CN110441766A - A kind of airfield pavement FOD detection radar change Threshold detection method - Google Patents
A kind of airfield pavement FOD detection radar change Threshold detection method Download PDFInfo
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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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
- G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
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Abstract
The invention discloses a kind of airfield pavement FOD detection radars to become Threshold detection method, and the step of detection method is as follows: 1) being based on echo data modulus value vector X=[x to be measured1,x2,…,xN]T, the CFAR detection reference value Y=[y of unit to be detected is found out with sliding window method1,y2,…,yN]T；Wherein, xiRepresent the echo data modulus value of i-th of range gate；N represents total distance door number；yiRepresent the CFAR detection reference value of i-th of detection unit；2) the change threshold value of each detection unit is calculated；3) it calculates each detection unit and becomes Threshold detection threshold value Z:Z=[z1,z2,…,zN]T, wherein4) it detects target: comparing xiWith ziIf xi< zi, then it is assumed that unit is detected without target；If xi> zi, then it is assumed that detected unit has target, target range idr.Detection method provided by the invention can not quote the middle-line lamp of airfield pavement while detecting small exotic, avoid when external physical prospecting is surveyed, and the false-alarm that middle-line lamp wrong report in airport generates influences the decision for patrolling a personnel.
Description
Technical field
The invention belongs to aviation safety technologies and Radar Signal Processing Technology field, and in particular to a kind of pair of airfield pavement
FOD detection radar monitoring method.
Background technique
Airfield runway foreign matter FOD (Foreign Object Debris) refers to and any appears in improper position in airport
Object, this object can scratch aero tyre, hit fuel tanker or body, cause to overrun, cause aircraft
Accident jeopardizes passenger survival property when serious, cause flight delay, abort, cause huge economic loss.
Currently, substantially also rely on artificial timed patrol to the detection of FOD both at home and abroad, this method not only low efficiency and can not
It leans on, occupies runway using the time, so that flight landing number is forced to reduce, and due to human eye vision fatigue, omission factor is non-
Chang Gao, there are potential dangers in runway landing for aircraft.Domestic and international many businesses and institutions have carried out one after another to FOD detection system
Research and development.Nowadays, installation FOD detection system carries out test and tests successively for some large-scale Civil Aviation Airport of American-European countries
Card, there are two types of modes for used technology, and one is fixed detection mode, another kind is Mobile detection mode.It is fixed
Detection mode need to install multiple detection devices in the determination position on airport, make the road face on entire airport that can be detected device and covered
Lid, higher cost；Mobile detection mode installs millimetre-wave radar using vehicular platform, realizes the detection of FOD, although detection needs
The different zones of airfield pavement are detected by the movement of vehicle, detection needs the regular hour every time, but its cost
It is lower, it is applicable to middle-size and small-size airport, and then be widely used in a variety of applications.
For mobile FOD detection radar in patrolling a detection process, the problem encountered is in the same of detection FOD target
When, middle-line lamp is quoted as FOD target often, to influence the judgement of marshal, and brings additional pressure to marshal
Power.FOD detection generally uses LFCW radar system, and traditional signal processing object detection method uses the fixed threshold side CFAR
Formula, in this mode, middle-line lamp nearby are easy to be taken as the detection of FOD target, cause false-alarm, and personnel's judgement is patrolled in influence.
Summary of the invention
Goal of the invention: to solve the above-mentioned problems, the invention proposes at a kind of simple and practical change Threshold detection signal
Reason method avoids the false of middle-line lamp target to the shadow of marshal's decision to meet FOD detection radar while detecting FOD
It rings, technical solution is as follows:
Technical solution:
A kind of the step of airfield pavement FOD detection radar change Threshold detection method, the detection method, is as follows:
1) it is based on echo data modulus value vector X=[x to be measured1,x2,…,xN]T, the perseverance of unit to be detected is found out with sliding window method
False-alarm detects reference value Y=[y1,y2,…,yN]T；
Wherein, xiRepresent the echo data modulus value of i-th of range gate；
N represents total distance door number；
yiRepresent the CFAR detection reference value of i-th of detection unit；
2) the change threshold value of each detection unit is calculated；
3) it calculates each detection unit and becomes Threshold detection threshold value Z:
Z=[z1,z2,…,zN]T,
Wherein,
4) it detects target: comparing xiWith ziIf xi< zi, then it is assumed that unit is detected without target；If xi> zi, then it is assumed that quilt
Detection unit has target, target range idr.
Further, the step 1) includes:
1.1) determine that number of reference M and protection location number B, M and B are even number；
1.2) Y is calculated with sliding window method,
Wherein, as j < 0 or j > N, xj=0.
