CN110850402A - Four-beam Doppler velocity measurement method for carrier vehicle - Google Patents
Four-beam Doppler velocity measurement method for carrier vehicle Download PDFInfo
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- CN110850402A CN110850402A CN201911194814.2A CN201911194814A CN110850402A CN 110850402 A CN110850402 A CN 110850402A CN 201911194814 A CN201911194814 A CN 201911194814A CN 110850402 A CN110850402 A CN 110850402A
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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
-
- 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
-
- 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
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
Abstract
The invention provides a four-beam Doppler velocity measurement method for a carrier vehicle, which measures the speed of a vehicle body by using a four-beam Doppler velocity measurement technology. The Doppler velocity measurement technology has the advantages of high precision, fast dynamic response, wide measurement range, non-contact measurement and the like, is suitable for various measured objects, and can also be used for non-contact measurement of long-distance objects. By adopting a four-beam configuration scheme, accurate three-dimensional speed information can be provided for a vehicle body, a redundant structure design is added, the reliability of the system is improved, meanwhile, multiple demodulation calculation methods are realized based on a three-beam model, speed correction is carried out on a single three-beam system, and the speed measurement precision of the system is improved.
Description
Technical Field
The invention relates to the technical field of carrier type velocity measurement, in particular to a four-beam Doppler velocity measurement method for a carrier vehicle.
Background
As the number of vehicles increases, the measurement methods that optimize the vehicle speed are increasingly being focused on. Currently, the speed parameter in the vehicle-mounted inertial navigation system is usually provided by an accelerometer or a Global Positioning System (GPS).
However, both of these speed measurement methods have significant drawbacks: the existing accelerometer is based on the principle of specific force measurement, the apparent acceleration of a moving body is measured, the absolute acceleration is not the absolute acceleration, in addition, the absolute acceleration of the moving body can be obtained only by calculating the acceleration generated by a gravitational field, and the measured error terms are more and need to be corrected through complicated calculation; the Global Positioning System (GPS) is a 2 nd generation satellite navigation system developed by the U.S. department of defense, belongs to a non-autonomous system, and cannot be assembled in combat weapons of troops.
Therefore, the invention provides an autonomous speed measurement system with high precision, wide speed measurement range and good dynamic performance, which is a problem that needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of the above, the present invention provides a four-beam doppler velocimetry method for a carrier vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme:
a four-beam Doppler velocity measurement method for a vehicle comprises the following steps:
s1, transmitting a signal by the radar transceiver;
s2, the radar transceiver receives the echo signal of the reflecting object;
s3, the radar transceiver mixes the echo signal with the local oscillation signal;
s4, the AD analog-to-digital conversion module converts the mixed analog signal into a digital signal;
s5, the signal acquisition module acquires digital signals;
s6, the signal conditioning module conditions the digital signal collected by the signal collecting module;
and S7, the four-beam Doppler velocity measurement module performs frequency extraction and velocity synthesis on the digital signal to obtain the current carrier vehicle velocity.
Preferably, the carrier vehicle is provided with four radar transceivers, and the speed of the carrier vehicle can be measured by taking the detection frequencies of any three radar transceivers.
Preferably, the four-beam doppler velocity measurement method for the carrier vehicle further comprises a radar transceiver fault self-check; if the carrier vehicle reference speed is known, optionally selecting three combinations among the four radar transceivers to carry out speed measurement to obtain four measurement schemes, comparing the speeds in two directions measured by the four measurement schemes with the reference speed respectively, and matching the speed measured by only one radar transceiver combination mode with the reference speed, so that the rest radar transmitters have faults and the fault self-checking function is completed.
Preferably, four measurement schemes are used for measuring the speed to obtain 8 speeds in four groups, the speeds in two directions are compared respectively, if the measurement schemes contain fault radar transceivers, the speed measurement in at least one direction has problems, and wrong speed values in the same direction are different; if the measuring scheme does not contain the fault radar transceiver, the measured speeds in the two directions are correct, and the speeds in the two directions are respectively equal to the speed values in the corresponding directions in one measuring scheme containing the fault radar transceiver, so that the fault position of the radar transceiver can be determined, and the self-checking function is completed.
