CN110346787B - Two-dimensional speed measurement radar system - Google Patents
Two-dimensional speed measurement radar system Download PDFInfo
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- CN110346787B CN110346787B CN201910676302.3A CN201910676302A CN110346787B CN 110346787 B CN110346787 B CN 110346787B CN 201910676302 A CN201910676302 A CN 201910676302A CN 110346787 B CN110346787 B CN 110346787B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention relates to a radar system for measuring two-dimensional speed, which comprises two emission sources arranged on an object and two pairs of array antennas connected with the corresponding emission sources, wherein the array antennas are distributed at the bottom of the object, one pair of array antennas are distributed at the front side and the rear side of the bottom of the object, the other pair of array antennas are distributed at the left side and the right side of the bottom of the object, the two pairs of array antennas are connected with a digital signal processing unit, and the digital signal processing unit measures the accurate speed of the object and the swing intensity of the object by utilizing the double-channel speed measurement and the radar mechanical structure angle. The front and rear double antennas are arranged at the bottom of the object, so that errors in speed caused by fluctuation or installation angle errors of the object can be effectively eliminated, and the accuracy of speed measurement is ensured; the left and right double antennas are arranged at the bottom of the object, so that the swing intensity of the object is accurately measured, and the driving safety of the train is ensured.
Description
Technical Field
The invention relates to the field of radar speed measurement, in particular to a radar system for two-dimensional speed measurement.
Background
The safe running of the train high-speed rail is related to national pulse, the trip safety of common people is guaranteed, one important parameter for ensuring the safe running of the high-speed train is the speed of the train, and as the train high-speed rail runs at high speed, the train body swings to influence the accuracy of measuring the speed, and how to measure the speed of the train with high precision and real time and high speed is important; at present, the domestic high-speed train speed measuring radar basically belongs to the blank, the traditional Doppler effect speed measuring radar is singly utilized, the accurate speed can not be accurately measured no matter the speed is low, the speed error caused by train fluctuation or installation angle error can not be counteracted, and a radar system for measuring the two-dimensional speed is provided for accurately measuring the speed of the high-speed train and the swing intensity of a vehicle body.
Disclosure of Invention
In order to solve the technical problems, the invention provides a radar system for two-dimensional speed measurement. The technical problems to be solved by the invention are realized by adopting the following technical scheme:
the radar system for measuring the two-dimensional speed comprises two emission sources arranged on an object and two pairs of array antennas connected with the corresponding emission sources, wherein the array antennas are distributed at the bottom of the object, one pair of array antennas are distributed at the front side and the rear side of the bottom of the object, the other pair of array antennas are distributed at the left side and the right side of the bottom of the object, the two pairs of array antennas are connected with a digital signal processing unit, and the digital signal processing unit measures the accurate speed of the object and the swing intensity of the object by utilizing the double-channel speed measurement and the radar mechanical structure angle.
The emission source comprises a phase frequency detector, a voltage-controlled oscillator and a loop filter, and a phase-locked loop structure is formed among the phase frequency detector, the voltage-controlled oscillator and the loop filter.
The emission sources are connected with waveform signal amplifiers.
The digital signal processing unit comprises a waveform signal amplifier, a filter, a mixer and a digital chip, wherein the mixer mixes signals received by the array antenna to obtain intermediate frequency signals, and the digital chip performs AD conversion and Fourier conversion to obtain the speed and distance of an object.
The accurate speed measurement of the object comprises the following steps:
the first step: from the vector characteristics of the velocity, the magnitude of the velocity measured by the forward beam is V 1 The velocity of the backward beam measured is V 2 Vcos β, where α and β are the angles between the front and back beams and the bottom of the object, respectively;
and a second step of: with v=v 1 /cosα＝V 2 Cosβ=v2/cos (180- Φ - α), by V 1 And V 2 The value of the current alpha is determined, and then the object speed V is accurately determined, wherein phi is the mechanical structure angle of the radar.
The swing intensity measuring step of the object is as follows:
the first step: from the vector characteristics of the speeds, the swing speed of the vehicle body, which can be measured by the left channel, is V 1 =vsin γ, the vehicle body swing speed of the right lane is V 2 =vsin ζ, where γ and ζ are the angles of the left and right beams with the bottom of the train;
and a second step of: by V 1 /sinγ＝V 2 /sinζ＝V 2 /sin (180-delta-gamma), by V 1 ,V 2 And (3) solving the current gamma, and then accurately solving the swinging speed of the object so as to reflect the intensity of the left and right swinging of the object, wherein delta is the angle of the radar mechanical structure.
The wave form that the emission source sent is FMCW triangular wave, and wave beam is the narrow wave.
The beneficial effects of the invention are as follows: the front and rear double antennas are arranged at the bottom of the object, so that errors in speed caused by fluctuation or installation angle errors of the object can be effectively eliminated, and the accuracy of speed measurement is ensured; the left and right double antennas are arranged at the bottom of the object, so that the swing intensity of the object is accurately measured, and the driving safety of the train is ensured.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic diagram of a system architecture of the present invention;
FIG. 2 is a schematic diagram of a digital process according to the present invention;
FIG. 3 is a schematic diagram of a speed measurement according to the present invention;
FIG. 4 is a schematic diagram of the swing intensity measurement of the vehicle body according to the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood by a person skilled in the art, the present invention will be more clearly and more fully described below with reference to the accompanying drawings in the embodiments, and of course, the described embodiments are only a part of, but not all of, the present invention, and other embodiments obtained by a person skilled in the art without making any inventive effort are within the scope of the present invention.
