clutter data of a road surface foreign object, and determine, according to the echo data, a constant false alarm detection reference data of the unit to be detected;
a condition establishing module 12 for determining a floating threshold k for constant false alarm rate detectionaAnd a fixed threshold kbAnd a background clutter threshold kcAnd according to a floating threshold kaFixed threshold kbAnd a background clutter threshold kcEstablishing a judgment condition for target detection, and judgingThe conditions include:
E1:xi>kb；
E2:xi>ka+yi；
E3:xi＝max{xjj ═ i-B/2., i + B/2, when j is<0 or j>When N is, xj＝0；
E4:xi>kc+ci；
E5:pL-i<kc+ci；
E6:pR-i<kc+ci；
In the formula, xiIs the power modulus, y, of the ith detection celliFor the power modulus of the reference cell corresponding to the ith detection cell, ciPower module value, p, corresponding to background clutter of the ith detection unitL-iAverage power of reference cell at left side of i-th detection cell, pR-iThe average power of the reference unit at the right side of the ith detection unit;
a condition judging module 13 for judging whether x is a certain detection unitiWhile satisfying the condition E1～E6Then it is determined as a foreign object on the road surface, if xiWhile satisfying the condition E1～E4And does not satisfy E5Or E6Then the target is judged to be large and masked.
In this application, the device 10 for detecting foreign objects on a road surface further includes a secondary recognition module 14, the secondary recognition module 14 is used for performing secondary recognition on the target, and the secondary recognition process includes:
setting a distance threshold Δ R, the first large target Tgt1-. DELTA.R and the last large target TgtnTargets within the range of +. DELTA.R are determined as large targets.
In the present application, in the condition establishing module 12, the average power of the left reference unit of the i-th detecting unit is
The ith detection unit right parameterThe average power of the test unit is
In the formula, xjThe power module value of the jth detection unit is M, the reference unit number and B, the protection unit number and both M and B are even numbers.
In this application, the apparatus further includes an alarm module 15, configured to alarm the target when the attribute of the target is determined to be a foreign object on the road surface.
Finally, as shown in fig. 7, the present application further provides an off-road foreign object detection radar, where the radar 20 mainly includes two parts, one part is a processing device, and the other part is a display system 22, the processing device can be accessed by a processor 21 with data processing capability in the radar system, of course, other processing devices may be adopted or added, the processing device is used for processing data, and the display system 22 is used for displaying the content processed by the processor 21. The processor 21 includes the modules of the runway foreign object detection apparatus 10, and refers to the contents of the runway foreign object detection apparatus or the runway foreign object detection method in the present application for the data processing process. After the data is processed by the processor 21, it is transmitted to the display system 22, and the display system 22 displays the data.
The method and the device for detecting the foreign objects on the road surface and the detection radar have the advantages that the method and the device for detecting the foreign objects on the road surface and the detection radar are used for solving the problem of detecting the foreign objects in the complex facility environment of the airport road surface, and compared with a constant false alarm rate detection technology or a detection technology combining constant false alarm rate detection and clutter map cancellation detection in the prior art, the method and the device for detecting the foreign objects on the road surface have the advantages that:
1) the method and the device can identify large targets (such as airplanes, vehicles and the like) on the road surface and automatically shield the large targets while realizing normal detection of foreign objects on the road surface;
2) the method and the device can greatly improve the accuracy and detection efficiency of detecting the foreign objects on the road surface, and reduce the false alarm rate of detecting the foreign objects and the operation and maintenance pressure of the airport. (ii) a
3) The method and the device only need to be improved on the basis of the existing mature detection technology, and the engineering is simple to realize.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A method for detecting foreign objects outside a road surface, which is used for identifying and shielding large targets in the radar detection process, and is characterized by comprising the following steps
Acquiring echo data and background clutter data of a foreign object on a road surface, and determining constant false alarm detection reference data of a unit to be detected according to the echo data;
determining a floating threshold k for constant false alarm rate detectionaAnd a fixed threshold kbAnd a background clutter threshold kcAccording to a floating threshold kaFixed threshold kbAnd a background clutter threshold kcEstablishing target judgment conditions, wherein the judgment conditions comprise:
E1:xi>kb；
E2:xi>ka+yi；
E3:xi＝max{xjj ═ i-B/2., i + B/2, when j is<0 or j>When N is, xj＝0；
E4:xi>kc+ci；
E5:pL-i<kc+ci；
E6:pR-i<kc+ci；
In the formula, xiIs the power modulus, y, of the i-th detection unitiFor the power modulus of the reference cell corresponding to the ith detection cell, ciPower module value, p, corresponding to background clutter of the ith detection unitL-iFor the left side of the i-th detection unitAverage power of reference cell, pR-iThe average power of the reference unit at the right side of the ith detection unit;
for a certain detection unit, if xiWhile satisfying the condition E1～E6Then, it is determined as a foreign object on the road surface, if xiWhile satisfying the condition E1～E4And does not satisfy E5Or E6Then the target is judged to be large and masked.
