CN112698293A - Radar signal processing method and device and aircraft - Google Patents
Radar signal processing method and device and aircraft Download PDFInfo
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- CN112698293A CN112698293A CN202011523986.2A CN202011523986A CN112698293A CN 112698293 A CN112698293 A CN 112698293A CN 202011523986 A CN202011523986 A CN 202011523986A CN 112698293 A CN112698293 A CN 112698293A
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
The application discloses a radar signal processing method and device and an aircraft. Wherein, the method comprises the following steps: controlling a radar of the aircraft to emit electromagnetic waves; acquiring a plurality of echo signals received by a radar, wherein the echo signals comprise a first echo signal reflected by an electromagnetic wave encountering an obstacle and a second echo signal reflected by a propeller of an aircraft; comparing the power of a plurality of echo signals; and selecting the echo signal with the lowest power from the echo signals as a first echo signal. The technical problem that the radar cannot accurately identify the object due to the interference of the propellers of the aircraft on the object detection is solved.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle control, in particular to a radar signal processing method and device and an aircraft.
Background
When the width of a main lobe of the radar is large and the position for placing the radar is not good, the phenomenon that an aircraft propeller hits electromagnetic waves emitted by the radar to form interference signals easily occurs, the interference is large in energy, and due to Doppler frequency shift, the interference appears in an important detection distance range and can be mixed with the reflected signals of an object. In addition, the speed of the propeller changes during flight of the aircraft, which in turn causes the disturbance to drift over a distance. The prior art does not have a good algorithm for solving the problem of the four-rotor unmanned aerial vehicle, and the prior art mainly aims at a single-propeller method of a helicopter, the conditions of double propellers or multiple propellers are more complicated than those of a single propeller, and no related method for solving the interference exists at present.
Therefore, an effective solution is not provided at present for the problem that the radar cannot accurately identify the object due to the interference of the propellers of the aircraft on the object detection.
Disclosure of Invention
The embodiment of the application provides a radar signal processing method and device and an unmanned aerial vehicle, and aims to at least solve the technical problem that due to the fact that a plurality of propellers of an aircraft interfere with object detection, a radar cannot accurately identify an object.
According to an aspect of an embodiment of the present application, there is provided a method for processing a radar signal, including: controlling a radar of the aircraft to send electromagnetic waves; acquiring a plurality of echo signals received by a radar, wherein the echo signals comprise a first echo signal reflected by an electromagnetic wave encountering an obstacle and a second echo signal reflected by a propeller of an aircraft; comparing the power of a plurality of echo signals; and selecting the echo signal with the lowest power from the echo signals as a first echo signal.
Optionally, acquiring a plurality of echo signals received by the radar includes: and acquiring a preset number of echo signals received by the radar.
Optionally, the plurality of echo signals further comprises: and a third echo signal formed by superposing a signal reflected by the electromagnetic wave encountering an obstacle and a signal reflected by the electromagnetic wave encountering a propeller of the aircraft.
Optionally, after selecting an echo signal with the lowest power from the multiple echo signals as the first echo signal, the method further includes: performing fast Fourier transform processing on the first echo signal to obtain a frequency domain signal of the first echo signal; the type of obstacle is determined from the frequency domain signal.
Optionally, determining the type of obstacle from the frequency domain signal includes: determining a value range to which the frequency of the frequency domain signal belongs; and determining the type of the obstacle according to the value range to which the frequency of the frequency domain signal belongs.
Optionally, the plurality of echo signals includes a chirp signal.
According to another aspect of the embodiments of the present application, there is also provided an aircraft including: the radar is used for transmitting electromagnetic waves and receiving a plurality of echo signals, wherein the echo signals comprise a first echo signal reflected by the electromagnetic waves encountering an obstacle and a second echo signal reflected by a propeller of the unmanned aerial vehicle; and the processor is connected with the radar and used for acquiring the echo signals, comparing the power of the echo signals and selecting the echo signal with the lowest power from the echo signals as the first echo signal.
Optionally, the processor is further configured to perform fast fourier transform processing on the first echo signal to obtain a frequency domain signal of the first echo signal; the type of obstacle is determined from the frequency domain signal.
According to another aspect of the embodiments of the present application, there is also provided a radar signal processing apparatus, including: the control module is used for controlling the radar of the aircraft to emit electromagnetic waves; the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring a plurality of echo signals received by a radar, and the echo signals comprise a first echo signal reflected by an electromagnetic wave encountering an obstacle and a second echo signal reflected by a propeller of an aircraft; the comparison module is used for comparing the power of the echo signals; and the processing module is used for selecting the echo signal with the lowest power from the plurality of echo signals as the first echo signal.
