CN110764080B - Method for detecting navigation-following ship formation target in ship lock based on millimeter wave radar - Google Patents
Method for detecting navigation-following ship formation target in ship lock based on millimeter wave radar Download PDFInfo
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- 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
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- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
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Abstract
The invention provides a ship lock inner pilot-following ship formation target detection method based on millimeter wave radar, wherein 1 long-distance millimeter wave radar acquires barrier information right in front of a ship; the 3 short-distance millimeter wave radars are respectively arranged at the left side of the bow, the right side of the bow and the center line position of the stern to acquire barrier information on the left side, the right side and the rear of the ship; acquiring an included angle between the ship head direction and the lock chamber direction; according to the characteristic that the reflectivities of different materials are different, the millimeter wave radar is distinguished to receive targets such as a brake wall, a navigation ship, a following ship or other interference objects; performing constraint angle processing on the radar without detecting the navigation ship; identifying different situations, and calculating the relative distance between the front leading ship and the ship, the distance between the ship and the gate walls on the left side and the right side, and the distance between the ship and the rear barrier; it is determined whether there is a risk of collision or the possibility of losing the target in continuing the voyage. The invention can accurately track the leading ship in the lock following the front of the ship.
Description
Technical Field
The invention belongs to the field of waterway traffic, and particularly relates to a ship lock inner pilot-following ship formation target detection method based on millimeter wave radar.
Background
Since the navigation of the ship lock of the three gorges, along with the high-speed and high-quality development of economy in China, the freight volume of water transportation is rapidly increased, the freight volume of the ship for passing the lock is continuously increased, the backlog of the ship for passing the lock is more and more common, and the average ship waiting time is increased year by year. Pilot-following vessel formation in coordination with a gate is an important measure for improving the gate efficiency of vessels, and how to obtain the motion state (relative motion speed and direction) between vessels in the formation is the basis for achieving formation control. The maximum water level drop of the lock chamber of the three gorges-Ge Zhouba ship can reach more than 20 meters, the GNSS signals are very weak at low water level, and the motion state sensing among ships is difficult to realize through GNSS positioning; the indoor positioning technology is adopted, and the problems of signal shielding and high cost are solved.
Disclosure of Invention
The invention aims to solve the technical problems that: the method for detecting the navigation-following ship formation target in the ship lock based on the millimeter wave radar can accurately track the navigation ship in front of the following ship in the ship lock.
The technical scheme adopted by the invention for solving the technical problems is as follows: the method for detecting the target of the pilot-following ship formation in the ship lock based on the millimeter wave radar is characterized by comprising the following steps of: for following a ship, comprising the steps of:
s1, information acquisition:
the method comprises the steps that 1 long-distance millimeter wave radar obtains barrier information right in front of a ship; the 3 short-distance millimeter wave radars are respectively arranged at the left side of the bow, the right side of the bow and the center line position of the stern to acquire barrier information on the left side, the right side and the rear of the ship; acquiring an included angle between the ship head direction and the lock chamber direction;
s2, obstacle distinguishing:
according to the characteristic that the reflectivities of different materials are different, the millimeter wave radar is distinguished to receive targets such as a brake wall, a navigation ship, a following ship or other interference objects;
s3, performing constraint angle processing on the radar without detecting the pilot ship;
s4, identifying different situations according to the information obtained in the S1, and calculating the relative distance between the front navigation ship and the ship, the distance between the ship and the gate walls on the left side and the right side, and the distance between the ship and the rear obstacle;
s5, judging whether collision risk exists or the possibility of losing the target exists in continuous sailing according to the result obtained in the S4.
According to the scheme, S1 specifically obtains the included angle between the ship head direction and the lock chamber direction through the compass.
According to the scheme, when the millimeter wave radar is used for acquiring the obstacle information, S1 adopts a strategy of a maximum detection angle to detect surrounding targets, and the target information returned by each millimeter wave radar is analyzed.
According to the above scheme, in S2, the received target is distinguished by comparing the reflectivity and the reflection area.
