CN110879394A - Unmanned ship radar obstacle avoidance system and method based on motion attitude information - Google Patents
Unmanned ship radar obstacle avoidance system and method based on motion attitude information Download PDFInfo
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Abstract
The invention discloses a radar obstacle avoidance system and method for an unmanned ship based on motion attitude information, wherein the system comprises the following steps: the radar signal processing system is used for transmitting electromagnetic waves and receiving echo signals through a millimeter wave radar, carrying out signal processing to obtain distance, speed and angle information of a target, and transmitting the information to the unmanned ship navigation control system; the unmanned ship navigation control system is used for classifying the high-risk targets according to the received target information and the danger levels and making early warning, emergency braking or detour decisions on the high-risk targets in advance; and the beam adjusting system is used for acquiring the attitude information of the unmanned ship body in real time according to the gyroscope, performing digital beam synthesis, and always adjusting the maximum beam direction of the millimeter wave radar to be consistent with the navigation direction of the unmanned ship according to the change of the pitching angle of the unmanned ship during the motion. The invention reduces the influence of misdetection of the non-track direction target by the radar and missed detection of the track direction target due to the change of the navigation attitude.
Description
Technical Field
The invention relates to the technical field of unmanned ship obstacle avoidance, in particular to an unmanned ship radar obstacle avoidance system and method based on motion attitude information.
Background
With the applications of water surface mapping, hydrological detection, water quality monitoring, water environment monitoring, maritime search and rescue, security protection, flood fighting and rescue, water surface traffic diversion and the like, the market of unmanned ships is continuously increased, and the related technologies of unmanned ships are also continuously improved, such as key technologies of positioning, track management, navigation posture adjustment, obstacle avoidance and the like. Especially, under the condition that the water surface environment is relatively complex, the requirements on the flexibility and the maneuverability of the unmanned ship are high. When the unmanned ship faces a plurality of manually operated ships, the uncertainty of manual operation is considered, collision accidents between the unmanned ship and the manually operated ships are avoided, and the automatic obstacle avoidance capability is the key for realizing safe navigation of the unmanned ship. The accurate unmanned ship autonomous obstacle avoidance system can reduce the damage of the unmanned ship, the damage of buildings and the casualty accidents to the maximum extent.
The traditional unmanned ship obstacle avoidance scheme usually adopts a visual obstacle avoidance (camera) and laser radar mode, but is limited by the limitation of working distance of the camera and the laser radar, is easily influenced by weather, light and other environmental factors, and has a limited obstacle avoidance scheme effect. The millimeter wave radar scheme can well solve the problems, has strong robustness and high measurement precision, can work all weather, and has the advantages of small volume, low power consumption, high precision, strong anti-interference, simple installation and the like. The existing system for avoiding the obstacle of the unmanned ship by adopting the millimeter wave radar can be mainly divided into two modules. The millimeter wave radar is arranged on the unmanned ship, the detected target information is sent to the control system in real time, and the control system adjusts the state of the unmanned ship navigation control device according to the target information, so that collision between the unmanned ship and an obstacle is avoided.
As shown in fig. 1, the system includes a radar signal processing module and a navigation control module. The method comprises the steps of transmitting electromagnetic waves and receiving echo signals through a millimeter wave radar, finishing a series of signal processing, obtaining distance, speed and angle information of obstacles, transmitting the information to a navigation control module, classifying the information according to danger levels by the navigation control module according to received target information, and carrying out strategies such as early warning, emergency braking or detouring on high-risk obstacles in advance to ensure the navigation safety of the unmanned ship.
However, due to the limitation of radar detection systems and the complex diversity of application environments, the detection performance of the radar is greatly limited. When the motion attitude information (acceleration, deceleration, bow lifting, bow descending, steering and the like) of the unmanned ship changes, the detection range of the radar changes, which can cause the radar to detect a non-track direction target (a false alarm target can be detected), and a normal track direction target (a ship, a bridge, other obstacles and other targets in the early warning range can be missed) is missed, the information is uploaded to a navigation control system, the navigation control system can make adjustment according to the target information, and take wrong measures such as continuous navigation or emergency braking, so that the navigation safety and efficiency are influenced.
