CN111796283B - Millimeter wave radar noise reduction method based on route - Google Patents
Millimeter wave radar noise reduction method based on route Download PDFInfo
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- CN111796283B CN111796283B CN202010671262.6A CN202010671262A CN111796283B CN 111796283 B CN111796283 B CN 111796283B CN 202010671262 A CN202010671262 A CN 202010671262A CN 111796283 B CN111796283 B CN 111796283B
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- local
- route
- millimeter wave
- wave radar
- coordinate system
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/917—Radar or analogous systems specially adapted for specific applications for traffic control for marine craft or other waterborne vessels
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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
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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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
Abstract
The invention belongs to the field of intelligent ship unmanned driving, and particularly relates to a millimeter wave radar noise reduction method based on a flight line, which comprises the following steps of: s1: firstly, acquiring a global route from an intelligent ship; s2: and selecting a local route from the global route through the intelligent ship in the S1, and then establishing a local coordinate system based on the local route. The invention considers that although the object is tiny, the object always exists, as long as the object can be scanned by the millimeter wave radar, the corresponding millimeter wave radar data always exists at the same position of the flight path, and compared with noise which does not always exist and occasionally appears at some unfixed positions, when the data of the object occupies the grid of the local flight path, the occupied times are many, the occupied times of the noise are few, and the noise can be well reduced.
Description
Technical Field
The invention relates to the technical field of intelligent ship unmanned driving, in particular to a millimeter wave radar noise reduction method based on a route.
Background
The data of the millimeter wave radar scanned the fine objects is less, and the spatial clustering method is easy to filter the fine objects. Meanwhile, when an object is near the maximum detection distance of the millimeter wave radar, due to the problem of the resolution of the millimeter wave radar, the data of the scanned object is few, and the object is easily filtered by a spatial clustering method, so that the millimeter wave radar noise reduction method based on the flight path is provided.
Disclosure of Invention
Based on the problems in the prior art, the invention provides a millimeter wave radar noise reduction method based on a flight line.
In order to achieve the purpose, the invention adopts the following technical scheme:
a millimeter wave radar noise reduction method based on a route comprises the following steps:
s1: firstly, acquiring a global course from an intelligent ship;
s2: selecting a local air route from the global air route through the intelligent ship in the S1, and then establishing a local coordinate system based on the local air route;
s3: before the local coordinate system in the S2 is established, firstly, whether an old local air route exists before the local air route is judged, if the old local air route exists, the starting point of the local air route is selected as the end point of the old local air route, and if the old local air route does not exist, the starting point of the local air route is selected as the starting point of the global air route;
s4: the origin of the local coordinate system in the S3 is the starting point of the local route in the S3, the X axis of the local coordinate system points to the end point of the local route from the starting point of the local route, and the Y axis of the local coordinate system points to the left side of the X axis;
s5: after the local coordinate system in the S4 is established, dividing the local coordinate system into grids according to the grid resolution and the rasterization range, calculating coordinates corresponding to each grid, and setting a threshold value for each grid, wherein the rasterization range is a rectangular range, two long sides in the rasterization range are parallel to an X axis of the local route coordinate system, the lengths of the two long sides in the rasterization range are equal to the length of the local route, one wide side in the rasterization range is parallel to a Y axis of the local route coordinate system, the midpoint of the wide side is the starting point of the local route, and the midpoint of the other wide side in the rasterization range is the end point of the local route;
s6: obtaining millimeter wave radar data by using a millimeter wave radar, converting the millimeter wave radar data into a local coordinate system corresponding to the local route, calculating which grids are occupied by the millimeter wave radar data at the moment, and recording the occupied number of the occupied grids, wherein the occupied number of the grids is added with 1 every time the grids are occupied;
s7: s6, if the occupation times of the grid exceeds the threshold value in S5, the millimeter wave radar data occupying the grid is not noise, otherwise, the millimeter wave radar data occupying the grid is noise;
s8: and (2) judging whether the intelligent ship is in the corresponding local air route or not along with navigation of the intelligent ship, repeating the steps S6-S7 when the intelligent ship is still in the local air route, and repeating the steps S2-S7 when the intelligent ship is not in the local air route.
Preferably, in S2, the length of the local route is selected from a range from a maximum detection distance of the millimeter wave radar to a length of the global route.
Preferably, in S5, the width of the wide side is selected from a range of 100 meters to 1000 meters.
Preferably, in S5, the threshold is selected from 10 to 30.
Preferably, in S6, the criterion for determining which grid the millimeter wave radar data occupies is that the millimeter wave radar data is in the grid.
Preferably, in S7, the noise is determined according to that the noise is occasionally present at an unfixed position, and the object is actually present at a certain position.
