CN111366929A - Unmanned aerial vehicle anticollision early warning signal processing system based on FMCW millimeter wave radar - Google Patents
Unmanned aerial vehicle anticollision early warning signal processing system based on FMCW millimeter wave radar Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle anti-collision early warning signal processing system based on FMCW millimeter wave radar, which comprises a power management module, a radio frequency front end module, a signal processing module, a display module and an early warning execution module, wherein the power management module is respectively connected with the radio frequency front end module, the signal processing module, the display module and the early warning execution module; the radio frequency front-end module is connected with the signal processing module; the signal processing module is respectively connected with the display module and the early warning execution module. The method and the device for acquiring the distance information of the obstacles around the unmanned aerial vehicle effectively ensure the safety of the unmanned aerial vehicle in the flight process, improve the anti-collision early warning capability of the unmanned aerial vehicle, greatly reduce the damage probability of the unmanned aerial vehicle in the flight process, are not interfered by external environmental factors such as weather and the like, and have good stability.
Description
Technical Field
The invention belongs to the field of millimeter wave radars, and particularly relates to design of a millimeter wave frequency modulation continuous wave radar system and signal processing of the millimeter wave radar.
Background
The radar is an electronic system which utilizes electromagnetic waves to complete the functions of judging whether a target exists in a designated area, accurately positioning the position, tracking in real time, estimating the motion parameters of the target and the like. Chirped continuous wave (FMCW) radar has gained attention in many applications of short-range radar systems due to its simple and practical structure and very good ranging performance, and has a much greater and broader value. The transmission of chirped continuous wave radar is continuous in time and, unlike continuous wave radar systems that transmit only electromagnetic waves at a single frequency or at multiple discrete frequency points, the frequency of the electromagnetic waves transmitted by chirped continuous wave radar systems varies linearly with time. Therefore, the linear frequency modulation continuous wave radar has the advantages of light weight, small volume, low cost and the like, and has wide research and application in the fields of military and civil use. The linear frequency modulation continuous wave radar transmits and receives at the same time, and the condition that some distance units cannot be detected due to time alternation between receiving and transmitting does not exist in the work similar to a pulse radar, so the linear frequency modulation continuous wave has considerable application prospect in the aspects of civil vehicle-mounted and ship-mounted anti-collision early warning.
In recent years, FMCW millimeter wave radar systems have been used in many fields, including vehicle-mounted systems for safe driving, anti-collision warning, meteorological observation, battlefield reconnaissance, security in campuses, prisons, and the like. For the application of frequency modulation continuous wave radar in the field of anti-collision early warning, a great deal of research work is done in many domestic and foreign schools, scientific research institutions and scientific companies. The development of an all-weather ranging anti-collision early warning radar with low false alarm rate, no dead angle, low cost and good reliability is a great hotspot.
On one hand, the wide civil and military application prospect promotes the continuous forward development of the chirp continuous wave radar technology, and on the other hand, the development of the radar signal processing technology and the continuous improvement of the performance requirements put forward higher and higher requirements on the specific hardware realization. The FPGA has become one of the core chips of the present digital signal processing system due to the flexibility of design and the rapidity of development, which provides a good platform for the engineering implementation of radar signal processing, and along with the development of technology, the FPGA will play a more important role in the practicability of radar.
