CN110907948B - Infrared signal filtering method applied to marine collision avoidance system - Google Patents
Infrared signal filtering method applied to marine collision avoidance system Download PDFInfo
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- CN110907948B CN110907948B CN201911134712.1A CN201911134712A CN110907948B CN 110907948 B CN110907948 B CN 110907948B CN 201911134712 A CN201911134712 A CN 201911134712A CN 110907948 B CN110907948 B CN 110907948B
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
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Abstract
The invention provides an infrared signal filtering method applied to a marine collision avoidance system. The sampling achieves the optimized filtering in the exclusive or non mode, and the calculated amount is greatly reduced due to the exclusive or non mode of the sampling, so that the calculated amount of the DSP is reduced, and the effects of rapid and optimized filtering are achieved.
Description
Technical Field
The invention belongs to the technical field of infrared signal filtering, and particularly relates to an infrared signal filtering method applied to a marine collision avoidance system.
Background
With the popularization of the marine radar, the maturation and rapid development of information acquisition application technologies such as ultrasonic sounding sensors, optical sensors, infrared photoelectric sensors and the like, the infrared photoelectric scanning is also increasingly applied, and the infrared photoelectric scanning has the advantages of interference resistance, dynamic target locking, close-range scanning collision prevention and the like. The marine radar is provided with an infrared scanning collision prevention system which is matched with the radar to replace the radar signal to work independently at times, and the radar is cooperated to perform scanning data fusion at times. The infrared scanning collision avoidance system is parasitic on the marine radar, so that on one hand, the hardware cost can be reduced, and on the other hand, the infrared scanning collision avoidance system and the marine radar can be better coordinated.
However, infrared signals are sensitive to noise or interference jitter, which can affect signal integrity and accuracy, and if excessive filtering can result in signal delays. Therefore, a person skilled in the art adopts a fast anti-shake filtering method to solve the technical problems, and uses 2 times of comparison and 1 time of assignment; or 2 comparisons, 2 assignments; or 1 time of comparison and 3 times of assignment, the data delay is short, and the signal jitter removal effect is good. However, if only a single rapid anti-shake filtering method is adopted, the same-frequency interference cannot be filtered well, and some adopted same-frequency interference filtering methods make the calculated amount of the DSP too large, so that the filtering speed is low and the effect is poor.
Disclosure of Invention
In order to solve the technical problems, the invention provides an infrared signal filtering method applied to a marine collision avoidance system.
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview and is intended to neither identify key/critical elements nor delineate the scope of such embodiments. Its sole purpose is to present some concepts in a simplified form as a prelude to the more detailed description that is presented later.
The invention adopts the following technical scheme:
in some alternative embodiments, the present invention provides an infrared signal filtering method applied to a marine collision avoidance system, which is characterized by comprising:
s11: after the FPGA carries out quick anti-shake filtering on the infrared signals, storing and maintaining the filtered data, and transmitting the angle data of the current data to the DSP;
s12: the DSP samples and caches the data of the same angle, and always keeps 3 times of recently read data, wherein the last time of the recently read data is marked as k, the last data is k-1, and the last data is k-2;
s13: judging whether the k-2 line is a target, if so, performing a step S14, otherwise, performing a step S17;
s14: judging whether the k-1 line is a target, if so, performing a step S15, otherwise, performing a step S17;
s15: judging whether the kth line is a target, if so, performing step S16, otherwise, performing step S17;
s16: judging the current infrared photoelectric scanning signal as a scanning target and the output signal as a target value;
s17: and judging that the non-target signal is scanned, and processing the DSP signal into an output background value.
In some alternative embodiments, step S16 further comprises, after:
s18: and judging whether the current line is processed, if so, ending the same-frequency interference processing process, otherwise, returning to the step S13.
In some alternative embodiments, the method may include, prior to: an infrared signal rapid anti-shake filtering process; the fast anti-shake filtering of the infrared signal includes:
s21: setting the temporary storage unit med </SUB > of the infrared reading signal to zero, and resetting the continuous infrared reading signal;
s22: when the width of the filtering window is 3, judging whether the width of the pulse in the signal sequence is less than 3, if so, executing step S23;
s23: after the infrared photoelectric scanning collision avoidance system is started, the FPGA reads infrared photoelectric signals;
s24: comparing the read infrared photoelectric signal with med 2, judging whether the read infrared photoelectric signal is greater than or equal to med 2, if so, executing step S25, otherwise executing step S26;
s25: reordering the contents of the infrared reading signal temporary storage unit med;
s26: judging whether the read infrared photoelectric signal is greater than or equal to med 1, if so, executing step S27, otherwise executing step S28;
s27: covering the content of the original med [1] with the med [0], covering the content of the newly read infrared photoelectric signal with the med [1] for 2 times, and completing sequencing;
s28: and covering the content of the newly read infrared photoelectric signals with med [0], carrying out assignment for 1 time, and completing sequencing.