Disclosure of Invention
The invention provides a unmanned ship radar obstacle avoidance system and method based on motion attitude information, which are used for solving the technical problems that when the motion attitude information of the unmanned ship millimeter wave radar obstacle avoidance system is changed, a non-track direction target is easy to detect, and a normal track direction target is missed, so that the navigation safety and efficiency are influenced.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an unmanned ship radar obstacle avoidance system based on motion attitude information comprises:
the radar signal processing system is used for transmitting electromagnetic waves and receiving echo signals through a millimeter wave radar, carrying out signal processing to obtain distance, speed and angle information of a target, and transmitting the information to the unmanned ship navigation control system;
the unmanned ship navigation control system is used for classifying according to danger levels according to the received target information and making early warning, emergency braking or detour decisions on high-risk targets in advance;
further comprising:
and the beam adjusting system is used for acquiring the attitude information of the unmanned ship body in real time according to the gyroscope, performing digital beam synthesis, and always adjusting the maximum beam direction of the millimeter wave radar to be consistent with the navigation direction of the unmanned ship according to the change of the pitching angle of the unmanned ship during the motion.
Preferably, the unmanned ship navigation control system is also used for forwarding the unmanned ship operation information to the radar signal processing system through the data processing system in real time; the unmanned ship operation information comprises navigation speed, navigation steering information and unmanned ship inclination angle information;
the unmanned ship data processing system is used for receiving and forwarding information from all sensors on the unmanned ship, judging the current environment of the unmanned ship according to the information of the sensors, planning the navigation track of the unmanned ship and processing the next task of the unmanned ship; and the unmanned ship is also used for issuing various instructions to the sensor module and the power module on the unmanned ship when processing the next task so as to control the unmanned ship to complete the next task under the unmanned control condition.
Preferably, the radar signal processing system comprises:
the antenna is used for the millimeter wave radar to transmit electromagnetic waves and receive echo signals;
the AD sampling unit is used for carrying out analog-digital sampling on the echo signal and inputting a sampling result into the two-dimensional FFT unit;
the two-dimensional FFT unit is used for respectively carrying out fast Fourier transform on the distance dimension and the speed dimension on the sampling result into a two-dimensional data matrix;
and the CFAR unit is used for carrying out constant false alarm detection on the two-dimensional data matrix to obtain the distance and speed information of the target.
Preferably, the radar signal processing system further comprises:
the speed ambiguity resolution unit is used for resolving ambiguity of the solved speed;
and the angle measurement unit is used for respectively carrying out angle measurement on all target points detected by the CFAR unit to obtain accurate target angle information.
Preferably, the radar signal processing system further comprises:
and the target filtering unit is used for secondarily judging the detected target points according to the target characteristic information and the echo signal characteristics of all the target points, judging whether the detected target points are required real target points or not, filtering and eliminating false target points.
Preferably, the radar signal processing system further comprises:
the target fusion unit is used for carrying out data fusion on all the detection points and fusing the target points of the same reflector together according to the corresponding fusion rule;
and the tracking filtering unit is used for carrying out self-adaptive adjustment filtering parameters and track tracking parameter adjustment on the millimeter wave radar by the navigation speed, navigation steering and unmanned ship inclination angle information from the unmanned ship navigation control system so as to carry out tracking filtering on the fused target point and obtain track information of the nonlinear moving target.
Preferably, the radar signal processing system further comprises:
the target classification unit is used for classifying the targets according to the track information of the nonlinear moving targets and the corresponding data characteristics;
the false alarm management unit is used for carrying out self-adaptive adjustment on filtering parameters and track tracking parameter adjustment on the millimeter wave radar according to the target classification, the navigation speed, the navigation steering and the unmanned ship inclination angle information, and removing false alarm targets generated under different noise backgrounds and false alarm targets which cannot be associated with the navigation track; obtaining real target information;
and the target output unit is used for integrating the target information after the false alarm management and then sending the target information to the unmanned ship navigation control system.
