CN110687530A - Miniature security radar monitoring system - Google Patents
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- CN110687530A CN110687530A CN201910879881.1A CN201910879881A CN110687530A CN 110687530 A CN110687530 A CN 110687530A CN 201910879881 A CN201910879881 A CN 201910879881A CN 110687530 A CN110687530 A CN 110687530A
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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
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
- H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention relates to a miniature security radar monitoring system, which comprises a receiving and transmitting unit, a signal processing unit and a data processing unit; the receiving and transmitting unit transmits and receives frequency modulation continuous wave signals, the frequency modulation continuous wave signals are mixed with local oscillation signals through a low noise amplifier, digital intermediate frequency signals are obtained through sampling of a filter and an ADC, the signal processing unit conducts FFT on the intermediate frequency signals in a distance dimension, a Doppler dimension and an antenna array element dimension to obtain distance, radial speed and direction information of each sampling point; filtering clutter and noise by a CFAR (computational fluid dynamics) of a Doppler dimension and a distance dimension, and detecting target point trace information of information such as distance, direction, radial speed, amplitude and the like; the information is sent to a data processing unit through a serial port, the data processing unit obtains the position and course speed movement information of the target through DBSCAN and a target tracking algorithm, and the information is reported to a server through a network; the server displays, aggregates and alarms the target track information, and controls the video monitoring unit to accurately monitor the security of the set area.
Description
Technical Field
The invention belongs to the technical field of security monitoring equipment, and particularly relates to radar monitoring system equipment.
Background
In view of the complex environment of modern society, many departments, units or public places need to implement security monitoring. In the past, most of security measures of defense sites adopt that barriers such as iron fences, fence nets or enclosing walls are arranged around buildings or certain areas, and security personnel are arranged to patrol to ensure the security. Later, with the development of science and technology, new equipment of new technologies such as infrared monitoring, video monitoring, revealing cable, vibrating cable are constantly applied to the safety precaution field, have improved security protection efficiency, but these technologies still have some inadequacies, can't satisfy the tighter demand of safety protection under the current situation. For example: the infrared monitoring has poor adaptability to the environment and is easily influenced by visible light; the video monitoring system needs an observer to monitor a picture for a long time, and judges whether a person intrudes or not by comparing the difference of a plurality of frames of images, so that the workload is large, the video monitoring system is easily influenced by weather, ambient light and the like, and the alarm leakage rate is high; the cable system needs an intruder to directly or indirectly touch the sensor to trigger an alarm, is restricted by the installation environment, and has high cost. The social environment is complex and changeable, emergencies occur in some cases, traditional security equipment and measures are not suitable, the security requirement puts higher requirements on the advancement of the equipment, the equipment can work uninterruptedly in all weather conditions, multiple targets can be simultaneously detected in a set area, and the security equipment has the advantages of high sensitivity, strong anti-interference capability, high reliability, strong environmental adaptability, good economy and the like.
Disclosure of Invention
The invention aims to overcome the defects of poor real-time performance, low anti-interference capability, large workload of security personnel, high false alarm rate and false alarm rate, high manufacturing cost and unsatisfactory comprehensive effect of the security equipment in the prior art, and provides the security equipment which can improve the working efficiency of monitoring personnel, can simultaneously detect multiple targets, has good real-time performance, high sensitivity, strong anti-interference capability and environmental adaptability, low false alarm rate and false alarm rate, high reliability and lower cost.
The purpose of the invention is realized by the following technical scheme.