As shown in fig. 1 to 4, a radar system for measuring two-dimensional velocity includes two transmitting sources mounted on an object and two pairs of array antennas connected to the corresponding transmitting sources, wherein the array antennas are all distributed at the bottom of the object, one pair of array antennas is distributed at the front and rear sides of the bottom of the object, the other pair of array antennas is distributed at the left and right sides of the bottom of the object, the two pairs of array antennas are all connected with a digital signal processing unit, and the digital signal processing unit measures the accurate object velocity and the swing intensity of the object by using the two-channel velocity measurement and the radar mechanical structure angle.
The emission source comprises a phase frequency detector, a voltage-controlled oscillator and a loop filter, and a phase-locked loop structure is formed among the phase frequency detector, the voltage-controlled oscillator and the loop filter; as shown in fig. 1, the phase frequency detector is a PFD, the voltage controlled oscillator is a VCO, and the loop filter is an LPF.
The emission sources are connected with waveform signal amplifiers.
The digital signal processing unit comprises a waveform signal amplifier, a filter, a mixer and a digital chip, wherein the mixer mixes signals received by the array antenna to obtain intermediate frequency signals, and the digital chip performs AD conversion and Fourier conversion to obtain the speed and distance of an object; the digital chip processing process is as follows: let the emission frequency Ft (T) =cos (2×pi) (fo+2×bw/t+t) +phi), the signal returns after passing through an object with a distance R of speed V, the time is = (2 r+vt)/C (C is the speed of light), the reception frequency Fr (T) =cos (2×pi) (fo+2×bw/T (T- (2×r+v+t)/C) +phi), the intermediate frequency signal obtained after mixing is fo=2×bw/(c×t) (2×r+v×t), and since the object speed is negligible compared with the speed of light, fo can be abbreviated as fo=4×r/(c×t), i.e. Fup and Fdn in fig. 2 contain the distance and speed frequency of the object, and frequency of frequency conversion is performed on Fup and Fdn, and frequency conversion is performed to obtain a value of fp=35, and frequency of frequency is equal to fr+d, i.e. f is equal to two, and f is equal to f, i.e. f is equal to two, i.f.
The accurate speed measurement of the object comprises the following steps:
the first step: from the vector characteristics of the velocity, the forward waveThe speed of the beam is V 1 The velocity of the backward beam measured is V 2 Vcos β, where α and β are the angles between the front and back beams and the bottom of the object, respectively;
and a second step of: with v=v 1 /cosα＝V 2 /cosβ＝V 2 Cos (180-phi-alpha), by V 1 And V 2 Solving the value of the current alpha, and then accurately solving the train speed V, wherein phi is the mechanical structure angle of the radar; alpha is the angle between the forward beam and the bottom of the train as shown in fig. 3; as shown in fig. 3, the front and rear array antennas are installed at the bottom of the train, the angle alpha is the angle between the front beam and the bottom of the train, the angle beta is the angle between the rear beam and the bottom of the train, the angle phi is the angle of the radar mechanical mechanism, and the angle V is used for the front and rear array antennas 1 And V 2 The value of the current alpha is calculated, and then the speed V of the train is precisely calculated.
The swing intensity measuring step of the object is as follows:
the first step: from the vector characteristics of the speeds, the swing speed of the vehicle body, which can be measured by the left channel, is V 1 =vsin γ, the vehicle body swing speed of the right lane is V 2 =vsin ζ, where γ and ζ are the angles of the left and right beams with the bottom of the train;
and a second step of: by V 1 /sinγ＝V 2 /sinζ＝V 2 /sin (180-delta-gamma), by V 1 ,V 2 Solving the current gamma, and then accurately solving the swing speed of the vehicle body so as to reflect the intensity of the left and right swing of the vehicle body, wherein delta is the angle of the radar mechanical structure; as shown in FIG. 4, the left and right array antennas are mounted at the bottom of the train, gamma is the angle between the left beam and the bottom of the train, ζ is the angle between the right beam and the bottom of the train, and δ is the angle of the radar mechanical mechanism, through V 1 And V 2 The current gamma is obtained, and the swing speed of the vehicle body is accurately obtained, so that the left-right swing distance degree of the vehicle body is reflected.