2. The method of claim 1, further comprising performing a secondary identification of the target, the secondary identification comprising:
setting a distance threshold DeltaR, the first large target Tgt1-. DELTA.R and the last large target TgtnTargets within the range of +. DELTA.R are determined as large targets.
3. The method of detecting a foreign object on a roadway surface of claim 1 or claim 2,
average power of left reference unit of the ith detection unit
Average power of reference unit at right side of ith detection unit
In the formula, xjThe power module value of the jth detection unit is M, the reference unit number and B, the protection unit number and both M and B are even numbers.
4. The method of claim 1, wherein the warning is given to the target when the attribute of the target is determined to be a pavement foreign object.
5. An apparatus for detecting foreign objects outside a road surface, the apparatus comprising
The data processing module is used for acquiring echo data and background clutter data of a foreign object on the road surface and determining constant false alarm detection reference data of the unit to be detected according to the echo data;
a condition establishing module for determining a floating threshold k for constant false alarm rate detectionaAnd a fixed threshold kbAnd a background clutter threshold kcAccording to a floating threshold kaFixed threshold kbAnd a background clutter threshold kcEstablishing target judgment conditions, wherein the judgment conditions comprise:
E1:xi>kb；
E2:xi>ka+yi；
E3:xi＝max{xjj ═ i-B/2., i + B/2, when j is<0 or j>When N is, xj＝0；
E4:xi>kc+ci；
E5:pL-i<kc+ci；
E6:pR-i<kc+ci；
In the formula, xiIs the power modulus, y, of the i-th detection unitiFor the power modulus of the reference cell corresponding to the ith detection cell, ciPower module value, p, corresponding to background clutter of the ith detection unitL-iIs the average power of the reference cell to the left of the i-th detection cell, pR-iThe average power of the reference unit at the right side of the ith detection unit;
a condition judging module for judging whether x is a certain detection unitiWhile satisfying the condition E1～E6Then, it is determined as a foreign object on the road surface, if xiWhile satisfying the condition E1～E4And does not satisfy E5Or E6Then the target is determined to be large and masked.
6. The apparatus of claim 5, further comprising a secondary identification module for performing a secondary identification of the target, the secondary identification comprising:
setting a distance threshold DeltaR, the first large target Tgt1-. DELTA.R and the last large target TgtnTargets within the range of +. DELTA.R are determined as large targets.
7. The apparatus according to claim 5 or 6, wherein the condition establishing module is configured to determine an average power of the left reference unit of the i-th detecting unit as
The average power of the reference unit at the right side of the ith detection unit is
In the formula, xjThe power module value of the jth detection unit is M, the reference unit number and B, the protection unit number and both M and B are even numbers.
8. The apparatus of claim 5, further comprising an alert module for alerting the target when the attribute of the target is determined to be a roadside foreign object.
9. A radar system, characterized in that the radar system comprises:
one or more processing devices;
a storage device having one or more programs stored thereon;
when executed by the one or more processing devices, cause the one or more processing devices to implement the method of any of claims 1-4.
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| CN111273363A (en) * | 2020-01-19 | 2020-06-12 | 沈阳汇通智联电子工程设计安装有限公司 | Center line lamp buckling and removing method of FOD detection equipment and FOD detection equipment |
| CN111696390B (en) * | 2020-06-23 | 2023-01-20 | 五冶集团上海有限公司 | Intelligent airport runway FOD device and working process thereof |
| CN112213695B (en) * | 2020-10-15 | 2023-04-11 | 四川大学 | Airport runway foreign matter detection method based on unit average clutter map |
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