A miniature security radar monitoring system comprises a miniature radar and a server, and is characterized in that the radar comprises a receiving and transmitting unit, a signal processing unit and a data processing unit; the signal processing unit and the data processing unit are communicated through a serial port; the data processing unit is communicated with the server through a network;
the receiving and transmitting unit transmits and receives frequency modulation continuous wave signals through an antenna, the received signals are amplified through a low noise amplifier and then mixed with local oscillator signals to obtain intermediate frequency signals, the intermediate frequency signals are filtered through a filter, ADC sampling is carried out on the intermediate frequency signals to obtain digital intermediate frequency signals, and then the digital intermediate frequency signals are sent to the signal processing unit to be subjected to subsequent signal processing;
the signal processing unit is realized on the basis of a large-scale integrated and high-speed programmable digital signal processing DSP chip, realizes the signal processing of the intermediate frequency signal, and sequentially performs distance dimension FFT, Doppler dimension FFT and antenna array element dimension FFT to obtain the distance, radial speed and azimuth information of each sampling point; meanwhile, clutter and noise of the Doppler dimension and the distance dimension are filtered through the CFAR of the Doppler dimension and the distance dimension, a target in the target is detected, and target point trace information containing information such as distance, direction, radial speed and amplitude is obtained; the signal processing unit sends the target trace information to the data processing unit through a serial port;
the data processing unit is realized on the basis of a CPU platform, and carries out target accumulation processing on the received trace point information through a DBSCAN algorithm to filter and remove impurities, then carries out target tracking processing to obtain position information, course speed and other motion information of a target, and then reports the position and the motion information of the target to a server through a network;
the server realizes display, settlement and alarm of target track information according to the information of the data processing unit, and controls the video monitoring unit to capture close-range features of the set area in real time, so that accurate security monitoring of the set area is realized.
In the preferred scheme, the transceiver unit adopts two microstrip transmitting antennas and four microstrip receiving antennas, the two transmitting antennas alternately transmit frequency modulated continuous wave signals, the four receiving antennas simultaneously receive the reflected frequency modulated continuous wave signals, the received four paths of signals are simultaneously processed, and the four paths of signals are amplified by a low noise amplifier and then mixed with local oscillation signals to obtain intermediate frequency signals; filtering the intermediate frequency signal, performing ADC (analog to digital converter) sampling, and simultaneously obtaining four paths of digitized intermediate frequency signals; the intermediate frequency signal is a complex signal, the real part and the imaginary part are respectively 16 bits, each path of signal comprises 256 sampling points, and the sampling rate is 5500 k; 32 pairs of pulses are transmitted in each pulse repetition period.
In a preferred embodiment, the signal processing unit implements signal processing of the intermediate frequency signal, including FFT in three dimensions of a distance dimension, a doppler dimension, and an antenna array element dimension, and CFAR in two dimensions of the doppler dimension and the distance dimension, specifically:
firstly, ADC sampling is carried out on a receiving signal of a current pulse in each pulse transmitting period, meanwhile, distance dimension FFT is carried out on a sampling point of a previous transmitting pulse, and distance information of each sampling point is obtained through aggregation. Repeating the above operations for each pulse, and storing the processed data until all the pulses in the current pulse repetition period are transmitted, and the FFT and the summary of the distance dimension are completed;
then, in the period of stopping pulse transmission, carrying out Doppler dimensional FFT on sampling points between different transmitted pulses and on the same distance unit to obtain Doppler information of each point, and then carrying out summary calculation to obtain the radial velocity of each point; taking a module of Doppler dimension FFT results of a plurality of virtual antennas, and performing coherent accumulation; then, Doppler dimension CFAR is carried out on the information after the coherent accumulation, clutter and noise of Doppler dimension are filtered, and a target point of a Doppler dimension threshold is obtained; on the basis, CFAR of the distance dimension is carried out, clutter and noise of the distance dimension are filtered, and a target point of which the distance dimension and the Doppler dimension simultaneously pass through a threshold is selected; in addition, after the transmission of one antenna, the four antennas receive simultaneously, so that the FFT of antenna array element dimension can be carried out on signals between different receiving antennas at the same distance and in the same Doppler channel, and the azimuth information of a target point track can be obtained through the sum; thus, a target point track containing distance, direction, radial speed and amplitude information is obtained; the signal processing unit sends the target trace information to the data processing unit through the serial port, and the data processing unit realizes subsequent data processing.