Preferably, the maximum beam pointing direction of the millimeter wave radar coincides with the navigation direction of the unmanned ship as the position where the maximum beam pointing direction is 0 degrees in the horizontal plane.
The invention also provides a radar obstacle avoidance method of the unmanned ship based on the motion attitude information, which transmits electromagnetic waves and receives echo signals through a millimeter wave radar, processes the signals to obtain distance, speed and angle information of a target, and transmits the information to a navigation control system of the unmanned ship; classifying according to danger levels according to received target information, and making early warning, emergency braking or detour decisions on high-risk targets in advance; further comprising the steps of:
and acquiring attitude information of the unmanned ship body in real time according to the gyroscope, performing digital beam synthesis, and always adjusting the maximum beam direction of the millimeter wave radar to be consistent with the navigation direction of the unmanned ship according to the change of the pitching angle of the unmanned ship during movement.
Preferably, the maximum beam pointing direction of the millimeter wave radar is consistent with the navigation direction of the unmanned ship: the beam is pointed at the maximum 0 degree position in the horizontal plane.
The invention has the following beneficial effects:
1. according to the unmanned ship radar obstacle avoidance system and method based on the motion attitude information, the motion attitude information of the unmanned ship is fed back to the radar in real time, the radar adjusts the maximum pointing position of a radar beam in the signal processing process, and the influence of misdetection of a non-track direction target and missed detection of a track direction target by the radar due to change of a navigation attitude is reduced.
2. In a preferred scheme, the unmanned ship radar obstacle avoidance system based on the motion attitude information realizes accurate obstacle avoidance through bidirectional interaction of the unmanned ship data processing system, the navigation control system and the data processing system with the radar system. By feeding the motion attitude information of the unmanned ship back to the radar in real time, the radar adaptively adjusts relevant parameters in algorithms such as detection, tracking filtering and the like according to the relevant information, and improves the detection capability of the radar on various reflector targets on the basis of ensuring the detection accuracy of the radar.
3. In a preferred scheme, the unmanned ship radar obstacle avoidance system based on the motion attitude information feeds back the motion attitude information of the unmanned ship to the radar in real time, and in false alarm management, the radar can automatically judge and identify a false alarm according to the motion attitude state, the navigation speed and the navigation steering of the unmanned ship and eliminate the interference of a false alarm target on a real target to a certain extent.
In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a conventional unmanned ship millimeter wave radar obstacle avoidance system;
fig. 2 is a schematic structural diagram of the unmanned ship radar obstacle avoidance system based on motion attitude information according to the preferred embodiment 1 of the present invention;
fig. 3 is a schematic configuration diagram of a radar signal processing system according to preferred embodiment 1 of the present invention;
fig. 4 is a schematic flow chart of a radar obstacle avoidance method of the unmanned ship based on motion attitude information according to the preferred embodiment 1 of the present invention;
fig. 5 is a schematic configuration diagram of a radar signal processing system according to preferred embodiment 2 of the present invention.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims. The embodiments are merely examples, and technical features may be reasonably combined among different embodiments without limitation to the combination of technical features.
Example 1:
referring to fig. 2, the unmanned ship radar obstacle avoidance system based on motion attitude information of the present embodiment includes:
the radar signal processing system is used for transmitting electromagnetic waves and receiving echo signals through a millimeter wave radar, carrying out signal processing to obtain distance, speed and angle information of a target, and transmitting the information to the unmanned ship navigation control system;
the unmanned ship navigation control system is used for classifying the high-risk targets according to the received target information and the danger levels and making early warning, emergency braking or detour decisions on the high-risk targets in advance; furthermore, the unmanned ship navigation control system is also used for forwarding the unmanned ship operation information to the radar signal processing system through the data processing system in real time; the unmanned ship operation information comprises navigation speed, navigation steering information and unmanned ship inclination angle information; (the information is derived from unmanned ship operation control system or unmanned ship navigation control system, including but not limited to, speedometer, GPS, RTK, inertial navigation system, camera, etc.);
the beam adjusting system is used for acquiring attitude information of the unmanned ship body in real time according to the gyroscope, performing digital beam synthesis, and always adjusting the maximum beam pointing direction of the millimeter wave radar to be consistent with the navigation direction of the unmanned ship (preferably, the maximum beam pointing direction is the position of 0 degree of the horizontal plane) according to the change of the pitching angle of the unmanned ship;
the unmanned ship data processing system is used for receiving and forwarding information from all sensors on the unmanned ship, judging the current environment of the unmanned ship according to the information of the sensors, planning the navigation track of the unmanned ship and processing the next task of the unmanned ship; and the unmanned ship is also used for issuing various instructions to the sensor module and the power module on the unmanned ship when processing the next task so as to control the unmanned ship to complete the next task under the unmanned control condition.