According to the above scheme, in S4, the different situations include:
scenario 1: the advancing direction of the ship is consistent with the direction of the sluice wall, namely, the included angle of the ship relative to the advancing direction of the sluice chamber is 0 degree; the distance d between the long-distance millimeter wave radar arranged at the bow and the front ship 1 The angle isTo two-side gateThe distance of the wall is d 2 、d 3 Distance to the rear chamber is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The parameters were calculated as follows:
wherein, c 1 The relative distance from the ship to the pilot ship is the projection of the linear distance between the ship and the pilot ship in the whole advancing direction of the ship formation;
scenario 2: the ship route is greatly deviated, namely, the leading ship is in a dead zone of long-distance millimeter wave radar detection following the ship bow, but is detected by a short-distance millimeter wave radar at one side, the advancing direction of the leading ship is inconsistent with the direction of a lock wall, the included angle of the leading ship relative to the advancing direction of the lock chamber is phi, and the distance from the short-distance millimeter wave radar arranged at the left side of the ship to the front ship is d 2 At an angle ofThe obstacle distance measured by the short-distance millimeter wave radar on the right side is d 3 The distance of the rear barrier is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The parameters were calculated as follows:
b 2 ＝d 3 cosψ (4)
b 4 ＝b 2 +lsinψ (5)
b 1 ＝W-b 2 -wcosψ (6)
b 3 ＝W-b 4 -wcosψ (7)
wherein, c 1 C, the relative distance from the ship to the pilot ship 2 For the relative distance of the vessel to the following vessel, b 1 For the distance from the left front end to the left end of the shipSeparation, b 2 B is the distance from the right front end to the right gate wall of the ship 3 B is the distance from the left rear end to the left gate wall of the ship 4 W is the width of the lock chamber, and W and l are the width and the length of the ship respectively;
scenario 3: the ship route is greatly deviated, the advancing direction is inconsistent with the direction of the sluice wall, the included angle of the ship relative to the advancing direction of the sluice chamber is phi, and the distance between the short-distance millimeter wave radar arranged on the right side of the ship and the front ship is monitored to be d 3 The angle isThe short-distance millimeter wave radar on the left side measures an obstacle distance d 2 The distance of the rear barrier is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The parameters were calculated as follows:
b 1 ＝d 2 cosψ (10)
b 3 ＝b 1 +lsinψ (11)
b 2 ＝W-b 1 -wcosψ (12)
b 4 ＝W-b 3 -wcosψ (13)
wherein, c 1 、c 2 、b 1 、b 2 、b 3 、b 4 The W, W, l parameters are defined as the same as scenario 2;
scenario 4: the navigation line of the ship is slightly deviated, namely, the leading ship can be detected by a long-distance millimeter wave radar which follows the ship bow, but the advancing direction of the leading ship is inconsistent with the direction of the lock wall, the compass arranged in the center of the ship displays that the included angle of the ship relative to the advancing direction of the lock chamber is psi, and the long-distance millimeter wave radar arranged in the right front of the ship monitors that the distance of the front ship is d 1 The angle isThe obstacle distance measured by the short-distance millimeter wave radar on the right side is d 3 The distance of the rear barrier is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The parameters were calculated as follows:
b 2 ＝d 3 cosψ (16)
b 4 ＝b 2 -lsinψ (17)
b 1 ＝W-b 2 -wcosψ (18)
b 3 ＝W-b 4 -wcosψ (19)
wherein, c 1 、c 2 、b 1 、b 2 、b 3 、b 4 The W, l parameters are the same as scenario 2.
According to the scheme, the method further comprises S7: if no target is detected, S1-S6 are repeated.
According to the scheme, the method further comprises S8: if the target of the pilot ship cannot be found through repeated detection for many times, the target tracking failure is defined, the navigation angle of the ship is corrected according to the included angle between the ship head direction and the lock chamber direction, and then the ship is detected.