In the preferred scheme, the data processing unit firstly removes the clutter points from the received traces by a density-based clustering algorithm, namely a DBSCAN algorithm, reserves the traces with higher occurrence probability, and performs amplitude weighting to obtain new trace point information; then, after the processing of track establishment, data association, track updating, track prediction and the like, target track information containing position and motion situation information such as distance, direction, course, speed and the like is obtained and reported to a server through a network; the server realizes the display of target track information and the remittance and alarm of personnel or vehicles entering or leaving a set area; the data association adopts a local nearest neighbor algorithm, and the track updating adopts an alpha-beta filter to smooth the track.
In the preferred scheme, the data processing unit of the micro radar is communicated with the server through a network, a TCP or UDP protocol is selected for data transmission, system parameters can be configured by users, and different users or the same user can conveniently configure the parameters under different use requirements.
According to the optimal scheme, the data processing unit is communicated with the server through a network and is jointly applied with the video monitoring unit, accurate security monitoring of a set area is achieved, the server controls the video monitoring unit to rotate according to information provided by the miniature security radar, close-range features can be captured in real time when needed, effective comparison between position and motion information provided by the miniature security radar and clear video pictures is achieved, security personnel can accurately master detailed features of targets in real time, workload of the security personnel is greatly reduced, accuracy of security is improved, manpower is saved, and efficiency is improved.
According to the preferred scheme, the miniature security radar is networked with the street lamp control device and is applied in a combined mode. When the radar detects that no person exists in a certain area, the radar informs the controller, and the controller adjusts the brightness of the lamp to be low; when the radar detects that a person enters the area, the controller is informed, and the brightness of the lamp is adjusted to be high by the controller. Therefore, energy can be saved, the utilization rate of energy is effectively improved, and intelligent illumination is realized.
In the preferred scheme, the case structure of the micro radar is a flat cuboid box structure, the external structure size of the case structure is 150-210 mm long, 100-150 mm high and 60-100 mm thick; the four antennas are positioned at the upper position of the middle part of the panel; the bottom of the flat cuboid box-type structure is provided with an arc groove support or a spherical support with an adjustable angle, and the support is provided with a locking mechanism. The volume of the box-type structure is far smaller than that of a conventional desktop computer mainframe box, and the structure is light, handy and flexible and particularly has installation flexibility and environmental adaptability.
Preferably, the case structure of the micro radar is a flat cuboid box structure, and the external structure size of the case structure is 180mm long, 135mm high and 81mm thick.
The invention has the beneficial effects that:
1. the intelligent device is simple and convenient to operate, and the workload of security personnel can be greatly reduced;
2. multiple targets can be detected simultaneously;
3. the real-time performance is good;
4. the sensitivity is high;
5. the anti-interference capacity and the environmental adaptability are strong, the reliability is high, and the device is not influenced by weather such as rain, snow, fog, haze and the like and also not influenced by dust and environmental illumination;
6. the false alarm rate and the false alarm rate are low;
7. the case structure of the miniature radar is a flat cuboid box-type structure, the volume of the case structure is far smaller than that of a conventional desktop computer case, the structure is light, handy and convenient, and particularly has installation maneuverability and environmental adaptability;
8. the bottom of the case structure is provided with an arc groove support or a spherical support with adjustable angle, so that the application and debugging are convenient;
9. the four receiving antennas are arranged at the upper position of the middle part of the panel, so that the structure is compact;
10. the application of the miniature radar leads the comprehensive cost of the whole system device to be low.
Drawings
FIG. 1 is a system block diagram of an embodiment of a miniature security radar monitoring system of the present invention;
FIG. 2 is a functional block diagram of the transceiver unit of FIG. 1;
FIG. 3 is a schematic diagram of frequency change of a signal transmitted by the micro security radar;
FIG. 4 is a timing and functional block diagram of signal processing;
FIG. 5 is an intelligent detection effect diagram of the micro security radar;
FIG. 6 is another diagram of the intelligent detection effect of the miniature security radar;
fig. 7 is an external view of a micro radar structure.