In some alternative embodiments, the process of reordering the contents of the infrared read signal temporary storage unit med [ ] includes: and covering the content of med [1] with med [0], covering the content of med [2] with med [1], and finally covering the content of the newly read infrared photoelectric signal with med [2] for 3 times, namely finishing the sorting.
In some alternative embodiments, after step S25, step S27, and step S28 are completed, the data is continuously read, the number of times of reading the data is increased by 1, and the process is repeated until the FPGA starts to read the infrared photoelectric signal.
In some alternative embodiments, when the number of times of continuous data reading is greater than 3, the present infrared photoelectric data reading cycle is ended, and the signal of med [1] is taken as the limited signal value of the present infrared photoelectric data reading.
The invention has the beneficial effects that: the sampling achieves the optimized filtering in the exclusive or non mode, and the calculated amount is greatly reduced due to the exclusive or non mode of the sampling, so that the calculated amount of the DSP is reduced, and the effects of rapid and optimized filtering are achieved.
Drawings
FIG. 1 is a schematic flow chart of the co-channel interference optimization filtering process of the present invention;
FIG. 2 is a flow chart of the fast anti-shake filtering process of the present invention;
fig. 3 is an echo diagram of 3 consecutive infrared photoemission echoes.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the invention to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others.
As shown in fig. 1, in some illustrative embodiments, an infrared signal filtering method applied to a marine collision avoidance system is provided, the suppression of co-channel interference is mainly by a digital scanning correlation processing method, after an infrared photoelectric scanning collision avoidance system is started, an infrared photoelectric signal is sent out for scanning, firstly, an FPGA performs a rapid anti-shake filtering process of the infrared signal, and then performs a co-channel interference optimization filtering process.
The co-channel interference optimizing and filtering process comprises the following steps:
s11: after the FPGA performs quick anti-shake filtering on the infrared signals, the filtered data are stored and kept, and the angle data of the current data are transmitted to the DSP. The angle data is the horizontal orientation of the radar optoelectronic system.
S12: and the DSP samples and caches the data of the same angle, always keeps the 3 times of data which are read recently, and the 3 times of data which are read recently, wherein the last data mark is k, and the last data is k-1, and the last data is k-2.
The same-frequency interference optimization filtering process performs exclusive-or operation on the three times of data, and the sampling comparison method realizes an exclusive-or algorithm, wherein the exclusive-or operation refers to the following steps S13, S14 and S15.
S13: and judging whether the k-2 line is a target, if so, performing the step S14, otherwise, performing the step S17.
S14: judging whether the k-1 line is a target, if so, executing the step S15, otherwise, executing the step S17.
S15: judging whether the kth line is a target, if so, proceeding to step S16, otherwise proceeding to step S17.
S16: and judging that the current infrared photoelectric scanning signal is a scanning target, and outputting the signal as a target value, namely when the k-2 times of angle line photoelectric signal data is the target, and the k-1 times of angle line photoelectric signal data is the target, and the k times of angle line photoelectric signal data is the target, considering the current infrared photoelectric scanning signal as the scanning target, and outputting the signal as the target value.
S17: and judging that the non-target signal is scanned, and processing the DSP signal into an output background value.
S18: and judging whether the current line is processed, if so, ending the same-frequency interference processing process, otherwise, returning to the step S13. Specifically, each row needs to be processed, and the processing process of each row is the same-frequency interference processing process. When the data of this line is fully processed, it indicates that the current line processing is complete.
Fig. 3 shows an echo diagram of 3 consecutive echo scans, only the case of a heat pulse is shown, as in a the echo pulse representing two infrared photoelectric scanning signals and one heat pulse interfering with the infrared photoelectric scanning signals. a represents k-2 times, b represents k-1 times, and c represents k times. d is the effective signal after the same-frequency interference optimization filtering.
As shown in fig. 2, the fast anti-shake filtering process of the infrared signal includes:
for a filter window with a length of l=2n+1, where N is a positive integer, the samples of the input signal sequence in the window at the nth time are x (N-N), …, x (N), …, x (n+n), and then the output of the fast anti-shake filter algorithm is defined as:
y(n)＝med[x(n-N),…,x(n),…,x(n+N)]；
currently, a class system 0 is adopted, namely, a rapid anti-shake filtering algorithm is not used for filtering; 1: n=1, 3 points, the effect is better, and the time delay is small; 2: n=2, 5 points.
The filtering effect on noise increases with N, where n=1 is chosen in order to reduce the delay fast filtering effect.
Here, med [ ] means that all numbers in the window are arranged in order from small to large, and here, the value of med [1] is directly taken for operation. The rapid anti-shake filtering method can protect the edges of the signals and prevent the edges from being blurred; when the width of the filtering window is 3, the pulse with the width not more than 3 in the signal sequence is removed by the rapid anti-shake filtering method.