By feeding the motion attitude information of the unmanned ship back to the radar in real time, the radar adjusts the maximum pointing position of a radar beam in the signal processing process, and the influence of misdetection of non-track direction targets and missed detection of track direction targets by the radar due to change of the navigation attitude is reduced. The unmanned ship data processing system and the unmanned ship navigation control system are used for realizing the bidirectional interaction of the data processing system and the radar system, so that the accurate obstacle avoidance is realized.
Referring to fig. 3, the radar signal processing system of the present embodiment preferably includes the following components:
the antenna is used for the millimeter wave radar to transmit electromagnetic waves and receive echo signals;
an Analog to Digital (AD) sampling unit for performing Analog-to-Digital sampling on the echo signal and inputting the sampling result into a two-dimensional Fast Fourier Transform (FFT) unit;
a two-dimensional FFT (Fast Fourier Transform) unit for performing Fast Fourier Transform of a distance dimension and a speed dimension on the sampling result respectively to obtain a two-dimensional data matrix;
and the CFAR (Constant False-Alarm Rate) detection unit is used for carrying out Constant False Alarm detection on the two-dimensional data matrix to obtain the distance and speed information of the target. The constant false alarm rate detection mainly has the following functions: under the condition that the millimeter wave radar system keeps constant false alarm probability, the corresponding detection parameters of the radar system are adjusted in a self-adaptive mode, noise signals and target signals can be distinguished, for example, according to the constant false alarm detection principle, a detection threshold value is adjusted in a self-adaptive mode by the radar system, and when the amplitude of a signal of an echo target point exceeds the detection threshold value, the echo signal point is considered to be a required real target point; and when the signal amplitude of the echo target point is lower than the detection threshold value, the echo signal point is considered as a noise signal. This part of the function is usually performed by the millimeter wave radar DSP. The CFAR module discriminates between the target signal and the noise signal by changing the detection threshold according to a specific algorithm (constant, segmented, or background noise).
The speed ambiguity resolution unit is used for resolving ambiguity of the solved speed;
and the angle measurement unit is used for respectively carrying out angle measurement on all target points detected by the CFAR unit to obtain accurate target angle information.
The target filtering unit is used for carrying out secondary judgment on the detected target points according to target characteristic information and echo signal characteristics of all the target points (generally, the detected and extracted radar information is the information which is interesting to people, such as distance, Doppler, pitching, direction and the like), judging whether the detected target points are required real target points or not, filtering and eliminating false target points;
the target fusion unit is used for carrying out data fusion on all the detection points and fusing the target points of the same reflector together according to the corresponding fusion rule; there are many fusion rules, and it is usually compared whether the information of the same frame object is similar or similar. For example, points that are relatively close to each other may be fused, the fusion may be performed according to a preset target shape, or the fusion may be performed according to the target reflected signal intensity.