In the figure, a transceiver unit 1; a signal processing unit 2; a data processing unit 3; a server 4; a network 5; a transmitting antenna 61; a receiving antenna 62; a low noise amplifier 7; local oscillator signals 8; a filter 9; ADC sampling 10; a data serial port 11; a control serial port 12; a rectangular parallelepiped box-shaped structure 13; a circular arc groove support 14.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
Example 1: as shown in fig. 1, a miniature security radar monitoring system comprises a miniature radar and a server, wherein the radar comprises a transceiver unit 1, a signal processing unit 2 and a data processing unit 3; the signal processing unit 2 and the data processing unit 3 are communicated through a serial port; the data processing unit 3 communicates with the server 4 via a network 5.
Referring to fig. 2, the transceiver unit 1 transmits a frequency modulated continuous wave signal through an antenna 61 and receives a frequency modulated continuous wave signal through an antenna 62, the received signal is amplified by a low noise amplifier 7 and then mixed with a local oscillator signal 8 to obtain an intermediate frequency signal, the intermediate frequency signal passes through a filter 9 and then undergoes ADC sampling 10 to obtain a digital intermediate frequency signal, and the digital intermediate frequency signal is sent to the signal processing unit 2 for subsequent signal processing, and the frequency change of the radar transmission signal is referred to fig. 3.
The signal processing unit 2 is realized based on a large-scale integrated and high-speed programmable digital signal processing DSP chip, the signal processing unit 2 realizes the signal processing of the intermediate frequency signal, and sequentially performs distance dimension FFT, Doppler dimension FFT and antenna array element dimension FFT to obtain the distance, radial speed and azimuth information of each sampling point; meanwhile, clutter and noise of the Doppler dimension and the distance dimension are filtered through the CFAR of the Doppler dimension and the distance dimension, a target in the target is detected, and target point trace information containing information such as distance, direction, radial speed and amplitude is obtained; the signal processing unit 2 sends the target trace information to the data processing unit 3 through the data serial port 11, and receives control information from the data processing unit 3 through the control serial port 12;
the data processing unit 3 is realized on the basis of a CPU platform, the data processing unit 3 carries out target piling processing on the received point trace information through a DBSCAN algorithm to filter and remove impurities, then carries out target tracking processing to obtain position information, course speed and other motion information of a target, and then reports the position and motion information of the target to the server 4 through the network 5;
the server 4 realizes the display, the remittance and the alarm of the target track information according to the information of the data processing unit 3, and simultaneously controls the video monitoring unit to capture close-range features in real time in the set area, thereby realizing the accurate security monitoring of the set area.
The transceiving unit 1 adopts two microstrip transmitting antennas 61 and four microstrip receiving antennas 62, the two transmitting antennas 61 alternately transmit frequency modulated continuous wave signals, the four receiving antennas 62 simultaneously receive the reflected frequency modulated continuous wave signals, the received four signals are simultaneously processed, amplified by a low noise amplifier 7 and then mixed with a local oscillation signal 8 to obtain an intermediate frequency signal; filtering the intermediate frequency signal, and performing ADC (analog to digital converter) sampling 10 to obtain four paths of digitized intermediate frequency signals; the intermediate frequency signal is a complex signal, the real part and the imaginary part are respectively 16 bits, each path of signal comprises 256 sampling points, and the sampling rate is 5500 k; 32 pairs of pulses are transmitted in each pulse repetition period. See fig. 2, 3.