Unmanned aerial vehicle mainly uses in two big aspects in civil affairs field and military field. In the civil field, unmanned aerial vehicles have been applied to various navigation fields such as aerial photography, electric power patrol, resource exploration and mapping and the like; meanwhile, more and more people become unmanned aerial vehicle flight enthusiasts, and experience pleasure and stimulation in unmanned aerial vehicle flight. In the military field, the unmanned aerial vehicle has the advantages of good concealment, low operational environment requirement, strong battlefield viability, avoidance of personal casualties and the like, and is widely applied to modern wars or ordinary military missions. The development trend of the unmanned aerial vehicle is rapid, but a lot of blanks exist after the unmanned aerial vehicle tells development, wherein one blank is that the unmanned aerial vehicle basically has a blank for the detection and avoiding capability of obstacles around the unmanned aerial vehicle, and the blank also becomes the largest killer of the unmanned aerial vehicle. During the flight process of the unmanned aerial vehicle, the rotating speed of the propeller reaches tens of thousands of revolutions per minute, if the unmanned aerial vehicle encounters a foreign object, the result is catastrophic, the unmanned aerial vehicle and the high-value task load carried by the unmanned aerial vehicle are damaged, the unmanned aerial vehicle is attached to the ground, and particularly, ground personnel can be injured. The small and medium-sized unmanned aerial vehicle on the market almost has no autonomous anti-collision function. In order to ensure the safe flight of the unmanned aerial vehicle, on one hand, the unmanned aerial vehicle depends on the rich experience and the advance consciousness of ground operators, and on the other hand, a safe and barrier-free air route is planned in advance. The above problems are evident, and if the operator does not operate properly, a "fryer" may be created; if an obstacle occurs on a preset route, the drone will necessarily "explode". These safe flights for unmanned aerial vehicle have brought huge hidden danger, have greatly restricted unmanned aerial vehicle's popularization, have improved unmanned aerial vehicle's application threshold. The market urgent need unmanned aerial vehicle possess independently crashproof function.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle anti-collision early warning signal processing system based on FMCW millimeter wave radar, aiming at the defects of the anti-collision technology of small and medium-sized unmanned aerial vehicles in the existing market. The invention aims to provide a radar signal processing system to realize anti-collision early warning of an unmanned aerial vehicle in a complex flight environment.
The specific technical scheme for realizing the purpose of the invention is as follows:
the utility model provides an unmanned aerial vehicle anticollision early warning signal processing system based on FMCW millimeter wave radar, this system includes power management module, radio frequency front end module, signal processing module, display module and early warning execution module. The radio frequency front-end module consists of a sweep frequency control module, a VCO (voltage controlled oscillator) module, a power divider module, a transmitting antenna, a receiving antenna, a low-noise amplifier module, a mixer module and a filtering and amplifying module; the signal processing module consists of an ADC module, an FIR filter module, an FIFO buffer module, an upper beat FFT module, a lower beat FFT module, an upper beat module comparison module, a lower beat module comparison module, an upper and lower sweep frequency pairing module and an analysis distance module; the display module consists of a serial port module and a PC terminal display module; the early warning execution module is a buzzer module; in the radio frequency front end module, a control end of a sweep frequency control module is connected with a VCO (voltage controlled oscillator) module, an output end of the VCO is connected with a power divider module, an output of the power divider module is divided into two paths, one path is output through a transmitting antenna, the other path is connected with an input end of a mixer module, a receiving antenna is connected with a low-noise amplifier module, an output signal of the low-noise amplifier is sent to the mixer module, and an output end of the mixer module is connected with a filtering amplification module; in the signal processing module, the output end of the filtering amplification module is connected with the ADC module, I, Q signals output by the ADC module pass through the FIR filter module respectively, the output end of the FIR filter module is connected with the input end of the FIFO buffer module, data in the FIFO buffer module are combined, upper beat signals of an I path and a Q path are sent to the upper beat FFT module, lower beat signals of the I path and the Q path are sent to the lower beat FFT module, the output of the upper beat FFT module is connected with the upper beat acquisition module comparison module, the output of the lower beat FFT module is connected with the lower beat acquisition module comparison module, the output of the upper beat acquisition module and the lower beat acquisition module comparison module are connected with the upper and lower sweep frequency pairing module, and the output of the upper and lower sweep frequency pairing module is connected with the input of the analysis distance module; in the display module, the output of the resolving distance module is connected with a serial port module, and the serial port module is connected with a PC end display module through a serial port line; in the early warning execution module, the output of the distance analysis module is connected with the buzzer module; the power management module is respectively connected with the radio frequency front end module, the signal processing module, the display module and the early warning execution module.
The FMCW millimeter wave radar adopts a triangular wave modulation mode; the center frequency of the VCO module is 24GHz or 77 GHz; the sweep bandwidth of the sweep control module is 200MHz or 1.5 GHz.
The control core of the signal processing module adopts an FPGA controller, and the model of the FPGA is XC7A 35T.
The system installation constitutes 360 degrees no dead angle detection in four directions all around of unmanned aerial vehicle.
The invention has the advantages that:
1) the invention adopts the FPGA as the main control chip, has strong parallel processing capability and improves a good signal processing platform.
2) The anti-collision early warning system can achieve all weather all the day long, and has strong anti-interference capability.
3) The invention is simple and practical, and has high anti-collision early warning sensitivity and good reliability.
