CN111830498A - Multi-radar automatic networking method and system based on millimeter wave region security - Google Patents
Multi-radar automatic networking method and system based on millimeter wave region security Download PDFInfo
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- CN111830498A CN111830498A CN202010744629.2A CN202010744629A CN111830498A CN 111830498 A CN111830498 A CN 111830498A CN 202010744629 A CN202010744629 A CN 202010744629A CN 111830498 A CN111830498 A CN 111830498A
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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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
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Abstract
The invention discloses a multi-radar automatic networking method and a multi-radar automatic networking system based on millimeter wave area security, wherein the method comprises the following steps: 1) setting one radar in the N radars as a main radar with the label of 1#, and setting the other radars as auxiliary radars with the label of 2-N #; 2) establishing a multi-radar networking coordinate system by taking a main radar as a reference; 3) calculating corresponding calibration matrix elements by monitoring the overlapped area of every two radars through the moving calibration object based on the condition that the two radars can simultaneously detect the target
Up to
Number of
And all are
The subscript i, j of (a) contains all numbers from 1 to N, thus completing calibration; 4) by passing
And converting each auxiliary radar coordinate into a multi-radar networking coordinate system to complete multi-radar networking. The method has the advantages of simple and convenient operation, easy realization, small calculation amount and the like.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a multi-radar automatic networking method and system based on millimeter wave region security.
Background
Millimeter wave radar has been widely used in the security field, and millimeter wave security radar mainly detects moving targets (threatening targets) within a monitoring range. When the key area is monitored, multiple radars are needed to be arranged for monitoring, so that an automatic radar networking technology is needed, multiple radar targets are located under the same coordinate system, observation is facilitated, and repeated alarming of the same target in a multi-radar overlapping area and false alarming of false targets (or low-threat targets) can be effectively reduced.
The existing multi-radar networking technology generally needs to know the accurate position, installation angle and other information of a radar in advance, or needs to know the rough estimation value of the information, and does not limit a networking calibration object to a certain extent, so that the following problems exist:
1. when the radar erection environment is complex, the information such as the position, the angle and the like of the radar is difficult to measure;
2. when the radar loosens or is remounted to cause angle change, the angle of the radar needs to be measured or estimated again and input again;
3. the requirement on the measurement precision is high, and the influence on the networking effect is large when the measurement is not accurate;
4. when the environment is complex, the calculation amount is large when the calibration target is large.
As described in the patent application (an on-line calibration method for millimeter wave radar): before calibration, external parameters need to be obtained through rough estimation, then coordinate transformation is carried out on radar observation through the external parameters, wrong targets are removed according to size information of the observation targets, and accurate external parameters are calculated through the remaining correct target pairs. The method needs rough estimation of external parameters and knowledge of target size information, the effect is greatly influenced by inaccurate estimation or measurement, certain professional basis and experience are needed, and when the environment is more complicated and the number of targets is larger, the calculation amount for removing wrong target pairs is larger.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a multi-radar automatic networking method and system based on millimeter wave region security, which are simple and convenient to operate and easy to realize.
In order to solve the technical problems, the invention adopts the technical scheme that:
a multi-radar automatic networking method based on millimeter wave area security comprises the following steps:
1) setting one radar in the N radars as a main radar with the label of 1#, and setting the other radars as auxiliary radars with the label of 2-N #;
2) establishing a multi-radar networking coordinate system by taking a main radar as a reference;
3) calculating corresponding calibration matrix elements by monitoring the overlapped area of every two radars through the moving calibration object based on the condition that the two radars can simultaneously detect the target
Up to
Number of
And all are
The subscript i, j of (a) contains all numbers from 1 to N, thus completing calibration;
4) by passing
And converting each auxiliary radar coordinate into a multi-radar networking coordinate system to complete multi-radar networking.
Preferably, between step 2) and step 3), further comprising the steps of: and (4) performing static target removal processing on target data received by each radar, and only detecting a moving target.
Preferably, in step 3), n frames of data are selected to calculate corresponding calibration matrix elements
Preferably, where n.gtoreq.30.
Preferably, in step 4), by
Completely corresponding calibration matrix phiN×NAnd converting each auxiliary radar coordinate into a multi-radar networking coordinate system.
Preferably, the moving calibration object is a human or a controllable robot.