Further, the step 2) includes:
2.1) constant false alarm threshold coefficient Tc is determined；
Constant false alarm threshold coefficient is calculated according to formula
TC=10log (ln (0.62/Pfa)+0.12ln(0.62/Pfa)·ln(PD/(1-PD))+1.7ln(PD/(1-
PD)))；
Wherein: PfaFor false alarm rate, PDFor detection probability.
2.2) it calculates and becomes threshold value vector T；
T=[t1,t2,…,tN]T,
Wherein, ti=Tc+k·(R-i·dr)
Wherein: k is the slope for becoming Threshold detection method and choosing, k ∈ [Δ Pmin/R,ΔPmax/ R], Δ PminFor changed power
Minimum value, Δ PmaxFor changed power maximum value, the distance that each range gate represents is dr, maximum detecting distance R=Ndr.
The utility model has the advantages that
The present invention proposes one on the basis of CFAR detection method for the application of airfield pavement FOD detection radar
Kind becomes Threshold detection method, and this method has following advantages:
1, small airport pavement foreign object, the size as low as metal cylinder of diameter 1.5cm high 1.5cm are capable of detecting when
Body；
2, the middle-line lamp of airfield pavement can not be quoted while detecting small exotic, avoided in external physical prospecting
When survey, the false-alarm that middle-line lamp wrong report in airport generates influences the decision for patrolling a personnel；
3, this method is simple and easy, by choosing suitable change Threshold detection slope k and constant false alarm threshold coefficient Tc
Easily building becomes thresholding equation, determines threshold value and realizes target detection.
Detailed description of the invention:
Fig. 1: the echo data modulus value vectogram to be detected of the embodiment of the present invention；
Fig. 2: existing FOD radar CFAR detection detection schematic diagram in the embodiment of the present invention；
Fig. 3: the FOD radar of the embodiment of the present invention becomes Threshold detection schematic diagram；
Fig. 4: the FOD detection system CFAR detection actual effect figure of the embodiment of the present invention；
Fig. 5: the FOD detection system of the embodiment of the present invention becomes Threshold detection actual effect figure.
Specific embodiment
The present invention is described in further details with reference to the accompanying drawing.
A kind of airfield pavement FOD detection radar change Threshold detection method, the echo data to be detected obtained based on FOD radar
Modulus value vector X=[x1,x2,…,xN]T, wherein xiThe echo data modulus value of i-th of range gate is represented, N represents total distance door number,
The distance that each range gate represents is dr, maximum detecting distance R=Ndr.It is characterized in that, steps are as follows for detection method:
Step 1 is based on echo data modulus value vector X=[x to be detected1,x2,…,xN]T, list to be detected is found out with sliding window method
The CFAR detection reference value Y=[y of member1,y2,…,yN]T；Wherein, yiRepresent the CFAR detection reference of i-th of detection unit
Value, steps are as follows for calculating:
1.1, determine that number of reference M and protection location number B, M and B are even number；
1.2 calculate Y with sliding window method,
Wherein, as j < 0 or j > N, xj=0；
Step 2, the change threshold value for calculating each detection unit, calculation method are as follows:
2.1, constant false alarm threshold coefficient Tc is determined；
2.2, it calculates and becomes threshold value vector T, T=[t1,t2,…,tN]T, wherein
ti=Tc+k·(R-i·dr)
Wherein, k is the slope for becoming Threshold detection method and choosing, k ∈ [Δ Pmin/R,ΔPmax/ R], Δ PminFor changed power
Minimum value, Δ PmaxFor changed power maximum value
Step 3 calculates each detection unit change Threshold detection threshold value Z, Z=[z1,z2,…,zN]T,
Wherein,
Step 4, detection target, the method is as follows:
Compare xiWith ziIf xi< zi, then it is assumed that unit is detected without target；If xi> zi, then it is assumed that detected unit has
Target, target range idr.