Preferably, the four-beam doppler velocity measurement module is established as follows:
the wave beams 1,2,3 and 4 respectively represent microwave wave beams emitted by four antennas, the forward direction of the vehicle is an X axis, the vertical direction is a Z axis, and a right-hand coordinate system O-XYZ and a spherical coordinate system are established
The four-beam configuration scheme adopts a symmetrical Janus mode, beams are symmetrical with each other about a coordinate axis or an origin, zenith angle surplus angles of a beam antenna and a Z axis are α, and a deflection angle between beam projection and the positive direction of an X axis is thetai(i ═ 1,2,3,4), where θ2Theta, the beam antenna satisfies a symmetrical Janus pattern configuration, theta3＝π-θ，θ4＝π+θ，θ1＝2π-θ；
The direction for the ith beam can be represented by a unit vector, where i is 1,2,3, 4:
the velocity vector of the carrier can be expressed as the vector sum of three velocity components:
the Doppler frequency shift value corresponding to the ith wave beam of the vehicle carrier is as follows:
unfolding the above formula yields:
the speed of the carrier vehicle can be measured by selecting three of the four radar transceivers, and four combination schemes are obtained: scheme A is f1,f2,f4Scheme B is f2,f3,f4Scheme C is f1,f3,f4Scheme Df1,f2,f3；
When inverting the vehicle body speed according to the scheme A, the obtained carrier vehicle speed inversion equation is as follows:
when inverting the vehicle body speed according to the scheme B, obtaining an inversion equation of the vehicle speed of the carrier as follows:
when inverting the vehicle body speed according to the scheme C, obtaining an inversion equation of the vehicle speed of the carrier as follows:
when inverting the vehicle body speed according to the scheme D, obtaining an inversion equation of the vehicle speed of the carrier as follows:
according to the technical scheme, compared with the prior art, the invention discloses a method for measuring the speed of the vehicle body by using a four-beam Doppler velocity measurement technology. The Doppler velocity measurement technology has the advantages of high precision, fast dynamic response, wide measurement range, non-contact measurement and the like, is suitable for various measured objects, and can also be used for non-contact measurement of long-distance objects. The four-beam Doppler velocity measurement method for the carrier vehicle can provide accurate three-dimensional velocity information for a vehicle body by adopting a four-beam configuration scheme, meanwhile, a redundant structure design is added, the reliability of the system is improved, meanwhile, multiple demodulation calculation methods are realized based on a three-beam model, the velocity of a single three-beam system is corrected, and the velocity measurement precision of the system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart provided by the present invention.
Fig. 2 is a schematic diagram of a four-beam doppler velocimeter according to the present invention.
FIG. 3 is a schematic view of the irradiation direction of four beams according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a four-beam Doppler velocity measurement method for a carrier vehicle.
Transmitting a signal by a radar transceiver; receiving an echo signal of a reflecting object by a radar transceiver; the radar transceiver mixes the echo signal with a local oscillator signal; the AD conversion module converts the mixed analog signal into a digital signal; the signal acquisition module acquires a digital signal; the signal conditioning module conditions the digital signal acquired by the signal acquisition module; and the four-beam Doppler velocity measurement module performs frequency extraction and velocity synthesis on the digital signals.
When the wave source and the receiver move relatively in the radial direction, the received echo signals can shift in frequency; the frequency of the echo signal becomes higher when the source is radially far from the receiver and becomes lower when the source approaches the receiver at a certain speed, which is called doppler effect. The Doppler frequency shift quantity is only related to the relative motion speed, and the Doppler effect can be used for measuring the relative motion speed as long as the echo scattered or reflected by an object can be received and processed.
The doppler shift of the echo signal is:
wherein, λ is the wavelength of the wave, c is the speed of light, v is the relative motion speed of the target, α is the angle between the beam propagation direction and the relative motion direction, therefore, the doppler shift is in direct proportion to the radial relative speed, when measuring the target speed, only the doppler shift of the echo signal needs to be measured, and the motion speed of the target can be inverted according to the microwave frequency and the angle between the beam propagation direction and the relative motion direction.
The speed measuring system configured by the single beam can only measure the speed of the moving object in the radial direction, and when the multi-beam system is configured to measure the speeds of the three directions of the space coordinate system, the three-dimensional speed of the moving object in the space coordinate system can be obtained. Four wave beams of the four-wave-beam Doppler velocimeter are symmetrically configured, two wave beam Janus dual-wave beam configurations exist, and any three wave beams can measure the three-dimensional speed of the carrier.
