CN111562407A - Non-contact type running vehicle acceleration measuring method - Google Patents

Non-contact type running vehicle acceleration measuring method Download PDF

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Publication number
CN111562407A
CN111562407A CN202010337614.4A CN202010337614A CN111562407A CN 111562407 A CN111562407 A CN 111562407A CN 202010337614 A CN202010337614 A CN 202010337614A CN 111562407 A CN111562407 A CN 111562407A
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frequency
formula
target
time
distance
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陈瑞
刘景顺
何辉
胡志勇
褚兆飞
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Wuhan Turbo Technologies Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/16—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by evaluating the time-derivative of a measured speed signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement

Abstract

The invention discloses a non-contact type acceleration measuring method for a running vehicle, which comprises the steps of firstly adopting a microwave radar capable of emitting single-frequency continuous waves and frequency-modulated continuous waves, and firstly measuring the Doppler velocity v of a target by using the single-frequency continuous waves at the time of T1dThen, measuring the distance D of the target by using frequency modulation continuous waves; calculating an included angle between the target movement direction and the microwave radar wave beam direction according to the installation height H and the distance D of the microwave radar; step 3, calculating the real speed v of the target at the time of T1 according to the included angle theta1(ii) a The true speed v of the target at time T2 is calculated according to the method described above2Acceleration is calculated from the velocities at time T1 and time T2. The invention utilizes the high-precision measurement of the radar to calculate the acceleration which is largeThe acceleration measuring cost is greatly reduced, the measuring precision is improved, the environment adaptive capacity is improved, and the laser head can be effectively influenced by environmental factors such as rain, fog, haze and strong illumination.