The signal processing unit 2 implements signal processing of the intermediate frequency signal, including FFT in three dimensions of a distance dimension, a doppler dimension, and an antenna array element dimension, and CFAR in two dimensions of a doppler dimension and a distance dimension, specifically:
firstly, ADC sampling is carried out on a receiving signal of a current pulse in each pulse transmitting period, meanwhile, distance dimension FFT is carried out on a sampling point of a previous transmitting pulse, and distance information of each sampling point is obtained through aggregation. Repeating the above operations for each pulse, and storing the processed data until all the pulses in the current pulse repetition period are transmitted, and the FFT and the summary of the distance dimension are completed;
then, in the period of stopping pulse transmission, carrying out Doppler dimensional FFT on sampling points between different transmitted pulses and on the same distance unit to obtain Doppler information of each point, and then carrying out summary calculation to obtain the radial velocity of each point; taking a module of Doppler dimension FFT results of a plurality of virtual antennas, and performing coherent accumulation; then, Doppler dimension CFAR is carried out on the information after the coherent accumulation, clutter and noise of Doppler dimension are filtered, and a target point of a Doppler dimension threshold is obtained; on the basis, CFAR of the distance dimension is carried out, clutter and noise of the distance dimension are filtered, and a target point of which the distance dimension and the Doppler dimension simultaneously pass through a threshold is selected; in addition, after the transmission of one antenna, the four antennas receive simultaneously, so that the FFT of antenna array element dimension can be carried out on signals between different receiving antennas at the same distance and in the same Doppler channel, and the azimuth information of a target point can be obtained through the sum; thus, a target point track containing distance, direction, radial speed and amplitude information is obtained; the signal processing unit 2 sends the target trace information to the data processing unit 3 through a data serial port, and the data processing unit 3 realizes subsequent data processing. The timing and functional block diagram of the signal processing is shown in fig. 4.
The data processing unit 3 firstly eliminates clutter points from the received traces by a density-based clustering algorithm, namely a data DBSCAN algorithm, retains the traces with higher occurrence probability, and performs amplitude weighting to obtain new trace point information; then, after the processing of track establishment, data association, track update, track prediction and the like, target track information containing position and motion situation information such as distance, direction, course, speed and the like is obtained and is reported to the server 4 through the network; the server 4 realizes the display of target track information, and the remittance and alarm of personnel or vehicles entering or leaving a set area; the data association adopts a local nearest neighbor algorithm, and the track updating adopts an alpha-beta filter to smooth the track.
The data processing unit 3 of the miniature radar is communicated with the server 4 through the network 5, a TCP or UDP protocol is selected for data transmission, system parameters can be configured by users, and convenience is brought to different users, or parameter configuration of the same user under different use requirements.
The data processing unit 3 is communicated with the server 4 through the network 5, the data processing unit can be jointly applied with the video monitoring unit, accurate security monitoring of a set area is achieved, the server controls the video monitoring unit to rotate according to information provided by the miniature security radar, close-range features can be captured in real time when needed, effective comparison between position and motion information provided by the miniature security radar and clear video pictures can be achieved, security personnel can accurately master detailed features of targets in real time, workload of the security personnel is greatly reduced, accuracy of security is improved, manpower is saved, and efficiency is improved.
The miniature security radar can provide the motion tracks of people or vehicles and other moving objects entering a set area in real time, and the position and motion information of the people or vehicles are reported to the server 4 through the network 5, so that the server can present the position and motion information of a target to a user, and the user can conveniently master the position and motion conditions of the target at any time. In addition, the user can set a concerned area in the server, the server can obtain the condition that the target enters or leaves the set area through the summary calculation, and corresponding alarm information is given. According to application requirements, the server can also count the people flow or traffic flow density of a set area, so that related departments can master the conditions of the people or vehicles in the area. For example, in a large public place, managers can conveniently master the current people flow density, so that people flow control in the later period is facilitated. The intelligent detection effect diagram of the miniature security radar is shown in fig. 5 and 6, and the upper right area is a related video image.
Example 2: the miniature security radar is networked with the street lamp management and control device and is applied in a combined mode. When the radar detects that no person exists in a certain area, the radar informs the controller, and the controller adjusts the brightness of the lamp to be low; when the radar detects that a person enters the area, the controller is informed, and the brightness of the lamp is adjusted to be high by the controller. Therefore, energy can be saved, the utilization rate of energy is effectively improved, and intelligent illumination is realized.