Embodiment:
In one embodiment of the present of invention, echo data modulus value vector X=[x to be detected that FOD radar obtains1,x2,…,
xN]T, N=2048, dr=0.1m, R=Ndr=204.8m；In the echo, distance FOD radar 40m, 70m, 100m, 130m
And at 160m, there is FOD target respectively, target is the metal cylinder of diameter 1.5cm high 1.5cm, target echo power difference
For 35dB, 30dB, 25dB, 20dB, 15dB；At distance FOD radar 30m, 60m, 90m, 120m and 150m, there is middle line respectively
Lamp, middle-line lamp echo power are respectively 35dB, 30dB, 25dB, 20dB, 15dB；As shown in Figure 1, abscissa is distance value, unit
For m, ordinate is performance number, unit dB；Solid line peak value is 5 FOD targets in echo, and dashed peaks are 5 middle-line lamps
Target；X and Y in mark are respectively distance and performance number；Detection process is as follows:
Step 1 is based on echo data modulus value vector X=[x to be detected1,x2,…,xN]T, list to be detected is found out with sliding window method
The CFAR detection reference value Y=[y of member1,y2,…,yN]T；Wherein, yiRepresent the CFAR detection reference of i-th of detection unit
Value, steps are as follows for calculating:
1.1, number of reference 16 and protection location number 8 are determined；
1.2 calculate Y with sliding window method,
Wherein, as j < 0 or j > 2048, xj=0；
Step 2, the change threshold value for calculating each detection unit, calculation method are as follows:
2.1, constant false alarm threshold coefficient is determined；
Constant false alarm threshold coefficient is calculated according to formula,
TC=10log (ln (0.62/Pfa)+0.12ln(0.62/Pfa)·ln(PD/(1-PD))+1.7ln(PD/(1-
PD)))
Wherein: false alarm rate Pfa=1.2610-7, detection probability PD=0.9, T is calculatedc=13.6
2.2, it calculates and becomes threshold value vector T, T=[t1,t2,…,tN]T, wherein
ti=13+k (204.8-i0.1)；
K is the slope for becoming Threshold detection method and choosing, and takes 0.09 in the present embodiment；
Step 3 calculates each detection unit change Threshold detection threshold value Z, Z=[z1,z2,…,zN]T, in which:
In attached drawing 3, dotted line is to become after Threshold detection threshold value Z is converted into decibels to map；
Step 4, detection target, steps are as follows:
Compare xiWith ziIf xi< zi, then it is assumed that unit is detected without target, if xi> zi；Then think that being detected unit has
Target, target range idr.
In the present embodiment, if detected using traditional CFAR, as shown in Figure 2 and Figure 4, then testing result will quote mesh
It marks as follows:
Tar1: distance 30m, power 23dB, practical is middle-line lamp；
Tar2: distance 40m, power 35dB；
Tar3: distance 60m, power 18dB, practical is middle-line lamp；
Tar4: distance 70m, power 30dB；
Tar5: distance 90m, power 13dB, practical is middle-line lamp；
Tar6: distance 100m, power 25dB；
Tar7: distance 130m, power 20dB；
Tar8: distance 160m, power 15dB；
I.e. other than practical 5 FOD targets, 3 middle-line lamp targets have also been quoted；
And if as shown in Figure 3 and Figure 5, then testing result will quote mesh using the change Threshold detection method in this patent
It marks as follows:
Tar1: distance 40m, power 35dB；
Tar2: distance 70m, power 30dB；
Tar3: distance 100m, power 25dB；
Tar4: distance 130m, power 20dB；
Tar5: distance 160m, power 15dB；
Only quoted 5 practical FOD targets, middle-line lamp target is no longer quoted, reached can effectively detect target and
Eliminate the effect of middle-line lamp false-alarm.
Claims (3)
1. a kind of airfield pavement FOD detection radar becomes Threshold detection method, which is characterized in that the step of the detection method such as
Under:
1) it is based on echo data modulus value vector X=[x to be measured1,x2,…,xN]T, the constant false alarm of unit to be detected is found out with sliding window method
Detect reference value Y=[y1,y2,…,yN]T；
Wherein, xiRepresent the echo data modulus value of i-th of range gate；
N represents total distance door number；
yiRepresent the CFAR detection reference value of i-th of detection unit；
2) the change threshold coefficient of each detection unit is calculated；
3) it calculates each detection unit and becomes Threshold detection threshold value Z:
Z=[z1,z2,…,zN]T,
Wherein,
4) it detects target: comparing xiWith ziIf xi< zi, then it is assumed that unit is detected without target；If xi> zi, then it is assumed that it is detected
Unit has target, target range idr.
2. airfield pavement FOD detection radar according to claim 1 becomes Threshold detection method, which is characterized in that the step
It is rapid 1) to include:
1.1) determine that number of reference M and protection location number B, M and B are even number；
1.2) Y is calculated with sliding window method,
Wherein, as j < 0 or j > N, xj=0.
3. airfield pavement FOD detection radar according to claim 1 becomes Threshold detection method, which is characterized in that the step
It is rapid 2) to include:
2.1) constant false alarm threshold coefficient Tc is determined；
2.2) it calculates and becomes threshold value vector T, T=[t1,t2,…,tN]T,
Wherein, ti=Tc+k·(R-i·dr)
Wherein, k is the slope for becoming Threshold detection method and choosing.
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