Description

Non-contact type running vehicle acceleration measuring method
Technical Field
The invention belongs to the technical field of radars, relates to an acceleration measuring method, and particularly relates to a non-contact type running vehicle acceleration measuring method.
Background
The existing non-contact acceleration measurement mainly depends on a laser technology, the distance is measured by laser, and the speed and the acceleration of a target are measured for multiple times in fixed time.
The existing laser measurement acceleration has the problems of high equipment cost and large measurement acceleration deviation, and has poor environment adaptability.
The reason why the laser technology is costly:
1. the laser device is high in manufacturing cost; 2. in order to measure the acceleration, 2 or more laser heads must be used for detection.
The laser technology measures the reason of inaccurate acceleration:
1. the laser is used for measuring the distance, the speed needs to be calculated through 2 or more lasers, and then the acceleration is calculated through the speed, so that the acceleration measurement is calculated for multiple times, and the accumulated error is large; 2. the measured target is irregular in shape, most of lasers are electro-optical or linear light, and laser is irradiated on the irregular target to generate deviation and cause measurement acceleration errors; 3. the number of laser devices is 2 or more, and the mounting position can not be ensured to be consistent with the ideal position in the actual mounting process, so that the error of acceleration measurement can be generated. The reason for the poor environmental adaptability of laser technology is: environmental factors such as rain, fog, haze, strong light all can produce the influence to the laser head, seriously probably leads to the laser instrument to damage.
The microwave radar can measure the speed and the distance of a target, the measurement accuracy is high, but the acceleration cannot be directly measured, so that the measurement cost is greatly reduced if the microwave radar can be used for calculating the acceleration of the target. The problem solved by the invention is to accurately measure the acceleration of a vehicle or other objects in a non-contact way. The non-contact accurate acceleration measurement is realized by utilizing the speed measurement and distance measurement technology of the microwave radar.
Disclosure of Invention
The invention aims to provide a new method for measuring acceleration by adopting a microwave radar, which solves the problems of high cost, poor precision and poor environment adaptability of non-contact acceleration measurement. The invention uses the microwave radar technology to realize the non-contact acceleration measurement with low cost, high precision and strong adaptability.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a non-contact running vehicle acceleration measuring method, characterized by comprising the steps of:
step 1, the invention adopts a microwave radar capable of transmitting single-frequency continuous waves and frequency-modulated continuous waves, and at the time of T1, the Doppler velocity v of a target is measured by the single-frequency continuous wavesdThen, measuring the distance D of the target by using frequency modulation continuous waves;
step 2, calculating the included angle between the target movement direction and the microwave radar wave beam direction according to the installation height H and the distance D of the microwave radar
Figure BDA0002467144810000021
Step 3, calculating the real speed of the target at the time of T1 according to the included angle theta,
Figure BDA0002467144810000022
step 4, calculating the real speed v of the target at the time T2 according to the method from the step 1 to the step 32，
Step 5, calculating the acceleration according to the speeds at the time T1 and the time T2
Figure BDA0002467144810000023
Preferably, the frequency-modulated continuous wave for measuring the target distance D in step 1 uses a triangular wave frequency sweep to measure the distance and the speed v of the target0By the velocity v0Correcting for Doppler velocity vdIn particular, when the velocity v measured by means of frequency-modulated continuous waves is used0And velocity measured by a single-frequency continuous wavevdIf the difference is within the threshold value range, the speed v is selecteddIf the calculated value is larger than the threshold range, the microwave radar is indicated to have faults or other interference factors, and detection equipment is needed.
Preferably, in step 1, the distance and the velocity v of the target are measured by using a triangular wave frequency sweep0The specific method comprises the following steps:
for stationary targets, radar transmission frequency ftFrequency f received after reflection from the targetrThe difference is the frequency difference fbThus, there is formula (1):
fb＝ft-frformula (1)
The radar sends out a signal, the back and forth of the target reflection is carried out, and the time is tdSince there is formula (2), where D is the distance from the target to the radar, c is the speed of light:
Figure BDA0002467144810000024
frequency sweep bandwidth f of radardevAnd sweep time tsDelay time tdDetermining the frequency difference fbDue to the formula (3):
Figure BDA0002467144810000025
substituting the formula (2) into the formula (3), and substituting the formula (1) to obtain a formula (4):
Figure BDA0002467144810000026
for a moving target, when 1 triangular wave sweep is completed, 2 frequency differences can be obtained: up frequency difference FbuSum and fall frequency difference fbdThe difference of rising frequency is determined by the distance frequency f of the targetbAnd Doppler frequency fdDifference of difference, down-frequency difference from the range frequency f of the targetbAnd Doppler frequency fdAnd, expressed as formula (5) and formula (6):
fbu＝fb-fdformula (5)
fbd＝fb+fdFormula (6)
Doppler frequency fdCan be determined from the center frequency f0Since the velocity v and the light velocity c are calculated, formula (7):
Figure BDA0002467144810000031
substituting the formula (5), the formula (6) and the formula (7) into the formula (4), and arranging to obtain the formula (8) and the formula (9):
Figure BDA0002467144810000032
Figure BDA0002467144810000033
preferably, in step 1, a data packet is transmitted at each time, where the data packet includes a frequency modulated continuous wave, and the frequency modulated continuous wave includes a fixed frequency band, a rising frequency band, and a falling frequency band.
Preferably, the rising frequency segment and the falling frequency segment are equal in time.
The invention has the beneficial effects that:
the method comprises the steps of firstly measuring the speed value of the moving target by using the single-frequency continuous wave according to the Doppler principle, then measuring the speed and distance value of the target by using the frequency-modulated continuous wave, and then matching the speed value measured by using the single-frequency continuous wave with the speed value measured by using the frequency-modulated continuous wave, thereby obtaining the distance information and the accurate speed information of the target. By two measurements of the interval time Δ t, the acceleration value at a given distance is given: the method utilizes the high-precision measurement of the radar to calculate the acceleration, greatly reduces the measurement cost of the acceleration, improves the measurement precision, improves the environmental adaptability, and can effectively deal with the influence of environmental factors such as rain, fog, haze, strong illumination and the like on the laser head.
The frequency modulation signal generator of the device generates digital signals by a processor and converts the digital signals into analog signals by a DAC (digital-to-analog converter). Due to the characteristics of circuits and devices, the frequency nonlinear distortion of the generated frequency modulation continuous wave exists, and the frequency linearization of the frequency modulation continuous wave is realized by adopting digital predistortion correction in the device.
Drawings
Fig. 1 is a schematic structural diagram of a microwave radar used in the embodiment of the present invention.
Fig. 2 is a schematic diagram of a data packet signal transmitted by a microwave radar according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of using a triangular wave frequency sweep as a microwave radar frequency modulated continuous wave in an embodiment of the present invention.
FIG. 4 is a diagram illustrating a Doppler frequency calculation method according to the present invention.
FIG. 5 is a schematic diagram of an algorithm for calculating a target acceleration according to the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The microwave radar adopted by the invention is schematically shown in fig. 1, wherein, LNA is a low noise amplifier, IF is an intermediate frequency signal, ADC is an analog-to-digital converter, PA is a power amplifier,
Figure BDA0002467144810000045
is a mixer.
A noncontact running vehicle acceleration measurement method comprising the steps of:
step 1, the invention adopts a microwave radar capable of transmitting single-frequency continuous waves and frequency-modulated continuous waves, and at the time of T1, the Doppler velocity v of a target is measured by the single-frequency continuous wavesdThen, measuring the distance D of the target by using frequency modulation continuous waves;
step 2, calculating the included angle between the target movement direction and the microwave radar wave beam direction according to the installation height H and the distance D of the microwave radar
Figure BDA0002467144810000041
Step 3, calculating the real speed of the target at the time of T1 according to the included angle theta,
Figure BDA0002467144810000042
step 4, calculating the real speed v of the target at the time T2 according to the method from the step 1 to the step 32，
Step 5, calculating the acceleration according to the speeds at the time T1 and the time T2
Figure BDA0002467144810000043
The frequency modulation continuous wave for measuring the target distance D in the step 1 uses the triangular wave to sweep and measure the distance and the speed v of the target0By the velocity v0Correcting for Doppler velocity vdIn particular, when the velocity v measured by means of frequency-modulated continuous waves is used0And velocity v measured by a single-frequency continuous wavedIf the difference is within the threshold value range, the speed v is selecteddIf the calculated value is larger than the threshold range, the microwave radar is indicated to have faults or other interference factors, and detection equipment is needed.
In the step 1, the distance and the speed v of the target are measured by utilizing the triangular wave frequency sweep0The specific method comprises the following steps:
the transmitting channel of the microwave radar transmits one data packet (one frame) at each time, the data packet includes a frequency modulated continuous wave, and the frequency modulated continuous wave includes a fixed frequency segment t1, a rising frequency segment t2 and a falling frequency segment t3, in this embodiment, the time of the rising frequency segment and the time of the falling frequency segment are equal, i.e., t2 is t3, and the frequency waveform of the microwave signal transmitted by the transmitting channel is as shown in fig. 2. The frequency modulated continuous wave uses a triangular wave frequency sweep, and the modulation mode is shown in fig. 3, where ts is t2 in fig. 2 and t 3.
For stationary targets, radar transmission frequency ftFrequency f received after reflection from the targetrThe difference is the frequency difference fbThus, there is formula (1):
fb＝ft-frformula (1)
The radar sends out a signal, the back and forth of the target reflection is carried out, and the time is tdSince there is formula (2), where D is the distance from the target to the radar, c is the speed of light:
Figure BDA0002467144810000044
frequency sweep bandwidth f of radardevAnd sweep time tsDelay time tdDetermining the frequency difference fbDue to the formula (3):
Figure BDA0002467144810000051
substituting the formula (2) into the formula (3), and substituting the formula (1) to obtain a formula (4):
Figure BDA0002467144810000052
as shown in fig. 4, for a moving target, when 1 triangular wave sweep is completed, 2 frequency differences can be obtained: up frequency difference FbuSum and fall frequency difference fbdThe difference of rising frequency is determined by the distance frequency f of the targetbAnd Doppler frequency fdDifference of difference, down-frequency difference from the range frequency f of the targetbAnd Doppler frequency fdAnd, expressed as formula (5) and formula (6):
fbu＝fb-fdformula (5)
fbd＝fb+fdFormula (6)
Doppler frequency fdCan be determined from the center frequency f0Since the velocity v and the light velocity c are calculated, formula (7):
Figure BDA0002467144810000053
substituting the formula (5), the formula (6) and the formula (7) into the formula (4), and arranging to obtain the formula (8) and the formula (9):
Figure BDA0002467144810000054
Figure BDA0002467144810000055
wherein ts is t2 t 3.
The specific parameters of this example are as follows:
f1＝24.05GHz
f2＝24.25GHz
t1＝21ms
t2＝5ms
t3＝5ms
ADC sample rate 187500
The digital signal processing flow is as follows:
the device can measure the acceleration of the moving vehicle at a distance of 20-40 m, and can achieve the following indexes:
acceleration measurement range: (-10 to 10) m/S2;
acceleration measurement accuracy: is less than or equal to +/-0.2 m/S2.
The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.