Example 3: the case structure of the micro radar is a flat cuboid box-shaped structure 13, the external structure size is 150-210 mm long, 100-150 mm high and 60-100 mm thick; the specific size needs to meet the requirements of electrical performance and process requirements, and the external structure size is selected to be 180mm long, 135mm high and 81mm thick; the four antennas are positioned at the upper position of the middle part of the panel; the bottom of the flat cuboid box-shaped structure is provided with an arc groove support 14 with an adjustable angle, and the support 14 is provided with a locking mechanism. The structure is light, flexible and convenient, the volume of the box-type structure is far smaller than that of a conventional desktop computer mainframe box, the size of the box-type structure is only equal to that of a 32-Kai Chinese dictionary, and the box-type structure has the installation flexibility and the environmental adaptability due to very small volume, and is shown in fig. 7.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A miniature security radar monitoring system comprises a miniature radar and a server, and is characterized in that the radar comprises a receiving and transmitting unit, a signal processing unit and a data processing unit; the signal processing unit and the data processing unit are communicated through a serial port; the data processing unit is communicated with the server through a network;
the receiving and transmitting unit transmits and receives frequency modulation continuous wave signals through an antenna, the received signals are amplified through a low noise amplifier and then mixed with local oscillator signals to obtain intermediate frequency signals, the intermediate frequency signals are filtered through a filter, ADC sampling is carried out on the intermediate frequency signals to obtain digital intermediate frequency signals, and then the digital intermediate frequency signals are sent to the signal processing unit to be subjected to subsequent signal processing;
the signal processing unit is realized on the basis of a large-scale integrated and high-speed programmable digital signal processing DSP chip, realizes the signal processing of the intermediate frequency signal, and sequentially performs distance dimension FFT, Doppler dimension FFT and antenna array element dimension FFT to obtain the distance, radial speed and azimuth information of each sampling point; meanwhile, clutter and noise of the Doppler dimension and the distance dimension are filtered through the CFAR of the Doppler dimension and the distance dimension, a target in the target is detected, and target point trace information containing information such as distance, direction, radial speed and amplitude is obtained; the signal processing unit sends the target trace information to the data processing unit through a serial port;
the data processing unit is realized on the basis of a CPU platform, and carries out target accumulation processing on the received trace point information through a DBSCAN algorithm to filter and remove impurities, then carries out target tracking processing to obtain position information, course speed and other motion information of a target, and then reports the position and the motion information of the target to a server through a network;
the server realizes display, settlement and alarm of target track information according to the information of the data processing unit, and controls the video monitoring unit to capture close-range features of the set area in real time, so that accurate security monitoring of the set area is realized.
2. The monitoring system of the miniature security radar as claimed in claim 1, wherein the transceiver unit employs two microstrip transmitting antennas and four microstrip receiving antennas, the two transmitting antennas alternately transmit frequency modulated continuous wave signals, the four receiving antennas simultaneously receive the reflected frequency modulated continuous wave signals, the received four signals are simultaneously processed, and the four signals are amplified by a low noise amplifier and then mixed with local oscillation signals to obtain intermediate frequency signals; filtering the intermediate frequency signal, performing ADC (analog to digital converter) sampling, and simultaneously obtaining four paths of digitized intermediate frequency signals; the intermediate frequency signal is a complex signal, the real part and the imaginary part are respectively 16 bits, each path of signal comprises 256 sampling points, and the sampling rate is 5500 k; 32 pairs of pulses are transmitted in each pulse repetition period.
