CN111427033A - High-precision radar ranging system and method - Google Patents
High-precision radar ranging system and method Download PDFInfo
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- CN111427033A CN111427033A CN202010373858.8A CN202010373858A CN111427033A CN 111427033 A CN111427033 A CN 111427033A CN 202010373858 A CN202010373858 A CN 202010373858A CN 111427033 A CN111427033 A CN 111427033A
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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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a high-precision radar ranging system which comprises a pulse radar for sending a pulse signal, a coherent filter, a radar sensor for receiving the pulse signal, an MCU (microprogrammed control unit), an information acquisition unit and a touch display screen. The problems of poor real-time performance and poor anti-interference capability are solved through the cooperation of the pulse radar, the coherent filter, the radar sensor, the MCU control unit and the information acquisition unit. The invention also discloses a high-precision radar ranging method.
Description
Technical Field
The invention relates to the field of measurement, in particular to a high-precision radar ranging system and a high-precision radar ranging method.
Background
Currently, for ranging technology, a series of sensors are required to coordinate with each other. Different sensors have respective advantages and disadvantages, and a sensor which can completely meet the requirement of environment modeling does not exist so far. Therefore, information fusion of the sensors is an effective means for environment modeling, so that redundant information can be obtained by using various sensors, the surrounding environment can be accurately sensed, and accurate data can be provided for environment modeling. In the environment sensing technology, ultrasonic ranging plays an important role. The ultrasonic sensor is a relatively cheap distance information sensor, has the advantages of small volume, low cost, easy deployment and the like, the range of the ultrasonic sensor is generally between 0.3 and 10 meters, and the precision can reach the millimeter level. Because the ultrasonic wave is used for ranging, the device is not influenced by external environment light, can normally work at night, and is less influenced by severe conditions such as rain, snow, flying dust and the like. The range and the precision of the method are just suitable for environment modeling in a small range. Therefore, the ultrasonic sensor may be a main ranging sensor of the robot. Therefore, the working performance of the ultrasonic ranging equipment is improved, and the ultrasonic ranging equipment has important significance for environment perception, environment modeling, path planning and autonomous movement of the intelligent robot.
However, the conventional ultrasonic ranging has the following defects:
1. the problem of poor real-time performance can occur in the ultrasonic ranging in the market;
2. the interference of natural interference sources is easy to be received, and a plurality of devices can interfere with each other, so that the interference resistance is weak.
Disclosure of Invention
In order to overcome the defects of the prior art, an object of the present invention is to provide a high-precision radar ranging system and method, which can solve the problems of poor real-time performance and poor interference resistance.
One of the purposes of the invention is realized by adopting the following technical scheme:
a high-precision radar ranging system comprises a pulse radar for sending out pulse signals, a coherent filter for removing impurity signals in a channel, a radar sensor for receiving the pulse signals, an MCU control unit, an information acquisition unit and a touch display screen, the pulse radar is connected with the coherent filter, the coherent filter is connected with the MCU control unit, the information acquisition unit is interacted with the MCU control unit and the radar sensor, the pulse radar sends out pulse signals towards a distance object, the rebounded pulse signals are transmitted to the radar sensor after being filtered by the coherent filter, the radar sensor generates distance information and sends the distance information to the MCU control unit, the MCU control unit is interacted with an upper computer, and the MCU control unit is interacted with the touch display screen.
Furthermore, the MCU control unit is provided with a serial peripheral interface, and the radar sensor is connected with the MCU control unit through the serial peripheral interface.
Further, the frequency emitted by the pulse radar is 40-80 GHz.
Further, the frequency emitted by the pulse radar is 60 GHz.
Further, the MCU control unit is provided with a serial port communication module, and the MCU control unit is interacted with the upper computer through the serial port communication module.
Further, the radar sensor is A111-001-TY XM 112.
A high-precision radar ranging method is applied to a high-precision radar ranging system, the high-precision radar ranging system comprises a pulse radar for sending out pulse signals, a coherent filter for removing impurity signals in a channel, a radar sensor for receiving the pulse signals, an MCU control unit, an information acquisition unit and a touch display screen, and the method comprises the following steps:
a signal sending step: determining a ranging object and sending a pulse signal of 40-80GHz by a pulse radar;
a rebound filtering step: the pulse signal rebounds after encountering an object, and the coherent filter receives the pulse signal for filtering to form a filtering signal;
a rebound receiving step: the radar sensor receives the filtering signal to form distance information, and the distance information is sent to the information acquisition unit;
a transmission step: the MCU control unit interacts with the MCU control unit and sends distance information to the upper computer.