Assuming that the radiation directions of the beams of the four antennas of the velocimeter are shown in fig. 2, the beams 1,2,3,4 in the figure represent the microwave beams emitted by the four antennas, respectively. The forward direction of the vehicle is taken as an X axis, the vertical direction is taken as a Z axis, and a right-hand coordinate system O-XYZ and a spherical coordinate system are established
A symmetrical Janus mode is adopted in the design of the four-beam configuration scheme, beams are symmetrical with each other about a coordinate axis or an origin, included angles (zenith angle and complementary angle) between a beam antenna and a Z axis are α, and included angles (deflection angles) between beam projection and the positive direction of an X axis are thetai(i ═ 1,2,3,4), where θ is2θ, since the beam antenna satisfies the symmetrical Janus mode configuration, θ3＝π-θ，θ4＝π+θ，θ1＝2π-θ。
The direction for the ith (i ═ 1,2,3,4) beam can be represented by a unit vector:
the velocity vector of the carrier can be expressed as the vector sum of three velocity components:
the Doppler frequency shift value corresponding to the ith wave beam of the vehicle carrier is as follows:
unfolding the above formula yields:
the carrier can be measured by selecting three from four radar transceiversThe speed of the vehicle can be determined by four combination schemes: scheme A is f1,f2,f4Scheme B is f2,f3,f4Scheme C is f1,f3,f4Scheme Df1,f2,f3。
When inverting the vehicle body speed according to the scheme A, the obtained carrier vehicle speed inversion equation is as follows:
when inverting the vehicle body speed according to the scheme B, obtaining an inversion equation of the vehicle speed of the carrier as follows:
when inverting the vehicle body speed according to the scheme C, obtaining an inversion equation of the vehicle speed of the carrier as follows:
when inverting the vehicle body speed according to the scheme D, obtaining an inversion equation of the vehicle speed of the carrier as follows:
as can be seen from the equations (7), (8), (9) and (10), velocity information can be demodulated by obtaining the doppler shift value corresponding to each beam. Any three beams in the four-beam doppler velocimeter can measure the three-dimensional velocity of the carrier vehicle, as shown in fig. 3.
Wherein, radar transceiver can carry out trouble self-checking, and specific step is as follows:
1) the carrier vehicle reference speed is known. Respectively measuring V by the schemex、VyAnd comparing with the reference speed measured by the inertial navigation/GPS combined navigation system. The following four cases occur:
(1) velocity V measured by scheme AxAnd VyIn line with the carrier vehicle reference speed, the radar transceiver 3 fails.
(2) Velocity V measured by scheme BxAnd VyIn line with the carrier vehicle reference speed, the radar transceiver 1 fails.
(3) Velocity V measured by recipe CxAnd VyIn line with the carrier vehicle reference speed, the radar transceiver 2 fails.
(4) Velocity V measured by scheme DxAnd VyIn line with the carrier vehicle reference speed, the radar transceiver 4 fails.
2) The carrier vehicle reference speed is unknown. When one of the radar transceivers 1,2,3,4 fails, the following four conditions occur:
(1) if the radar transceiver 1 fails, the correspondence between the combination and the carrier vehicle speed is shown in table 1.
The speed of the carrier vehicle is measured by four schemes respectively, and the speed in the same direction is compared to find that V in the scheme BxValue and V in case CxEqual value, V in case ByValue and V in scheme DyEqual values, prove V in case BxAnd VyThe measured values are all correct; while scheme A is VxValue and V in case CxThe values are not equal, and V in scheme AyValue and V in scheme DyValues are not equal, then V in scheme A is representedxAnd VyValue, V in case CxValue, V in scheme DyThe values are all wrong. From this, it can be derived that only V measured by scheme BxAnd VyAnd the values are correct, and the radar transceiver 1 is proved to be in fault, so that the fault self-checking function is completed.
Table 1 radar transceiver 1 failed
(2) If the radar transceiver 2 fails, the correspondence between the combination and the carrier vehicle speed is shown in table 2.
The speed of the carrier vehicle is measured by four schemes respectively, and the speed in the same direction is compared to find that V in the scheme CxValue and V in case AxEqual value, V in case CyValue and V in case ByEqual values, demonstrate V in case CxAnd VyThe measured values are all correct; while V in scheme DxValue and V in case BxThe values are not equal, and V in scheme DyValue and V in case AyValues are not equal, then V in scheme D is representedxAnd VyValue, V in scheme BxValue, V in case AyThe values are all wrong. From this, it can be derived that only V measured by scheme CxAnd VyThe values are correct, and the radar transceiver 2 is proved to be in fault, so that the fault self-checking function is completed.
Table 2 radar transceiver 2 failed
(3) If the radar transceiver 3 fails, the correspondence between the combination and the carrier vehicle speed is shown in table 3.
The speed of the carrier vehicle is measured by four schemes respectively, and the speed in the same direction is compared to find that V in the scheme AxValue and V in case CxEqual value, V in case AyValue and V in scheme DyEqual values, demonstrate V in case AxAnd VyThe measured values are all correct; while V in scheme BxValue and V in scheme DxThe values are not equal, and V in scheme ByValue and V in case CyValues are not equal, then V in scheme B is representedxAnd VyValue, V in scheme DxValue, V in case CyThe values are all wrong. From this, it can be derived that only V measured by scheme AxAnd VyThe values are correct, and the radar transceiver 3 is proved to be in fault, so that the fault self-checking function is completed.