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FIG. 1 is a block diagram of the system architecture of the present invention;
fig. 2 is a simulation diagram of an actual test performed at a distance of 9.5 meters from an obstacle in embodiment 2 of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
Example 1
Referring to fig. 1, the embodiment includes a power management module, a radio frequency front end module, a signal processing module, a display module, and an early warning execution module. The radio frequency front-end module consists of a sweep frequency control module, a VCO (voltage controlled oscillator) module, a power divider module, a transmitting antenna, a receiving antenna, a low-noise amplifier module, a mixer module and a filtering and amplifying module; the signal processing module consists of an ADC module, an FIR filter module, an FIFO buffer module, an upper beat FFT module, a lower beat FFT module, an upper beat module comparison module, a lower beat module comparison module, an upper and lower sweep frequency pairing module and an analysis distance module; the display module consists of a serial port module and a PC terminal display module; the early warning execution module is a buzzer module; in the radio frequency front end module, a control end of a sweep frequency control module is connected with a VCO (voltage controlled oscillator) module, an output end of the VCO is connected with a power divider module, an output of the power divider module is divided into two paths, one path is output through a transmitting antenna, the other path is connected with an input end of a mixer module, a receiving antenna is connected with a low-noise amplifier module, an output signal of the low-noise amplifier is sent to the mixer module, and an input end of the mixer is connected with a filtering and amplifying module; in the signal processing module, the output end of the filtering amplification module is connected with the ADC module, I, Q signals output by the ADC module pass through the FIR filter module respectively, the output end of the FIR filter module is connected with the input end of the FIFO buffer module, data in the FIFO buffer module are combined, upper beat signals of an I path and a Q path are sent to the upper beat FFT module, lower beat signals of the I path and the Q path are sent to the lower beat FFT module, the output of the upper beat FFT module is connected with the upper beat acquisition module comparison module, the output of the lower beat FFT module is connected with the lower beat acquisition module comparison module, the output of the upper beat acquisition module and the lower beat acquisition module comparison module are connected with the upper and lower sweep frequency pairing module, and the output of the upper and lower sweep frequency pairing module is connected with the input of the analysis distance module; in the display module, the output of the resolving distance module is connected with a serial port module, and the serial port module is connected with a PC end display module through a serial port line; in the early warning execution module, the output of the distance analysis module is connected with the buzzer module.
The system works specifically as follows:
step S1: the power management module supplies power to the radio frequency front-end module, the signal processing module, the display module and the early warning execution module, so that the four modules are in a normal working state;
step S2: the sweep frequency control module starts to work, controls the VCO module and generates a sine wave signal with the frequency changing linearly along with time;
step S3: the signal generated by the VCO module is sent to the power divider module and divided into two paths, wherein one path is sent to the transmitting antenna, and the other path is sent to the mixer module;
step S4: the signal transmitted by the transmitting antenna is transmitted by a target, and the receiving antenna receives the echo signal and sends the echo signal to the low-noise amplifier module for amplification;
step S5: the low-noise amplifier module sends the amplified signal to a mixer module to carry out down-mixing with the signal in S3;
step S6: the mixed frequency signal of the mixer module is sent to a filtering and amplifying module for filtering and amplifying to generate a smoother difference frequency signal;
step S7: sending the smooth difference frequency signals to an ADC module for analog-to-digital sampling to generate I/Q two paths of difference frequency digital signals;
step S8: the I/Q signals are respectively sent to an FIR filter module for digital filtering processing;
step S9: the output result of the FIR filter is sent into an FIFO buffer for buffering;
step S10: extracting signals of the upper beats of the path I and the path Q in the FIFO buffer for combination, sending the signals into an upper beat FFT module, extracting signals of the lower beats of the path I and the path Q in the FIFP buffer for combination, and sending the signals into a lower beat FFT module;
step S11: sending the result in the upper beat FFT module into an upper beat modulus-taking comparison module for processing to obtain the maximum value of the upper beat frequency; sending the result in the lower beat FFT module to a lower beat modulus-taking comparison module for processing to obtain the maximum value of the lower beat;
step S12: matching the FFT results of the up-down beat, sending the FFT results to an up-down sweep frequency matching module to obtain an up-down beat frequency and a down-down beat frequency;
step S13: sending the up-down beat frequency to an up-down distance analysis module to obtain the distance of the measured target;
step S14: transmitting the distance information to a PC (personal computer) terminal for displaying through a serial port;
step S15: and if the distance of the measured object is smaller than the set threshold distance, the buzzer gives an alarm.