The invention also discloses a multi-radar automatic networking system based on millimeter wave region security, which comprises
The system comprises a first module, a second module and a third module, wherein the first module is used for setting one radar in N radars as a main radar with the label of 1#, and the other radars as auxiliary radars with the labels of 2-N #;
the second module is used for establishing a multi-radar networking coordinate system by taking the main radar as a reference;
a third module for calculating corresponding calibration matrix elements based on the two radars detecting the target at the same time by the moving calibration object passing through the monitoring overlapping area of every two radars
Up to
Number of
And all are
The subscript i, j of (a) contains all numbers from 1 to N, thus completing calibration;
a fourth module for passing
And converting each auxiliary radar coordinate into a multi-radar networking coordinate system to complete multi-radar networking.
The invention further discloses a computer-readable storage medium on which a computer program is stored, characterized in that the computer program, when executed by a processor, performs the steps of the multi-radar automatic networking method based on millimeter wave region security as described above.
The invention also discloses computer equipment which comprises a memory and a processor, wherein the memory is stored with a computer program, and the computer program is characterized in that when being executed by the processor, the method for multi-radar automatic networking based on millimeter wave region security is executed.
Compared with the prior art, the invention has the advantages that:
the invention can automatically complete networking only by moving a single target in a radar monitoring overlapping area under the condition that the installation angle and the position of the radar are unknown, is not influenced by environment, topography and the like, eliminates errors caused by measuring the position and the installation angle of the radar, greatly reduces the complexity and the difficulty of operation, can realize multi-radar automatic networking by non-professionals, and is easy to realize and convenient to operate.
The invention firstly processes the data of the millimeter wave radar, eliminates the static target, adopts the moving target calibration networking, greatly reduces the operation amount and is easy to realize.
Drawings
FIG. 1 is a flow chart of an embodiment of the method of the present invention.
Fig. 2 is a dual radar coordinate system of the present invention.
FIG. 3 is a schematic diagram of the multi-radar networking of the present invention.
Fig. 4 is a diagram of the same target trajectory before networking in the present invention.
Fig. 5 is a diagram of the same target track after networking according to the invention.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
As shown in fig. 1, the multi-radar automatic networking method based on millimeter wave region security of the embodiment includes the steps of:
1) setting one radar of N radars (millimeter wave radars) as a main radar with the reference number of 1#, and setting the other radars as auxiliary radars with the reference numbers of 2-N #;
2) establishing a multi-radar networking coordinate system by taking a main radar as a reference;
3) calculating corresponding calibration matrix elements by monitoring the overlapped area of every two radars through the moving calibration object based on the condition that the two radars can simultaneously detect the target
Up to
Number of
And all are
The subscript i, j of (a) contains all numbers from 1 to N, thus completing calibration;
4) by passing
Converting each secondary radar coordinate into a multi-radar networking coordinateThen, multi-radar networking is completed.
The invention can automatically complete networking only by moving a single target in a radar monitoring overlapping area under the condition that the installation angle and the position of the radar are unknown, is not influenced by environment, topography and the like, eliminates errors caused by measuring the position and the installation angle of the radar, greatly reduces the complexity and the difficulty of operation, can realize multi-radar automatic networking by non-professionals, and is easy to realize and convenient to operate.
In this embodiment, between step 2) and step 3), the method further includes the steps of: and (4) performing static target removal processing on target data received by each radar, and only detecting a moving target. Data processing is carried out on data of the millimeter wave radar, static targets are eliminated, moving target calibration networking is adopted, the calculation amount is greatly reduced, and the implementation is easy.
In this embodiment, in step 3), n frames of data are selected to calculate corresponding calibration matrix elements
Wherein n is more than or equal to 30. Of course, in other embodiments, the selection of n may be selected according to actual circumstances.
In the present embodiment, in step 4), by
Completely corresponding calibration matrix phiN×NAnd converting each auxiliary radar coordinate into a multi-radar networking coordinate system.
In this embodiment, the number of the moving calibration objects is one or a small number (e.g. 2 or 3) of human or controllable robots.