Compared with the prior art, the method and the device consider that although the object is tiny, the object always exists, the corresponding millimeter wave radar data always exists at the same position of the flight path as long as the object can be scanned by the millimeter wave radar, and compared with the noise which does not always exist and occasionally appears at some unfixed positions, when the data of the object occupies the grid of the local flight path, the occupied times are many, the occupied times of the noise are few, and the noise can be well reduced.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
The embodiment provides a millimeter wave radar noise reduction method based on a route, which comprises the following steps:
s1: firstly, acquiring a global route from an intelligent ship;
s2: selecting a local route from the global route through the intelligent ship in the S1, wherein the length of the local route is selected from the range from the maximum detection distance of the millimeter wave radar to the length of the global route, and then establishing a local coordinate system based on the local route;
s3: before the local coordinate system in the S2 is established, firstly, whether an old local air route exists before the local air route is judged, if the old local air route exists, the starting point of the local air route is selected as the end point of the old local air route, and if the old local air route does not exist, the starting point of the local air route is selected as the starting point of the global air route;
s4: the origin of the local coordinate system in the S3 is the starting point of the local route in the S3, the X axis of the local coordinate system points to the end point of the local route from the starting point of the local route, and the Y axis of the local coordinate system points to the left side of the X axis;
s5: after the local coordinate system in the S4 is established, dividing the local coordinate system into grids according to the grid resolution and the rasterization range, calculating the coordinate corresponding to each grid, and meanwhile, setting a threshold value for each grid, wherein the threshold value is selected from 10-30, the rasterization range is a rectangular range, two long sides in the rasterization range are parallel to the X axis of the local route coordinate system, the length of the two long sides in the rasterization range is equal to the length of the local route, one wide side in the rasterization range is parallel to the Y axis of the local route coordinate system, the midpoint of the wide side is the starting point of the local route, the midpoint of the other wide side in the rasterization range is the end point of the local route, and the widths of the two wide sides are selected from the range of 100 meters to 1000 meters;
s6: obtaining millimeter wave radar data by using a millimeter wave radar, converting the millimeter wave radar data into a local coordinate system corresponding to the local route, calculating which grids are occupied by the millimeter wave radar data at the moment, recording the occupation times of the occupied grids as the judgment standard of which grids are occupied by the millimeter wave radar data is that the millimeter wave radar data is in the grids, and adding 1 to the occupation times of the grids every time the grids are occupied;
s7: s6, if the occupation times of the grid exceeds the threshold value in S5, the millimeter wave radar data occupying the grid is not noise, otherwise, the millimeter wave radar data occupying the grid is noise, wherein the judgment basis of the noise is that the noise occasionally appears at an unfixed position, and an object actually exists at a certain position;
s8: and (3) judging whether the intelligent ship is in the corresponding local air route or not along with the navigation of the intelligent ship, repeating the steps S6-S7 when the intelligent ship is still in the local air route, and repeating the steps S2-S7 when the intelligent ship is not in the local air route.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (6)
1. A millimeter wave radar noise reduction method based on a route is characterized by comprising the following steps:
s1: firstly, acquiring a global route from an intelligent ship;
s2: selecting a local air route from the global air route through the intelligent ship in the S1, and then establishing a local coordinate system based on the local air route;
s3: before the local coordinate system in the S2 is established, firstly, whether an old local air route exists before the local air route is judged, if the old local air route exists, the starting point of the local air route is selected as the end point of the old local air route, and if the old local air route does not exist, the starting point of the local air route is selected as the starting point of the global air route;
s4: the origin of the local coordinate system in the S3 is the starting point of the local route in the S3, the X axis of the local coordinate system points to the end point of the local route from the starting point of the local route, and the Y axis of the local coordinate system points to the left side of the X axis;
s5: after the local coordinate system in the S4 is established, dividing the local coordinate system into grids according to the grid resolution and the rasterization range, calculating coordinates corresponding to each grid, and setting a threshold value for each grid, wherein the rasterization range is a rectangular range, two long sides in the rasterization range are parallel to an X axis of the local route coordinate system, the lengths of the two long sides in the rasterization range are equal to the length of the local route, one wide side in the rasterization range is parallel to a Y axis of the local route coordinate system, the midpoint of the wide side is the starting point of the local route, and the midpoint of the other wide side in the rasterization range is the end point of the local route;
s6: obtaining millimeter wave radar data by using a millimeter wave radar, converting the millimeter wave radar data into a local coordinate system corresponding to the local route, calculating which grids the millimeter wave radar data occupies at the moment, and recording the occupied times of the occupied grids, wherein the occupied times of the grids are added by 1 every time the grids are occupied;
s7: s6, if the occupation times of the grid exceeds the threshold value in S5, the millimeter wave radar data occupying the grid is not noise, otherwise, the millimeter wave radar data occupying the grid is noise;
s8: and (3) judging whether the intelligent ship is in the corresponding local air route or not along with the navigation of the intelligent ship, repeating the steps S6-S7 when the intelligent ship is still in the local air route, and repeating the steps S2-S7 when the intelligent ship is not in the local air route.
2. The method for noise reduction of millimeter wave radar based on flight path as claimed in claim 1, wherein in S2, the length of local flight path is selected from the range from the maximum detection distance of millimeter wave radar to the length of global flight path.
3. A route-based millimeter wave radar noise reduction method according to claim 1, wherein in S5, the width of the broadside is selected from the range of 100 meters to 1000 meters.
4. The method for noise reduction in millimeter wave radar based on routes according to claim 1, wherein in S5, the threshold is selected from 10-30.
5. The method as claimed in claim 1, wherein in S6, the criterion for determining which grids the millimeter wave radar data occupies is that the millimeter wave radar data is in the grids.
6. A route-based millimeter wave radar noise reduction method according to claim 1, wherein in S7, the judgment of the noise is based on that the noise occasionally appears at an unfixed position, and that the object actually exists at a certain position.
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| AU5874300A (en) * | 1999-06-14 | 2001-01-02 | Escort Inc. | Radar warning receiver with position and velocity sensitive functions |
| WO2002008786A1 (en) * | 2000-07-21 | 2002-01-31 | Gkss-Forschungszentrum Geesthacht Gmbh | Method for determining hydrographic parameters, which describe a sea swell field in situ, using a radar device |
| CN107844750B (en) * | 2017-10-19 | 2020-05-19 | 华中科技大学 | Water surface panoramic image target detection and identification method |
| CN109885063A (en) * | 2019-03-15 | 2019-06-14 | 江苏大学 | A kind of application robot farmland paths planning method merging vision and laser sensor |
| CN111257882B (en) * | 2020-03-19 | 2021-11-19 | 北京三快在线科技有限公司 | Data fusion method and device, unmanned equipment and readable storage medium |
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