Example 2
Taking the local oscillation frequency of a VCO (voltage controlled oscillator) module of the 24G system as an example, the sweep frequency period is 100us for the upper sweep frequency, 100us for the lower sweep frequency, the modulation mode is triangular wave modulation, the sweep frequency bandwidth is 200MHz, the sampling bit number of the ADC module is 12 bits, and the sampling rate of the ADC is 1.28 Msps. There are 256 data per cycle ADC, with 128 data sweeps up and 128 data sweeps down.
The development is carried out under the FPGA development environment vivado of the company sailing. The clock rate of the FIR module is 1.28MHz, the write clock rate of the FIFO module is 1.28MHz, the read clock rate is 128MHz, and the depth is 256. The clock rate of the up-down beat FFT module is 128MHz, and the sampling rate is 1.28 MHz. And sending 128 data of the up-down beat to an FFT module, performing 0 complementing operation on the data to 512 data, and performing FFT operation.
As shown in fig. 2, when tested at 9.5 meters, the sampling result of the ADC is calculated by the radar signal processing system in the vivado environment, and the result is 99 hexadecimal. Wherein hexadecimal 99 is the result of distance expansion by 16 times, and the actual test result is
And the difference is 0.06m from the actual distance. The test result is more accurate.
The preferred embodiments of the present invention have been described in detail, however, the present invention is not limited to the specific details of the above embodiments, and various equivalent modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent modifications are within the protective scope of the present invention.
Claims (4)
1. The utility model provides an unmanned aerial vehicle anticollision early warning signal processing system based on FMCW millimeter wave radar, its characterized in that, this system includes power management module, radio frequency front end module, signal processing module, display module and early warning execution module, wherein:
the radio frequency front end module consists of a sweep frequency control module, a VCO (voltage controlled oscillator) module, a power divider module, a transmitting antenna, a receiving antenna, a low-noise amplifier module, a mixer module and a filtering amplification module, wherein the control end of the sweep frequency control module is connected with the VCO module, the output end of the VCO is connected with the power divider module, the output of the power divider module is divided into two paths, one path is output through the transmitting antenna, the other path is connected with the input end of the mixer module, the receiving antenna is connected with the low-noise amplifier module, the output signal of the low-noise amplifier is sent to the mixer module, and the output end of the mixer module is connected with the filtering amplification module;
the signal processing module consists of an ADC module, an FIR filter module, an FIFO cache module, an upper beat FFT module, a lower beat FFT module, an upper beat module comparison module, a lower beat module comparison module, an upper sweep frequency pairing module and a lower sweep frequency pairing module, wherein the ADC module is connected with the output of the filtering amplification module, I, Q signals output by the ADC module pass through the FIR filter module respectively, the output of the FIR filter module is connected with the input end of the FIFO cache module to combine the data in the FIFO cache module, the upper beat signals of the I path and the Q path are sent to the upper beat FFT module, the lower beat signals of the I path and the Q path are sent to the lower beat FFT module, the output of the upper beat FFT module is connected with the upper beat module comparison module, the output of the lower beat FFT module is connected with the lower beat module comparison module, the outputs of the upper beat module comparison module and the lower beat module comparison module are connected with the upper sweep frequency pairing module, the output of the upper and lower sweep frequency pairing module is connected with the input of the analysis distance module;
the display module consists of a serial port module and a PC end display module, the serial port module is connected with the output of the distance analysis module, and the serial port module is connected with the PC end display module through a serial port line;
the early warning execution module is a buzzer module, and the buzzer module is connected with the output of the distance analysis module;
the power management module is respectively connected with the radio frequency front end module, the signal processing module, the display module and the early warning execution module.
2. The unmanned aerial vehicle anti-collision early warning signal processing system according to claim 1, wherein the FMCW millimeter wave radar adopts a triangular wave modulation mode; the center frequency of the VCO module is 24GHz or 77 GHz; the sweep bandwidth of the sweep control module is 200MHz or 1.5 GHz.
3. The unmanned aerial vehicle anti-collision early warning signal processing system according to claim 1, wherein a control core of the signal processing module adopts an FPGA controller.
4. The unmanned aerial vehicle anti-collision early warning signal processing system according to claim 1, wherein the system is installed in four directions of the unmanned aerial vehicle, front, back, left and right, and forms 360-degree dead-angle-free detection.
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