The tracking filtering unit is used for carrying out self-adaptive adjustment filtering parameters and track tracking parameter adjustment on the millimeter wave radar by using the navigation speed, navigation steering and unmanned ship inclination angle information from the unmanned ship navigation control system so as to carry out tracking filtering on the fused target point and obtain track information of the nonlinear moving target; on the basis of ensuring the detection accuracy of the radar, the detection capability of the radar to various reflector targets is improved. In implementation, data obtained by the millimeter wave radar after being processed by a primary algorithm is target point information, and the information comprises the speed, the angle and the distance of a target. Based on the information, the continuous frames of data can be compared, and similar points are fused according to the speed, the angle and the distance of the target among different frames, so that target track data are realized. The adaptive adjustment of the filtering parameter and the adjustment of the trajectory tracking parameter for the millimeter wave radar can be performed by adopting the following exemplary methods: according to the navigation speed and navigation steering information, the filtering and tracking parameters of the trajectory tracking can be adjusted, and the stable and effective trajectory tracking of the target is ensured under the condition of unchanged sampling rate. According to the difference of the inclination angle of the unmanned ship, different filtering parameters are set aiming at the sky, the sea and the normal navigation, and different noise interferences exist due to different reflection conditions of the sky and the sea on the millimeter wave radar, so that the generated false alarms are different. The data output by the millimeter wave radar can be guaranteed to be effective all the time only by continuously adjusting the filtering parameters according to the unmanned ship inclination angle information.
The target classification unit is used for classifying the targets according to the track information of the nonlinear moving targets and the corresponding data characteristics;
and the false alarm management unit is used for carrying out self-adaptive adjustment on filtering parameters and track tracking parameter adjustment on the millimeter wave radar according to the target classification, the navigation speed, the navigation steering and the unmanned ship inclination angle information, removing false alarm targets generated under different noise backgrounds and false alarm targets which cannot be associated with the navigation track to obtain real target information. The false scene management unit is used for eliminating the object which is identified as the target signal according to the navigation speed, the steering angle and the pitch angle information of the unmanned ship. For example, when the unmanned ship is sailing at 30km/h, the radar detects a target with a speed of 200km/h, which obviously does not occur in practical application (too fast), and the target can be considered as a false alarm for filtering. Still for example unmanned ship's pitch angle obviously has detected the surface of water, at this moment, can calculate the surface of water distance according to radar mounting height and unmanned ship pitch angle, consequently rejects the surface of water signal that detects, prevents to appear because detect the surface of water and the radar mistake is for detecting the unmanned ship emergency braking that the barrier leads to. The radar automatically judges and identifies the false alarm according to the motion attitude state of the unmanned ship, and eliminates the interference of a false alarm target on a real target to a certain extent.
And the target output unit is used for integrating the real target information after the false alarm management and then sending the integrated information to the unmanned ship navigation control system.
Referring to fig. 4, the embodiment further provides a radar obstacle avoidance method for the unmanned ship based on the motion attitude information, which transmits electromagnetic waves and receives echo signals through a millimeter wave radar, performs signal processing to obtain distance, speed and angle information of a target, and transmits the information to an unmanned ship navigation control system; classifying according to danger levels according to received target information, and making early warning, emergency braking or detour decisions on high-risk targets in advance; furthermore, attitude information of the unmanned ship body is obtained in real time according to the gyroscope, digital beam synthesis is carried out, the maximum beam direction of the millimeter wave radar is always adjusted to be consistent with the navigation direction of the unmanned ship according to the change of the movement pitch angle of the unmanned ship, namely the maximum beam direction is the position of the 0-degree direction of the horizontal plane, and the detection efficiency of the millimeter wave radar of the unmanned ship is ensured.
Example 2:
referring to fig. 5, the structure and principle of the unmanned ship radar obstacle avoidance system based on motion attitude information in this embodiment are substantially the same as those in embodiment 1, and are not described herein again. The difference between the two is that the radar signal processing system of the embodiment includes the following parts:
the two-dimensional FFT unit is used for respectively carrying out fast Fourier transform on the distance dimension and the speed dimension on the sampling result of the echo signal to obtain a two-dimensional data matrix;
and the target detection unit comprises the functions of the target filtering unit and the target fusion unit in the embodiment 1. When the unmanned ship is normally started, the unmanned ship navigation control system transmits the motion attitude information of the unmanned ship to the radar through the data processing system, and the radar adaptively adjusts the CFAR detection threshold according to the motion attitude information of the unmanned ship and the echo spectrum, so that the detection capability of the radar on the peripheral reflector target is improved/reduced. Meanwhile, the change of the direction of the radar beam after the radar inclination angle is upwards/downwards/turns due to the change of the motion attitude of the unmanned ship is reduced, so that the corresponding turning compensation is carried out by controlling the radar beam, and the influence of misinformation/missing report is reduced.