The beneficial effects of the invention are as follows: the millimeter wave radar is adopted, is suitable for ship formation target detection in the lock chamber, has the advantages of low cost, high reliability and the like, and avoids the defects of inaccurate positioning and high indoor positioning cost in a special environment of the lock chamber by using a traditional positioning device (such as GPS, beidou and the like); the mode of judging the types of the obstacles by distinguishing the reflectivity is adopted, and the detection mode of the millimeter wave radar is combined, so that whether the measured obstacles come from ships or gate walls can be distinguished well; other obstacle information can be removed by means of radar detection angle constraint, and recognition difficulty is reduced; the coordinate transformation formula used is simpler and does not cause larger errors.
Drawings
FIG. 1 is a schematic view of a radar measurement area according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a millimeter wave radar measurement view angle blind area type.
Fig. 3 is a schematic diagram of a millimeter wave radar measurement view angle blind area type two.
Fig. 4 is a schematic diagram showing a scenario 1 occurring in actual use of the present invention.
Fig. 5 is a schematic diagram showing a scenario 2 occurring in actual use of the present invention.
Fig. 6 is a schematic diagram of scenario 3 occurring in actual use of the present invention.
Fig. 7 is a schematic diagram of a scenario 4 in actual use of the present invention.
In the figure: 1-a pilot ship, 2-a host ship, 3-a long-distance millimeter wave radar, 4-a short-distance millimeter wave radar and 5-compass.
Detailed Description
The invention will be further described with reference to specific examples and figures.
The invention provides a ship lock inner pilot-following ship formation target detection method based on millimeter wave radar, which is shown in fig. 1 and is used for following ships, and comprises the following steps:
s1, information acquisition:
1 long-distance millimeter wave radar 3 acquires obstacle information right in front of a ship; 3 short-distance millimeter wave radars 4 are respectively arranged at the left side of the bow, the right side of the bow and the center line of the stern to acquire barrier information on the left side, the right side and the rear of the ship; the included angle between the ship head direction and the lock chamber direction is obtained through the compass 5 arranged in the middle of the ship 2.
Wherein the return information of each millimeter wave radar includes: the reflection area, the target reflectivity, the target relative speed, the target angle, the target relative distance and other information of the targets can effectively distinguish different types of targets (such as different cement wall of a sluice chamber and different metal disassembly reflectivity of a ship and different display on a radar) by judging the difference of the reflectivity.
The darker shaded portion of fig. 1 is a short-range detection region of the radar (increasing radar emission angle), and the lighter-color region is a long-range detection region. In the pilot-following formation, the situation that the following ship cannot track the pilot ship may occur, that is, the pilot ship is in a 'view blind zone' of radar scanning of the following ship, as shown in fig. 1 and 2. Wherein the darker shaded portion is a short-range detection region of the radar (increasing radar emission angle), and the lighter-color region is a long-range detection region.
When the piloting ship is in the 'visual angle blind area' of the following ship, the following ship cannot judge the specific position and speed of the piloting ship through the radar. If following the ship as in the case of fig. 2, the target may be lost and the voyage deviates somewhat; if the situation is as shown in fig. 3, the following ship can collide if the ship continues to sail, and great loss is caused.
And (3) the emission angles of all millimeter wave radars are not constrained, surrounding targets are detected by adopting a strategy of the maximum detection angle, and the target information returned by each radar is analyzed. As shown in fig. 1, when the emission angle of the millimeter wave radar is not constrained, a larger detection angle can be obtained, wherein the detection angle of the short-distance millimeter wave radar is ±28°, and the detection angle of the long-distance millimeter wave radar is ±60°, so that a larger detection area can be obtained without constraining the emission angle, thereby better detecting each target around the ship.
S2, obstacle distinguishing:
according to the characteristic that the reflectivities of different materials are different, the millimeter wave radar is distinguished to receive targets such as a brake wall, a navigation ship, a following ship or other interference objects.