To facilitate understanding of the networking method of the present invention, the following description is made with respect to the multi-radar automatic networking theory and implementation method:
the multi-radar networking is established on the basis of the dual-radar networking, and a dual-radar coordinate system is established as shown in fig. 2:
wherein, the included angle between the normal of the auxiliary radar 2# and the normal of the main radar 1# is theta, and the translation distance of the auxiliary radar 2# relative to the main radar 1# is (tx, ty);
in FIG. 2, the coordinate of the target i (i. epsilon. (1, n)) in the host radar 1# is p1i＝(x1i,y1i)TIn the secondary radar 2#, the coordinate is p2i＝(x2i,y2i)TThe following relation is established:
wherein, the translation vector t is [ tx, ty ═ t]TThe rotation matrix R is related to the angle θ and can be expressed as:
because the security radar can remove static targets and only detect moving targets, people can be arranged to move in the monitoring overlapping area when the radar is networked, and the coordinates of the people at different moments i (frames) in the main radar 1# are obtained:
p1＝(p11,p12,...,p1N),p1i＝(x1i,y1i)Ti∈[1,n](3)
obtaining the coordinates of the person in the secondary radar 2# corresponding to the time i (frame):
p2＝(p21,p22,...,p2N),p2i＝(x2i,y2i)Ti∈[1,n](4)
wherein n is the total number of frames used to calculate R, t.
After the coordinates are obtained, a equation set can be established to solve the corresponding rotation matrix R and the translational vector t.
For multiple radars, a radar calibration matrix Φ may be establishedN×N(for dual radar, N ═ 2):
wherein, N is the number of networking radars, i, j are radar labels, Rij，tijSatisfy the relation:
pj＝Rijpi+tij,i,j∈[1,N](6)
namely calculated to obtain
The coordinates pi of the target in the radar i coordinate system can be converted into coordinates pj in the radar j coordinate system.
The following properties are clearly available:
1、
2、
can calculate out
And vice versa;
3. it is known that
And
can find out
The multi-radar networking implementation method is as shown in fig. 3, wherein 4 radars are arranged to monitor a monitored area, a radar 1# is set as a main radar, and a coordinate system between planes is established;
as shown in FIG. 3, when the moving target passes through the overlapping region of the radars 1# and 2#, the calculation results
The coordinates in the radar 2# can be converted into the coordinates in the main radar 1# and similarly, the track sequentially passes through the overlapping areas of the radar 1# and the radar 3# and the radar 4# to obtain
And
thus, the relation between radar 1# and radar 2# can be obtained
Relationship between Radar No. 1 and Radar No. 3
By passing
And
can find out
Therefore, the relation between the radar 1# and the radar 4# can be obtained
Therefore, the coordinates of the radars 2#, 3#, and 4# can be transferred to the coordinate of the main radar 1#, and the multi-radar networking is completed.
Calibrating matrix phi for four radars4×4：
Calibration can be completed only when two conditions are met:
1. except that
At least three differences need to be known
2. Three of these
Subscript i, j satisfies packageContaining all numbers 1-4, e.g. to find
Can be completed but find
Cannot be completed, find
And
nor can it be done.
After calibration is completed, use
Property obtaining calibration matrix phiN×NAnd (4) converting the auxiliary radar coordinate pi into a coordinate pj in a main radar coordinate system by using a formula (6) to finish networking.
The invention will be further illustrated with reference to a complete embodiment:
1. deploying N radars, setting one of the radars as a main radar with the reference number of 1#, and setting the other radars as auxiliary radars with the reference numbers of 2# -N #;
2. establishing a multi-radar networking coordinate system by taking a main radar as a reference;
3. each radar carries out processing of removing static targets on received target data and only detects moving targets;
4. personnel monitor an overlapping area through two radars, based on the fact that the two radars can simultaneously detect a target, n (generally more than 30) frame data are selected to calculate corresponding calibration matrix elements
5. And (4) repeating the step to ensure that: (1)
number of
(2) All of
The subscript i, j of (a) contains all numbers from 1 to N, thus completing calibration;
6. using the obtained
Can complement the calibration matrix phiN×NAnd converting the auxiliary radar coordinate pi into a multi-radar networking coordinate system to complete multi-radar networking.
And then testing the networking method by using 3 (N is 3) different security radars, moving a calibration person in an overlapped area monitored by the three radars, selecting 100 frames of calibration person track data for testing, wherein the first 50 frames (N is 50) of data are used for calculating a calibration matrix phi3×3The tracks of the calibration personnel in the three radars before networking are shown in fig. 4, and the tracks of the calibration personnel (the last 50 frames) after networking are finished are shown in fig. 5, so that the tracks of the same target in the multiple radars are basically overlapped after the multiple radars are automatically networked, and the error is small.