The wave form sent by the transmitting source is FMCW triangular wave, and the wave beam is narrow wave; the echo of the FMCW radar can raise the Doppler frequency of the velocity through the distance frequency, and accurate velocity information can be easily obtained even if the velocity is very low.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. A radar system for two-dimensional velocity measurement, characterized by: the device comprises two emission sources arranged on an object and two pairs of array antennas connected with the corresponding emission sources, wherein the array antennas are distributed at the bottom of the object, one pair of array antennas are distributed at the front side and the rear side of the bottom of the object, the other pair of array antennas are distributed at the left side and the right side of the bottom of the object, the two pairs of array antennas are connected with digital signal processing units, and the digital signal processing units measure the accurate speed of the object and the swing intensity of the object by utilizing the double-channel speed measurement and the radar mechanical structure angle;
the emission source comprises a phase frequency detector, a voltage-controlled oscillator and a loop filter, and a phase-locked loop structure is formed among the phase frequency detector, the voltage-controlled oscillator and the loop filter;
the emission sources are connected with waveform signal amplifiers;
the digital signal processing unit comprises a waveform signal amplifier, a filter, a mixer and a digital chip, wherein the mixer mixes signals received by the array antenna to obtain intermediate frequency signals, and the digital chip performs AD conversion and Fourier conversion to obtain the speed and distance of an object;
in the accurate velocity measurement of the object, the velocity measured by the forward beam is V 1 The velocity of the backward beam measured is V 2 Vcos β, where α and β are the angles between the front and back beams and the bottom of the object, respectively; with v=v 1 /cosα＝V 2 /cosβ＝V 2 Cos (180-phi-alpha), by V 1 And V 2 Determination ofThe value of the current alpha is then accurately calculated to obtain the object speed V, wherein phi is the mechanical structure angle of the radar;
when the swing intensity of the object is measured, the swing speed of the vehicle body which can be measured by the left channel is V 1 =vsin γ, the vehicle body swing speed of the right lane is V 2 =vsin ζ, where γ and ζ are the angles of the left and right beams with the bottom of the train; by V 1 /sinγ＝V 2 /sinζ＝V 2 /sin (180-delta-gamma), by V 1 ,V 2 Solving the current gamma, accurately solving the swinging speed of the object, and reflecting the intensity of the left and right swinging of the object, wherein delta is the angle of the radar mechanical structure;
the wave form that the emission source sent is FMCW triangular wave, and wave beam is the narrow wave.
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| CN201910676302.3A CN110346787B (en) | 2019-07-25 | 2019-07-25 | Two-dimensional speed measurement radar system |
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| CN201910676302.3A CN110346787B (en) | 2019-07-25 | 2019-07-25 | Two-dimensional speed measurement radar system |
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| CN110346787B true CN110346787B (en) | 2023-07-28 |
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Citations (3)
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| GB9118232D0 (en) * | 1991-08-23 | 1991-10-16 | Marconi Gec Ltd | Doppler speed sensor |
| FR2809186A1 (en) * | 2000-05-22 | 2001-11-23 | Celine Corbrion | Absolute speed measurement system for train or road vehicle uses moving object with Doppler radar and theoretical Doppler function with time and height is found |
| CN202916440U (en) * | 2012-10-30 | 2013-05-01 | 上海仁昊电子科技有限公司 | Double-antenna asymmetric emission angle-based radar speed measurement sensor |
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| FR2949851B1 (en) * | 2009-09-08 | 2011-12-02 | Sagem Defense Securite | METHOD FOR DETERMINING A CARRIER NAVIGATION SPEED AND HYBRIDIZATION DEVICE |
| CN104345308A (en) * | 2013-07-24 | 2015-02-11 | 均利科技股份有限公司 | Vehicle detector and method for measuring vehicle distance and vehicle speed |
| CN104345309A (en) * | 2013-08-09 | 2015-02-11 | 山推工程机械股份有限公司 | Vehicle speed measuring method and device |
| CN103885056A (en) * | 2014-03-24 | 2014-06-25 | 北京川速微波科技有限公司 | Radar speed measuring device and method based on angle compensation |
| CN208060706U (en) * | 2018-02-07 | 2018-11-06 | 北京聚速微波技术有限公司 | A kind of miniaturization locomotive radar |
| CN108663676A (en) * | 2018-07-25 | 2018-10-16 | 中联天通科技（北京）有限公司 | Millimeter speed-measuring radar system in a kind of navigation of novel compositions |
| CN109343048A (en) * | 2018-09-29 | 2019-02-15 | 芜湖易来达雷达科技有限公司 | The radar surveying method of the high low velocity of this vehicle short distance |
| CN109298412B (en) * | 2018-09-30 | 2022-06-14 | 北京航空航天大学 | Target two-dimensional speed measurement method based on double-frequency coherent radar |
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- 2019-07-25 CN CN201910676302.3A patent/CN110346787B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9118232D0 (en) * | 1991-08-23 | 1991-10-16 | Marconi Gec Ltd | Doppler speed sensor |
| FR2809186A1 (en) * | 2000-05-22 | 2001-11-23 | Celine Corbrion | Absolute speed measurement system for train or road vehicle uses moving object with Doppler radar and theoretical Doppler function with time and height is found |
| CN202916440U (en) * | 2012-10-30 | 2013-05-01 | 上海仁昊电子科技有限公司 | Double-antenna asymmetric emission angle-based radar speed measurement sensor |
Non-Patent Citations (1)
| Title |
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| 用于机车测速的雷达传感器算法研究;李萌;曹林;王东峰;;传感器与微系统(第12期);75-77 * |
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