The invention is mainly applied to the formation detection in the ship lock, and radar reflection targets mainly appear are as follows: the navigation ship (the material is mainly steel, the reflection area is larger), the rear following ship (the material and the reflection area are the same as each other), the sluice wall (the material is cement, the reflection area is maximum), other interference objects (water garbage, other obstacles and the like, the material is different, and the reflection area is smaller). By comparing the reflectivity and the reflection area, what the millimeter wave radar perceives as a target can be effectively distinguished.
S3, the radar which does not detect the pilot ship 1 is subjected to constraint angle processing, so that the detection area of the radar can be effectively reduced, the influence of other obstacles on radar detection is reduced, the detection precision of the radar is further improved, and the measurement result is more reliable. According to the measurement characteristics of the millimeter wave radar, when the millimeter wave radar performs cluster detection, the measurement distance and the measurement precision are obviously improved, and the smaller the detection angle is, the farther the detection distance is. And the smaller the detection angle is, the fewer targets can be detected, and other interference items are greatly reduced.
And S4, transmitting target information obtained by each radar and information of an included angle of the ship relative to the advancing direction of the lock chamber measured by the compass to a shipborne computer, identifying different situations according to the information obtained in the S1, and calculating the relative distance between the front pilot ship 1 and the ship 2, the distance between the ship 2 and the lock walls on the left side and the right side and the distance between the ship 2 and the rear obstacle.
The following list of several possible situations in the lock chamber and the positioning analysis was performed for each situation.
Scenario 1: the long-distance millimeter wave radar installed at the bow following the ship's advancing direction approximately in accordance with the lock wall direction (i.e. the angle of the ship relative to the advancing direction of the lock chamber is approximately 0 DEG), monitors the distance d of the front ship 1 The angle isDistance to two gate walls is d 2 、d 3 (distance measured by millimeter wave radars on two sides of the bow is directly read), and distance from the rear lock chamber is d 4 . As shown in fig. 4.
The parameters were calculated as follows:
wherein, c 1 To follow the relative distance of the ship to the lead ship (projection of the linear distance of the two ships in the direction of overall advance of the ship formation).
Scenario 2: the following ship route is greatly deviated (i.e. the leading ship is in a blind area for detecting the long-distance millimeter wave radar following the ship bow, but can be detected by a short-distance millimeter wave radar at one side, and the advancing direction of the leading ship is inconsistent with the direction of a lock wall), the compass installed in the center of the ship displays that the included angle of the ship relative to the advancing direction of the lock chamber is phi, and the distance between the short-distance millimeter wave radar installed at the left side of the ship and the front ship is monitored to be d 2 At an angle ofThe obstacle distance measured by the short-distance millimeter wave radar on the right side is d 3 The distance of the rear barrier is d 4 . As shown in fig. 5. The parameters were calculated as follows:
b 2 ＝d 3 cosψ (4)
b 4 ＝b 2 +lsinψ (5)
b 1 ＝W-b 2 -wcosψ (6)
b 3 ＝W-b 4 -wcosψ (7)
wherein, c 1 C to follow the relative distance of the ship to the leading ship 2 B for the relative distance of the following vessel to the following vessel 1 B for following the distance from the left front end to the left gate wall of the ship 2 B for following the distance from the right front end to the right gate wall of the ship 3 B for following the distance from the rear left end to the left gate wall of the ship 4 W is the width of the lock chamber, and W and l are the width and length of the ship respectively in order to follow the distance from the right rear end to the left end of the ship.
Scenario 3: the ship course is greatly deviated, the advancing direction is inconsistent with the direction of the gate wall, and the compass installed in the center of the ship displays the front of the ship relative to the gate roomThe included angle of the advancing direction is phi, and the distance between the short-distance millimeter wave radar arranged on the right side of the ship and the front ship is d 3 The angle isThe short-distance millimeter wave radar on the left side measures an obstacle distance d 2 The distance of the rear barrier is d 4 . As shown in fig. 6. The parameters were calculated as follows:
b 1 ＝d 2 cosψ (10)
b 3 ＝b 1 +lsinψ (11)
b 2 ＝W-b 1 -wcosψ (12)
b 4 ＝W-b 3 -wcosψ (13)
wherein, c 1 、c 2 、b 1 、b 2 、b 3 、b 4 The W, l parameters are defined as for scenario 2.