The fast anti-shake filtering of the infrared signal includes:
s21: when the equipment is started, the initialization is carried out, namely, the temporary storage unit med of the infrared reading signal is set to zero, the continuous infrared reading signal n is cleared, and the counting times are cleared. The infrared reading signal temporary storage unit refers to RAM memory space.
S22: when the filter window width is 3, it is determined whether the pulse width n++ in the signal sequence is less than 3, if so, step S23 is performed, otherwise, step S29 is performed.
S23: after the infrared photoelectric scanning collision avoidance system is started, the FPGA starts to read the infrared photoelectric signal vad.
S24: comparing the read infrared photoelectric signal vad with med [2], judging whether the read infrared photoelectric signal vad is greater than or equal to med [2], if the infrared photoelectric signal vad is greater than or equal to med [2], executing step S25, otherwise executing step S26.
S25: the contents of the original infrared reading signal temporary storage unit med are rapidly ordered again. The data continues to be read.
The reordering process includes: and covering the content of med [1] with med [0], covering the content of med [2] with med [1], and finally covering the content of the newly read infrared photoelectric signal with med [2] for 3 times, namely finishing the sorting.
S26: and judging whether the read infrared photoelectric signal vad is greater than or equal to med [1], if the judging result is that the infrared photoelectric signal vad is greater than or equal to med [1], executing a step S27, otherwise executing a step S28.
S27: and covering the content of the original med [1] with the med [0], covering the content of the newly read infrared photoelectric signal vad with the med [1], carrying out assignment for 2 times, and completing sequencing. The data continues to be read.
S28: and covering the content of the newly read infrared photoelectric signals with med [0], carrying out assignment for 1 time, and completing sequencing. The data continues to be read. And adding 1 to the number of times of reading data, and repeating until the FPGA starts to read the infrared photoelectric signals.
S29: and when the number of times of continuously reading the data is more than 3, ending the current infrared photoelectric data reading cycle, and taking the signal of med [1] as the limited signal value of the current infrared photoelectric data reading.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
Claims (3)
1. The infrared signal filtering method applied to the marine collision avoidance system is characterized by comprising the following steps of:
s11: after the FPGA carries out quick anti-shake filtering on the infrared signals, storing and maintaining the filtered data, and transmitting the angle data of the current data to the DSP;
s12: the DSP samples and caches the data of the same angle, and always keeps 3 times of recently read data, wherein the last time of the recently read data is marked as k, the last data is k-1, and the last data is k-2;
s13: judging whether the k-2 line is a target, if so, performing a step S14, otherwise, performing a step S17;
s14: judging whether the k-1 line is a target, if so, performing a step S15, otherwise, performing a step S17;
s15: judging whether the kth line is a target, if so, performing step S16, otherwise, performing step S17;
s16: judging the current infrared photoelectric scanning signal as a scanning target and the output signal as a target value;
s17: judging that the non-target signal is scanned, and processing the DSP signal into an output background value;
step S16 further includes:
s18: judging whether the current line is processed, if so, ending the same-frequency interference processing process, otherwise, returning to the step S13;
the method comprises the following steps: an infrared signal rapid anti-shake filtering process; the fast anti-shake filtering of the infrared signal includes:
s21: setting the temporary storage unit med </SUB > of the infrared reading signal to zero, and resetting the continuous infrared reading signal;
s22: when the width of the filtering window is 3, judging whether the width of the pulse in the signal sequence is less than 3, if so, executing step S23;
s23: after the infrared photoelectric scanning collision avoidance system is started, the FPGA reads infrared photoelectric signals;
s24: comparing the read infrared photoelectric signal with med 2, judging whether the read infrared photoelectric signal is greater than or equal to med 2, if so, executing step S25, otherwise executing step S26;
s25: reordering the contents of the infrared reading signal temporary storage unit med;
s26: judging whether the read infrared photoelectric signal is greater than or equal to med 1, if so, executing step S27, otherwise executing step S28;
s27: covering the content of the original med [1] with the med [0], covering the content of the newly read infrared photoelectric signal with the med [1] for 2 times, and completing sequencing;
s28: covering the content of the newly read infrared photoelectric signals with med [0] for 1 time to finish sequencing;
the process of reordering the contents of the infrared read signal temporary storage unit med [ ] includes: and covering the content of med [1] with med [0], covering the content of med [2] with med [1], and finally covering the content of the newly read infrared photoelectric signal with med [2] for 3 times, namely finishing the sorting.
2. The method for filtering infrared signals applied to a marine collision avoidance system according to claim 1, wherein after step S25, step S27 and step S28 are completed, data is continuously read, the number of times of reading the data is increased by 1, and the method is repeated until the FPGA starts to read the infrared photoelectric signals.
3. The method for filtering infrared signals applied to a marine collision avoidance system according to claim 2, wherein when the number of times of continuous data reading is greater than 3, ending the current infrared photoelectric data reading cycle, and taking the signal of med [1] as the limited signal value of the current infrared photoelectric data reading.
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