Table 3 radar transceiver 3 failed
(4) If the radar transceiver 4 fails, the correspondence between the combination and the carrier vehicle speed is shown in table 4.
The vehicle speed of the carrier is measured by four schemes respectively, and the speed in the same direction is compared to find V in the scheme DxValue and V in case BxEqual value, V in scheme DyValue and V in case AyEqual values, demonstrate V in scenario DxAnd VyThe measured values are all correct; while V in scheme CxValue and V in case AxThe values are not equal, and V in scheme CyValue and V in case ByValues are not equal, then V in scheme C is representedxAnd VyValue, V in case AxValue, V in scheme ByThe values are all wrong. From this, it can be derived that only V is measured for the solution DxAnd VyThe values are correct, the radar transceiver 4 is proved to be in fault, and the fault self-checking function is completed.
Table 4 radar transceiver 4 failed
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. A four-beam Doppler velocity measurement method for a carrier vehicle is characterized by comprising the following steps:
s1, transmitting a signal by the radar transceiver;
s2, the radar transceiver receives the echo signal of the reflecting object;
s3, the radar transceiver mixes the echo signal with the local oscillation signal;
s4, the AD analog-to-digital conversion module converts the mixed analog signal into a digital signal;
s5, the signal acquisition module acquires digital signals;
s6, the signal conditioning module conditions the digital signal collected by the signal collecting module;
and S7, the four-beam Doppler velocity measurement module performs frequency extraction and velocity synthesis on the digital signal to obtain the current carrier vehicle velocity.
2. The method according to claim 1, wherein the carrier vehicle is provided with four radar transceivers, and the speed of the carrier vehicle can be measured by taking detection frequencies of any three radar transceivers.
3. The method of claim 1, further comprising a radar transceiver fault self-test; if the carrier vehicle reference speed is known, optionally selecting three combinations among the four radar transceivers to carry out speed measurement to obtain four measurement schemes, comparing the speeds in two directions measured by the four measurement schemes with the reference speed respectively, and judging that the rest radar transmitters have faults if the speed measured by only one radar transceiver combination mode is matched with the reference speed, thereby completing the fault self-checking function.
4. The method according to claim 3, wherein when the reference velocity of the carrier vehicle is unknown, the carrier vehicle is measured by four measurement schemes to obtain 8 velocities in four groups, and the velocities in two directions are compared, if the measurement schemes include a faulty radar transceiver, the velocity measurement in at least one direction is problematic, and the erroneous velocity values in the same direction are different; if the measuring scheme does not contain the fault radar transceiver, the measured speeds in the two directions are correct, and the speeds in the two directions are respectively equal to the speed values in the corresponding directions in one measuring scheme containing the fault radar transceiver, so that the fault position of the radar transceiver can be determined, and the self-checking function is completed.
5. The method of claim 1, wherein the four-beam doppler velocimetry module is established as follows:
the wave beams 1,2,3 and 4 respectively represent microwave wave beams emitted by four antennas, the forward direction of the vehicle is an X axis, the vertical direction is a Z axis, and a right-hand coordinate system O-XYZ and a spherical coordinate system are established
The four-beam configuration scheme adopts a symmetrical Janus mode, beams are symmetrical with each other about a coordinate axis or an origin, zenith angle surplus angles of a beam antenna and a Z axis are α, and a deflection angle between beam projection and the positive direction of an X axis is thetaiWherein theta2Theta, the beam antenna satisfies a symmetrical Janus pattern configuration, theta3＝π-θ，θ4＝π+θ，θ1＝2π-θ；
The direction for the ith beam can be represented by a unit vector, where i is 1,2,3, 4:
the velocity vector of the carrier can be expressed as the vector sum of three velocity components:
the Doppler frequency shift value corresponding to the ith wave beam of the vehicle carrier is as follows:
unfolding the above formula yields:
the speed of the carrier vehicle can be measured by selecting three of the four radar transceivers, and four combination schemes are obtained: scheme A is f1,f2,f4Scheme B is f2,f3,f4Scheme C is f1,f3,f4Scheme Df1,f2,f3；
When inverting the vehicle body speed according to the scheme A, the obtained carrier vehicle speed inversion equation is as follows:
when inverting the vehicle body speed according to the scheme B, obtaining an inversion equation of the vehicle speed of the carrier as follows:
when inverting the vehicle body speed according to the scheme C, obtaining an inversion equation of the vehicle speed of the carrier as follows:
when inverting the vehicle body speed according to the scheme D, obtaining an inversion equation of the vehicle speed of the carrier as follows:
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