Scenario 4: the following ship route is slightly deviated (i.e. the leading ship can be detected by the long-distance millimeter wave radar at the ship head of the following ship, but the advancing direction is inconsistent with the direction of the lock wall), the compass installed in the center of the ship displays that the angle of the advancing direction of the ship relative to the lock chamber is psi, and the long-distance millimeter wave radar installed in the right front of the ship monitors that the distance of the front ship is d 1 The angle isThe obstacle distance measured by the short-distance millimeter wave radar on the right side is d 3 The distance of the rear barrier is d 4 . As shown in fig. 7. The parameters were calculated as follows:
b 2 ＝d 3 cosψ (16)
b 4 ＝b 2 -lsinψ (17)
b 1 ＝W-b 2 -wcosψ (18)
b 3 ＝W-b 4 -wcosψ (19)
wherein, c 1 、c 2 、b 1 、b 2 、b 3 、b 4 The W, l parameters are the same as scenario 2.
S5, judging whether collision risk exists or the possibility of losing the target exists in continuous sailing according to the result obtained in the S4. According to the invention, different safety distances can be set according to different conditions to judge whether the ship follows the route or not in different occasions, and if not, how the route should be regulated.
Optionally, the method further includes S7: if no target is detected, S1-S6 are repeated.
The method may further include S8: if the target of the navigation ship cannot be found through repeated detection for many times, the target tracking failure can be defined, the navigation angle of the ship can be corrected according to the angle information of the compass (various obstacles in a sector area with the included angle of 236 degrees and the radius of 20 meters in front of the ship can be effectively perceived, some collision problems in the ship posture correcting process can be effectively avoided), and the long-distance millimeter wave radar in front of the corrected ship posture can effectively monitor the information of the front navigation ship.
According to the invention, millimeter wave radar is used as a sensing means, the following ship can acquire the surrounding target distance and the relative movement speed in real time, and the relative movement state of the front navigation ship and the following ship can be accurately obtained through a design algorithm, so that the reliable and accurate detection of the front navigation ship target is realized.
The above embodiments are merely for illustrating the design concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, the scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes or modifications according to the principles and design ideas of the present invention are within the scope of the present invention.
Claims (6)
1. The method for detecting the target of the pilot-following ship formation in the ship lock based on the millimeter wave radar is characterized by comprising the following steps of: for following a ship, comprising the steps of:
s1, information acquisition:
the method comprises the steps that 1 long-distance millimeter wave radar obtains barrier information right in front of a ship; the 3 short-distance millimeter wave radars are respectively arranged at the left side of the bow, the right side of the bow and the center line position of the stern to acquire barrier information on the left side, the right side and the rear of the ship; acquiring an included angle between the ship head direction and the lock chamber direction;
s2, obstacle distinguishing:
according to the characteristic that the reflectivities of different materials are different, the millimeter wave radar is distinguished to receive targets such as a brake wall, a navigation ship, a following ship or other interference objects;
s3, performing constraint angle processing on the radar without detecting the pilot ship;
s4, identifying different situations according to the information obtained in the S1, and calculating the relative distance between the front navigation ship and the ship, the distance between the ship and the gate walls on the left side and the right side, and the distance between the ship and the rear obstacle;
s5, judging whether collision risk exists or the possibility of losing the target exists in continuous sailing according to the result obtained in the S4;
in S4, the different situations include:
scenario 1: the advancing direction of the ship is consistent with the direction of the sluice wall, namely, the included angle of the ship relative to the advancing direction of the sluice chamber is 0 degree; the distance d between the long-distance millimeter wave radar arranged at the bow and the front ship 1 The angle isDistance to two gate walls is d 2 、d 3 Distance to the rear chamber is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The parameters were calculated as follows:
wherein, c 1 The relative distance from the ship to the pilot ship is the projection of the linear distance between the ship and the pilot ship in the whole advancing direction of the ship formation;
scenario 2: the ship route is greatly deviated, namely, the leading ship is in a dead zone of long-distance millimeter wave radar detection following the ship bow, but is detected by a short-distance millimeter wave radar at one side, the advancing direction of the leading ship is inconsistent with the direction of a lock wall, the included angle of the leading ship relative to the advancing direction of the lock chamber is phi, and the distance from the short-distance millimeter wave radar arranged at the left side of the ship to the front ship is d 2 At an angle ofThe obstacle distance measured by the short-distance millimeter wave radar on the right side is d 3 The distance of the rear barrier is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The parameters were calculated as follows:
b 2 ＝d 3 cosψ (4)
b 4 ＝b 2 +lsinψ (5)
b 1 ＝W-b 2 -wcosψ (6)
b 3 ＝W-b 4 -wcosψ (7)
wherein, c 1 C, the relative distance from the ship to the pilot ship 2 To the heel of the shipB as a function of relative distance of the vessel 1 B is the distance from the left front end to the left gate wall of the ship 2 B is the distance from the right front end to the right gate wall of the ship 3 B is the distance from the left rear end to the left gate wall of the ship 4 W is the width of the lock chamber, and W and l are the width and the length of the ship respectively;
scenario 3: the ship route is greatly deviated, the advancing direction is inconsistent with the direction of the sluice wall, the included angle of the ship relative to the advancing direction of the sluice chamber is phi, and the distance between the short-distance millimeter wave radar arranged on the right side of the ship and the front ship is monitored to be d 3 The angle isThe short-distance millimeter wave radar on the left side measures an obstacle distance d 2 The distance of the rear barrier is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The parameters were calculated as follows:
b 1 ＝d 2 cosψ (10)
b 3 ＝b 1 +lsinψ (11)
b 2 ＝W-b 1 -wcosψ (12)
b 4 ＝W-b 3 -wcosψ (13)
wherein, c 1 、c 2 、b 1 、b 2 、b 3 、b 4 The W, W, l parameters are defined as the same as scenario 2;
scenario 4: the navigation line of the ship is slightly deviated, namely the leading ship can be detected by a long-distance millimeter wave radar following the bow of the ship, but the advancing direction of the leading ship is inconsistent with the direction of the lock wall, and a compass arranged in the center of the ship shows that the included angle of the ship relative to the advancing direction of the lock chamber is psi, and the leading ship is arranged in the center of the shipThe distance between the front long-distance millimeter wave radar and the front ship is d 1 The angle isThe obstacle distance measured by the short-distance millimeter wave radar on the right side is d 3 The distance of the rear barrier is d 4 The method comprises the steps of carrying out a first treatment on the surface of the The parameters were calculated as follows:
b 2 ＝d 3 cosψ (16)
b 4 ＝b 2 -lsinψ (17)
b 1 ＝W-b 2 -wcosψ (18)
b 3 ＝W-b 4 -wcosψ (19)
wherein, c 1 、c 2 、b 1 、b 2 、b 3 、b 4 The W, l parameters are the same as scenario 2.
2. The target detection method according to claim 1, wherein: s1, specifically, acquiring an included angle between the ship head direction and the lock chamber direction through a compass.
3. The target detection method according to claim 1, wherein: s1, when the millimeter wave radar is used for acquiring obstacle information, a strategy of a maximum detection angle is adopted to ascertain surrounding targets, and target information returned by each millimeter wave radar is analyzed.
4. The target detection method according to claim 1, wherein: in S2, the received target is distinguished by comparing the reflectivity and the reflective area.
5. The target detection method according to claim 1, wherein: the method further comprises S7: if no target is detected, S1-S6 are repeated.
6. The target detection method according to claim 5, wherein: the method further comprises S8: if the target of the pilot ship cannot be found through repeated detection for many times, the target tracking failure is defined, the navigation angle of the ship is corrected according to the included angle between the ship head direction and the lock chamber direction, and then the ship is detected.
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