Claims (5)

1. A non-contact running vehicle acceleration measuring method, characterized by comprising the steps of:
step 1, the invention adopts a microwave radar capable of transmitting single-frequency continuous waves and frequency-modulated continuous waves, and at the time of T1, the Doppler velocity v of a target is measured by the single-frequency continuous wavesdThen, measuring the distance D of the target by using frequency modulation continuous waves;
step 2, calculating the included angle between the target movement direction and the microwave radar wave beam direction according to the installation height H and the distance D of the microwave radar
Figure FDA0002467144800000011
Step 3, calculating the real speed of the target at the time of T1 according to the included angle theta,
Figure FDA0002467144800000012
step 4, calculating the real speed v of the target at the time T2 according to the method from the step 1 to the step 32，
Step 5, calculating the acceleration according to the speeds at the time T1 and the time T2
Figure FDA0002467144800000013
2. The noncontact traveling vehicle acceleration measurement method according to claim 1, characterized in that: the frequency modulation continuous wave for measuring the target distance D in the step 1 uses the triangular wave to sweep and measure the distance and the speed v of the target0By the velocity v0Correcting for Doppler velocity vd。
3. The noncontact traveling vehicle acceleration measurement method according to claim 2, characterized in that: in the step 1, the distance and the speed v of the target are measured by utilizing the triangular wave frequency sweep0The specific method comprises the following steps:
for stationary targets, radar transmission frequency ftFrequency f received after reflection from the targetrThe difference is the frequency difference fbThus, there is formula (1):
fb＝ft-frformula (1)
The radar sends out a signal, the back and forth of the target reflection is carried out, and the time is tdSince there is formula (2), where D is the distance from the target to the radar, c is the speed of light:
Figure FDA0002467144800000014
frequency sweep bandwidth f of radardevAnd sweep time tsDelay time tdDetermining the frequency difference fbDue to the formula (3):
Figure FDA0002467144800000015
substituting the formula (2) into the formula (3), and substituting the formula (1) to obtain a formula (4):
Figure FDA0002467144800000016
for a moving target, when 1 triangular wave sweep is completed, 2 frequency differences can be obtained: up frequency difference FbuSum and fall frequency difference fbdThe difference of rising frequency is determined by the distance frequency f of the targetbAnd Doppler frequency fdDifference of difference, down-frequency difference from the range frequency f of the targetbAnd Doppler frequency fdAnd, expressed as formula (5) and formula (6):
fbu＝fb-fdformula (5)
fbd＝fb+fdFormula (6)
Doppler frequency fdCan be determined from the center frequency f0Since the velocity v and the light velocity c are calculated, formula (7):
Figure FDA0002467144800000021
substituting the formula (5), the formula (6) and the formula (7) into the formula (4), and arranging to obtain the formula (8) and the formula (9):
Figure FDA0002467144800000022
Figure FDA0002467144800000023
4. a noncontact traveling vehicle acceleration measurement method according to claim 3, characterized in that: in the step 1, a data packet is transmitted at each moment, wherein the data packet comprises a frequency modulation continuous wave, and the frequency modulation continuous wave comprises a fixed frequency band, an ascending frequency band and a descending frequency band.
5. The noncontact traveling vehicle acceleration measurement method according to claim 4, characterized in that: the rising frequency segment and the falling frequency segment are equal in time.
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Application publication date: 20200821