And the tracking filtering unit is used for carrying out self-adaptive adjustment filtering parameters and track tracking parameter adjustment on the millimeter wave radar by the navigation speed, navigation steering and unmanned ship inclination angle information from the unmanned ship navigation control system so as to carry out tracking filtering on the fused target point and obtain track information of the nonlinear moving target. In the tracking filtering, filtering parameters and track tracking parameters are adaptively adjusted by combining motion attitude information of the unmanned ship, so that the situations of target loss, track fracture and the like caused by over-high speed of the unmanned ship can be prevented, and the problem of false alarm/missing report caused by change of radar beam direction after the motion attitude of the unmanned ship is changed can be solved.
The false alarm management unit is used for carrying out self-adaptive adjustment on filtering parameters and track tracking parameter adjustment on the millimeter wave radar according to the target classification, the navigation speed, the navigation steering and the unmanned ship inclination angle information, and removing false alarm targets generated under different noise backgrounds and false alarm targets which cannot be associated with the navigation track; and obtaining real target information. In the false alarm management processing, the motion and motion attitude information of the unmanned ship is added, the effectiveness of the detection target can be automatically identified according to the information, and the influence of the detection of the radar false alarm on the normal navigation of the unmanned ship is reduced to the maximum extent.
And the target output unit is used for integrating the real target information after the false alarm management and then sending the integrated information to the unmanned ship navigation control system.
In conclusion, the unmanned ship navigation control system and the unmanned ship navigation control system are adopted, and the data processing system and the radar system are subjected to bidirectional interaction, so that relevant information of the radar system is fed back in real time according to the navigation environment and the motion state of the unmanned ship. The radar is comprehensively analyzed according to the related information and the actual echo signal, meanwhile, the detection direction of the radar beam level 0-degree angle is continuously adjusted, the detection accuracy of the radar is guaranteed, the detection capability of the radar on a target is improved, the risk of false alarm is reduced, the working performance of the radar is greatly improved, and reliable guarantee is provided for the safety, stability and continuous work of the unmanned ship.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An unmanned ship radar obstacle avoidance system based on motion attitude information comprises:
the radar signal processing system is used for transmitting electromagnetic waves and receiving echo signals through a millimeter wave radar, carrying out signal processing to obtain distance, speed and angle information of a target, and transmitting the information to the unmanned ship navigation control system;
the unmanned ship navigation control system is used for classifying according to danger levels according to the received target information and making early warning, emergency braking or detour decisions on high-risk targets in advance;
it is characterized by also comprising:
and the beam adjusting system is used for acquiring the attitude information of the unmanned ship body in real time according to the gyroscope, performing digital beam synthesis, and always adjusting the maximum beam direction of the millimeter wave radar to be consistent with the navigation direction of the unmanned ship according to the change of the pitching angle of the unmanned ship during the motion.
2. The unmanned ship radar obstacle avoidance system based on motion attitude information as claimed in claim 1, wherein the unmanned ship navigation control system is further configured to forward the unmanned ship navigation information to the radar signal processing system through the data processing system in real time; the unmanned ship running information comprises navigation speed, navigation steering information and unmanned ship inclination angle information;
the unmanned ship data processing system is used for receiving and forwarding information from all sensors on the unmanned ship, judging the current environment of the unmanned ship according to the information of the sensors, planning the navigation track of the unmanned ship and processing the next task of the unmanned ship; and the unmanned ship is also used for issuing various instructions to the sensor module and the power module on the unmanned ship when processing the next task so as to control the unmanned ship to complete the next task under the unmanned control condition.