Further, in the signal sending step, the pulse radar sends out a pulse signal of 60 GHz.
Further, in the rebounding filtering step, secondary verification is carried out on the filtering signal, whether the filtering signal belongs to valid information or not is judged, if yes, the rebounding receiving step is executed, and if not, the signal sending step is returned.
Further, in the transmission step, information management is performed through the touch display screen, and management information is sent to the MCU control unit.
Compared with the prior art, the invention has the beneficial effects that:
the coherent filter with the MCU control unit is connected, the information acquisition unit with the MCU control unit is mutual, the information acquisition unit with radar sensor is mutual, pulse radar sends pulse signal towards the range finder, and pulse signal after the bounce-back passes through after the coherent filter filters, transmits extremely radar sensor, radar sensor generates distance information and sends to the MCU control unit, the MCU control unit is mutual with the host computer, the MCU control unit with touch display screen is mutual. The problems of poor real-time performance and poor anti-interference capability are solved through the cooperation of the pulse radar, the coherent filter, the radar sensor, the MCU control unit and the information acquisition unit.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a block diagram of a high-precision radar ranging system according to a preferred embodiment of the present invention;
FIG. 2 is a flow chart of a high precision radar ranging method.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a high-precision radar ranging system includes a pulse radar for emitting a pulse signal, a coherent filter for removing impurity signals in a channel, a radar sensor for receiving the pulse signal, an MCU control unit, an information collection unit, and a touch display screen, the pulse radar is connected with the coherent filter, the coherent filter is connected with the MCU control unit, the information acquisition unit is interacted with the MCU control unit and the radar sensor, the pulse radar sends out pulse signals towards a distance object, the rebounded pulse signals are transmitted to the radar sensor after being filtered by the coherent filter, the radar sensor generates distance information and sends the distance information to the MCU control unit, the MCU control unit is interacted with an upper computer, and the MCU control unit is interacted with the touch display screen. The problems of poor real-time performance and poor anti-interference capability are solved through the cooperation of the pulse radar, the coherent filter, the radar sensor, the MCU control unit and the information acquisition unit.
Specifically, the principle of the coherent filter is as follows:
the matched filter may be equivalent to a correlator whose main role is to remove the white noise contribution in the channel. The degree of correlation, or degree of similarity, of the two signals is calculated:
the larger the value of Rxy (τ), the higher the degree of similarity between x (t) and y (t). Assuming that the desired signal s (t) is to be detected from x (t),
Rxy(τ)＝<x(t)，y(t-τ)>。
the following transformation is made assuming X (t), S (t) are two space vectors X, S, t is [ t0, t1] time width, dimension is equal to the number of sampling points, and continuous, infinite dimension:
Rxs(τ)＝<x(t)，s(t)>；
|<x(t)，s(t)>|≤||x(t)||·||s(t)||。
the method is converted into the method of solving the maximum norm of < x (t), s (t), the equation is established by applying the Cauchy-Schwarz inequality when x (t) and s (t) are linearly related under the condition that the value of | | s (t) | is constant, and for a one-dimensional function, when x (t) | ks (t) is in the following relation, the useful signal s (t) is taken as a template of a matched filter, and the maximum correlation output can be obtained. In other words, s (t) and its scaled signal correlation are strongest.
Preferably, the MCU control unit is provided with a serial peripheral interface, and the radar sensor is connected with the MCU control unit through the serial peripheral interface. The frequency emitted by the pulse radar is 40-80 GHz. Specifically, in this embodiment, the frequency emitted by the pulse radar is 60 GHz. The measurement result can be displayed on a display of the equipment through uploading to a user server through a serial port or a network port, the use is simple and convenient, and the signal pertinence is strong. The 60GHz radar is adopted, and is not interfered by any natural interference source, such as noise, dust, color and direct or indirect light; the mutual interference among the multiple devices can be further avoided.