3. The miniature security radar monitoring system according to claim 2, wherein the signal processing unit implements signal processing of the intermediate frequency signal, including FFT in three dimensions of a distance dimension, a doppler dimension, and an antenna array element dimension, and CFAR in two dimensions of a doppler dimension and a distance dimension, and specifically:
firstly, ADC sampling is carried out on a receiving signal of a current pulse in each pulse transmitting period, meanwhile, distance dimension FFT is carried out on a sampling point of a previous transmitting pulse, and distance information of each sampling point is obtained through aggregation. Repeating the above operations for each pulse, and storing the processed data until all the pulses in the current pulse repetition period are transmitted, and the FFT and the summary of the distance dimension are completed;
then, in the period of stopping pulse transmission, carrying out Doppler dimensional FFT on sampling points between different transmitted pulses and on the same distance unit to obtain Doppler information of each point, and then carrying out summary calculation to obtain the radial velocity of each point; taking a module of Doppler dimension FFT results of a plurality of virtual antennas, and performing coherent accumulation; then, Doppler dimension CFAR is carried out on the information after the coherent accumulation, clutter and noise of Doppler dimension are filtered, and a target point of a Doppler dimension threshold is obtained; on the basis, CFAR of the distance dimension is carried out, clutter and noise of the distance dimension are filtered, and a target point of which the distance dimension and the Doppler dimension simultaneously pass through a threshold is selected; in addition, after the transmission of one antenna, the four antennas receive simultaneously, so that the FFT of antenna array element dimension can be carried out on signals between different receiving antennas at the same distance and in the same Doppler channel, and the azimuth information of a target point can be obtained through the sum; thus, a target point track containing distance, direction, radial speed and amplitude information is obtained; the signal processing unit sends the target trace information to the data processing unit through the serial port, and the data processing unit realizes subsequent data processing.
4. The monitoring system of the miniature security radar as claimed in claim 3, wherein the data processing unit first removes the clutter points from the received speckles by a density-based clustering algorithm, namely a DBSCAN algorithm, retains the speckles with higher occurrence probability, and performs amplitude weighting to obtain new speckle information; then, after the processing of track establishment, data association, track updating, track prediction and the like, target track information containing position and motion situation information such as distance, direction, course, speed and the like is obtained and reported to a server through a network; the server realizes the display of target track information and the remittance and alarm of personnel or vehicles entering or leaving a set area; the data association adopts a local nearest neighbor algorithm, and the track updating adopts an alpha-beta filter to smooth the track.
5. The monitoring system of the miniature security radar according to claim 4, wherein the data processing unit of the miniature radar communicates with the server through a network, a TCP or UDP protocol is selected for data transmission, system parameters can be configured by users, and the configuration of the parameters of different users or the configuration of the parameters of the same user under different use requirements is facilitated.
6. The miniature security radar monitoring system according to claim 5, wherein the data processing unit communicates with the server through a network, and is used in combination with the video monitoring unit to realize accurate security monitoring of a set area, the server controls the rotation of the video monitoring unit according to information provided by the miniature security radar, close-range features can be captured in real time when needed, and security personnel can accurately grasp details and characteristics of a target in real time through effective comparison of position and motion information provided by the miniature security radar and a clear video picture, so that the workload of the security personnel is greatly reduced, the security accuracy is improved, the manpower is saved, and the efficiency is improved.
7. The miniature security radar monitoring system according to claim 5, wherein the miniature security radar is networked with a street lamp control device for combined application. When the radar detects that no person exists in a certain area, the radar informs the controller, and the controller adjusts the brightness of the lamp to be low; when the radar detects that a person enters the area, the controller is informed, and the brightness of the lamp is adjusted to be high by the controller. Therefore, energy can be saved, the utilization rate of energy is effectively improved, and intelligent illumination is realized.
8. The miniature security radar monitoring system according to any one of claims 1 to 7, wherein the case structure of the miniature radar is a flat rectangular box structure, and four antennas are positioned at the upper position of the middle part of the panel; the bottom of the flat cuboid box-type structure is provided with an arc groove support or a spherical support with an adjustable angle, and the support is provided with a locking mechanism.
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