The invention also discloses a multi-radar automatic networking system based on millimeter wave region security, which comprises
The system comprises a first module, a second module and a third module, wherein the first module is used for setting one radar in N radars as a main radar with the label of 1#, and the other radars as auxiliary radars with the labels of 2-N #;
the second module is used for establishing a multi-radar networking coordinate system by taking the main radar as a reference;
a third module for calculating corresponding calibration matrix elements based on the two radars detecting the target at the same time by the moving calibration object passing through the monitoring overlapping area of every two radars
Up to
Number of
And all are
The subscript i, j of (a) contains all numbers from 1 to N, thus completing calibration;
a fourth module for passing
And converting each auxiliary radar coordinate into a multi-radar networking coordinate system to complete multi-radar networking.
The system of the present invention is used for executing the networking method as described above, and has the advantages as described above.
The invention further discloses a computer-readable storage medium on which a computer program is stored, which, when being executed by a processor, performs the steps of the multi-radar automatic networking method based on millimeter wave region security as described above. The invention also discloses computer equipment which comprises a memory and a processor, wherein the memory is stored with a computer program, and the computer program executes the steps of the multi-radar automatic networking method based on the millimeter wave region security when being executed by the processor. All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and executed by a processor, to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. All or part of the flow of the method of the embodiments may be implemented by a computer program, which may be stored in a computer-readable storage medium and executed by a processor, to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), random-access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (9)
1. A multi-radar automatic networking method based on millimeter wave area security is characterized by comprising the following steps:
1) setting one radar in the N radars as a main radar with the label of 1#, and setting the other radars as auxiliary radars with the label of 2-N #;
2) establishing a multi-radar networking coordinate system by taking a main radar as a reference;
3) calculating corresponding calibration matrix elements by monitoring the overlapped area of every two radars through the moving calibration object based on the condition that the two radars can simultaneously detect the target
Up to
Number of
And all are
The subscript i, j of (a) contains all numbers from 1 to N, thus completing calibration;
4) by passing
And converting each auxiliary radar coordinate into a multi-radar networking coordinate system to complete multi-radar networking.
2. The multi-radar automatic networking method based on millimeter wave region security according to claim 1, wherein between step 2) and step 3), further comprising the steps of: and (4) performing static target removal processing on target data received by each radar, and only detecting a moving target.
3. The millimeter wave region security-based multi-radar automatic networking method according to claim 1 or 2, wherein in step 3), n frames of data are selected to calculate corresponding calibration matrix elements
4. The multi-radar automatic networking method based on millimeter wave region security according to claim 3, wherein n is greater than or equal to 30.
5. The millimeter wave region security-based multi-radar automatic networking method according to claim 1 or 2, wherein in step 4), the method is implemented by
Completely corresponding calibration matrix phiN×NAnd converting each auxiliary radar coordinate into a multi-radar networking coordinate system.
6. The millimeter wave region security-based multi-radar automatic networking method according to claim 1 or 2, wherein the moving calibration object is a person or a controllable robot.
7. A multi-radar automatic networking system based on millimeter wave region security is characterized by comprising
The system comprises a first module, a second module and a third module, wherein the first module is used for setting one radar in N radars as a main radar with the label of 1#, and the other radars as auxiliary radars with the labels of 2-N #;
the second module is used for establishing a multi-radar networking coordinate system by taking the main radar as a reference;
a third module for calculating corresponding calibration matrix elements based on the two radars detecting the target at the same time by the moving calibration object passing through the monitoring overlapping area of every two radars
Up to
Number of
And all are
The subscript i, j of (a) contains all numbers from 1 to N, thus completing calibration;
a fourth module for passing
And converting each auxiliary radar coordinate into a multi-radar networking coordinate system to complete multi-radar networking.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the millimeter wave region security based multi-radar automatic networking method according to any one of claims 1 to 6.
9. A computer device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the computer program, when executed by the processor, performs the steps of the millimeter wave region security based multi-radar auto networking method according to any one of claims 1 to 6.
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Cited By (1)
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