3. The unmanned ship radar obstacle avoidance system based on motion attitude information, as claimed in claim 1, wherein the radar signal processing system comprises:
the antenna is used for the millimeter wave radar to transmit electromagnetic waves and receive echo signals;
the AD sampling unit is used for carrying out analog-digital sampling on the echo signal and inputting a sampling result into the two-dimensional FFT unit;
the two-dimensional FFT unit is used for respectively carrying out fast Fourier transform on the distance dimension and the speed dimension on the sampling result into a two-dimensional data matrix;
and the CFAR unit is used for carrying out constant false alarm detection on the two-dimensional data matrix to obtain the distance and speed information of the target.
4. The unmanned ship radar obstacle avoidance system based on motion attitude information of claim 3, wherein the radar signal processing system further comprises:
the speed ambiguity resolution unit is used for resolving ambiguity of the solved speed;
and the angle measurement unit is used for respectively carrying out angle measurement on all target points detected by the CFAR unit to obtain accurate target angle information.
5. The unmanned ship radar obstacle avoidance system based on motion attitude information of claim 3 or 4, wherein the radar signal processing system further comprises:
and the target filtering unit is used for secondarily judging the detected target points according to the target characteristic information and the echo signal characteristics of all the target points, judging whether the detected target points are required real target points or not, filtering and eliminating false target points.
6. The unmanned-vessel radar obstacle avoidance system based on motion attitude information according to any one of claims 2 to 4, wherein the radar signal processing system further comprises:
the target fusion unit is used for carrying out data fusion on all the detection points and fusing the target points of the same reflector together according to the corresponding fusion rule;
and the tracking filtering unit is used for carrying out self-adaptive adjustment filtering parameters and track tracking parameter adjustment on the millimeter wave radar by the navigation speed, navigation steering and unmanned ship inclination angle information from the unmanned ship navigation control system so as to carry out tracking filtering on the fused target point and obtain track information of the nonlinear moving target.
7. The unmanned ship radar obstacle avoidance system based on motion attitude information of claim 6, wherein the radar signal processing system further comprises:
the target classification unit is used for classifying the targets according to the track information of the nonlinear moving targets and the corresponding data characteristics;
the false alarm management unit is used for carrying out self-adaptive adjustment on filtering parameters and track tracking parameter adjustment on the millimeter wave radar according to the target classification, the navigation speed, the navigation steering and the unmanned ship inclination angle information, and removing false alarm targets generated under different noise backgrounds and false alarm targets which cannot be associated with the navigation track; obtaining real target information;
and the target output unit is used for integrating the target information after the false alarm management and then sending the target information to the unmanned ship navigation control system.
8. The unmanned ship radar obstacle avoidance system based on motion attitude information according to any one of claims 1 to 7, wherein a maximum beam pointing direction of the millimeter wave radar coincides with a navigation direction of the unmanned ship as a position where the maximum beam pointing direction is 0 degrees in a horizontal plane.
9. A radar obstacle avoidance method of an unmanned ship based on motion attitude information comprises the steps of transmitting electromagnetic waves and receiving echo signals through a millimeter wave radar, carrying out signal processing to obtain distance, speed and angle information of a target, and transmitting the information to an unmanned ship navigation control system; classifying according to danger levels according to received target information, and making early warning, emergency braking or detour decisions on high-risk targets in advance; the method is characterized by further comprising the following steps:
and acquiring attitude information of the unmanned ship body in real time according to the gyroscope, performing digital beam synthesis, and always adjusting the maximum beam direction of the millimeter wave radar to be consistent with the navigation direction of the unmanned ship according to the change of the pitching angle of the unmanned ship during movement.
10. The unmanned ship radar obstacle avoidance method based on motion attitude information of claim 9, wherein the maximum beam pointing direction of the millimeter wave radar is consistent with the navigation direction of the unmanned ship: the beam is pointed at the maximum 0 degree position in the horizontal plane.
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| CN113030901A (en) * | 2021-04-01 | 2021-06-25 | 中国石油大学(华东) | Unmanned ship front multi-target tracking detection method combining attitude indicator and millimeter wave radar |
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| CN114115264A (en) * | 2021-11-19 | 2022-03-01 | 四方智能(武汉)控制技术有限公司 | Unmanned ship surveying and mapping navigation system and control method thereof |
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