Preferably, the MCU control unit is provided with a serial port communication module, and the MCU control unit interacts with the upper computer through the serial port communication module. The radar sensor is A111-001-TY XM 112.
Referring to fig. 2, a high-precision radar ranging method is applied to a high-precision radar ranging system, the high-precision radar ranging system includes a pulse radar for sending a pulse signal, a coherent filter for removing impurity signals in a channel, a radar sensor for receiving the pulse signal, an MCU control unit, an information acquisition unit, and a touch display screen, and includes the following steps:
a signal sending step: determining a ranging object and sending a pulse signal of 40-80GHz by a pulse radar; in the signal sending step, the pulse radar sends out a 60GHz pulse signal.
A rebound filtering step: the pulse signal rebounds after encountering an object, and the coherent filter receives the pulse signal for filtering to form a filtering signal; in the rebound filtering step, secondary verification is carried out on the filtering signal, whether the filtering signal belongs to valid information or not is judged, if yes, the rebound receiving step is executed, and if not, the signal sending step is returned.
A rebound receiving step: the radar sensor receives the filtering signal to form distance information, and the distance information is sent to the information acquisition unit;
a transmission step: the MCU control unit interacts with the MCU control unit and sends distance information to the upper computer. And in the transmission step, information management is carried out through the touch display screen, and management information is sent to the MCU control unit. The problems of poor real-time performance and poor anti-interference capability are solved through the cooperation of the pulse radar, the coherent filter, the radar sensor, the MCU control unit and the information acquisition unit.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. The utility model provides a radar ranging system of high accuracy, includes the pulse radar who is used for sending pulse signal, is arranged in getting rid of the coherent filter of the impurity signal in the channel, is used for receiving pulse signal's radar sensor, MCU the control unit, information acquisition unit and touch display screen, its characterized in that:
the pulse radar with coherent filter connects, coherent filter with the MCU the control unit is connected, the information acquisition unit with the MCU the control unit is mutual, the information acquisition unit with radar sensor is mutual, pulse radar sends pulse signal towards the distance thing, and pulse signal after the bounce-back passes through after coherent filter filters, transmits extremely radar sensor, radar sensor generates distance information and sends to MCU the control unit, MCU the control unit is mutual with the host computer, MCU the control unit with touch display screen is mutual.
2. The high accuracy radar ranging system of claim 1 further comprising: the radar sensor is connected with the MCU control unit through the serial peripheral interface.
3. The high accuracy radar ranging system of claim 1 further comprising: the frequency emitted by the pulse radar is 40-80 GHz.
4. The high accuracy radar ranging system of claim 3 further comprising: the frequency emitted by the pulse radar is 60 GHz.
5. The high accuracy radar ranging system of claim 1 further comprising: the MCU control unit is provided with a serial port communication module and interacts with the upper computer through the serial port communication module.
6. The high accuracy radar ranging system of claim 1 further comprising: the radar sensor is A111-001-TY XM 112.
7. The high-precision radar ranging method is applied to a high-precision radar ranging system, the high-precision radar ranging system comprises a pulse radar for sending out pulse signals, a coherent filter for removing impurity signals in a channel, a radar sensor for receiving the pulse signals, an MCU control unit, an information acquisition unit and a touch display screen, and the high-precision radar ranging method is characterized by comprising the following steps of:
a signal sending step: determining a ranging object and sending a pulse signal of 40-80GHz by a pulse radar;
a rebound filtering step: the pulse signal rebounds after encountering an object, and the coherent filter receives the pulse signal for filtering to form a filtering signal;
a rebound receiving step: the radar sensor receives the filtering signal to form distance information, and the distance information is sent to the information acquisition unit;
a transmission step: the MCU control unit interacts with the MCU control unit and sends distance information to the upper computer.
8. The high precision radar ranging method of claim 7 wherein: in the signal sending step, the pulse radar sends out a 60GHz pulse signal.
9. The high precision radar ranging method of claim 7 wherein: in the rebound filtering step, secondary verification is carried out on the filtering signal, whether the filtering signal belongs to valid information or not is judged, if yes, the rebound receiving step is executed, and if not, the signal sending step is returned.
10. The high precision radar ranging method of claim 7 wherein: and in the transmission step, information management is carried out through the touch display screen, and management information is sent to the MCU control unit.
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Application publication date: 20200717 |