According to still another aspect of the embodiments of the present application, there is also provided a non-volatile storage medium, which includes a stored program, wherein, when the program runs, a device in which the non-volatile storage medium is controlled to execute the above radar signal processing method.
According to still another aspect of the embodiments of the present application, there is also provided a processor for executing a program stored in a memory, wherein the program executes the above radar signal processing method.
In the embodiment of the application, the radar for controlling the aircraft is adopted to emit electromagnetic waves; acquiring a plurality of echo signals received by a radar, wherein the echo signals comprise a first echo signal reflected by an electromagnetic wave encountering an obstacle and a second echo signal reflected by a propeller of an aircraft; comparing the power of a plurality of echo signals; the mode of selecting the echo signal that power is the lowest as first echo signal from a plurality of echo signals, the magnitude of the power value of a plurality of echo signals received through the radar of contrast unmanned aerial vehicle, the echo signal that power is the minimum is elected and is handled, then discern the barrier according to the processing result, the condition of screw interference that the four-rotor aircraft appears has been solved, thereby realized successfully avoiding interference signal, select correct signal to handle, obtain correct detection information's technological effect, and then solved because the interference that a plurality of screws of aircraft caused the object detection, make the unable accurate discernment object technical problem of radar.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flow chart of a method of processing a radar signal according to an embodiment of the present application;
FIG. 2a is a time domain waveform diagram of an echo signal according to an embodiment of the present application;
fig. 2b shows the maximum power value for each Chirp;
FIG. 3 is a schematic structural diagram of an aircraft according to an embodiment of the present application;
fig. 4 is a block diagram of a radar signal processing apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In accordance with an embodiment of the present application, there is provided a method embodiment of a method of radar signal processing, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that presented herein.
Fig. 1 is a flowchart of a radar signal processing method according to an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
step S102, controlling a radar of an aircraft to emit electromagnetic waves;
it should be noted that the above-mentioned aircraft can be unmanned aerial vehicle, also can be the aircraft through manpower driving.
Step S104, acquiring a plurality of echo signals received by the radar, wherein the echo signals comprise a first echo signal reflected by an electromagnetic wave encountering an obstacle and a second echo signal reflected by a propeller of the aircraft;
according to an alternative embodiment of the present application, the plurality of echo signals include chirp signals. The Chirp signal, i.e., the Chirp signal, is a kind of Chirp (1 ms per Chirp).
Step S106, comparing the power of a plurality of echo signals;
step S108, selecting the echo signal with the lowest power from the echo signals as a first echo signal.
In the embodiment provided by the application, tests find that 7 electromagnetic waves are continuously sent, and echo signals which are not reflected back by the propeller always exist, so the following scheme can be realized.
Fig. 2a is a time domain waveform diagram of an echo signal according to an embodiment of the present application, and as shown in fig. 2a, firstly, observing the time domain waveform diagram (without an object in front), it can be seen that the interference of the box 1 is small, the interference of the propeller occurs in the box 2, and some interference also occurs in the Chirp other than the box 2, which can be clearly seen in fig. 2 a.
Fig. 2b shows the maximum power value of each Chirp, which corresponds to the Chirp in fig. 2a, and in the case of an empty space, the power should be very small (only the noise floor, i.e. the noise inherent in the circuit exists), so it can be seen that the Chirp with larger power should have propeller interference, the power is the minimum power, there is absolutely no propeller interference, and the case where there is no propeller interference should be much larger than the case where there is propeller interference (as shown in fig. 2b, the band occupation ratio without propeller interference is much larger than the band occupation ratio with propeller interference), then in a certain number of Chirp, the Chirp with the lowest power can be found out, and this Chirp is free of propeller interference.
So, as shown in fig. 2b, assuming that 7 Chirp signals are taken each time in the null case, the lowest power, i.e. the third Chirp signal is selected as the correct non-interference Chirp signal, which is satisfactory, and the fast fourier transform is performed on it, which shows that it should be noise-floor.
For the condition that an obstacle exists, three types of circuit fixed noise, obstacle echo and propeller echo exist in a plurality of echo signals received in the same direction, wherein the lowest power Chirp is 'circuit fixed noise + obstacle echo', and the highest power is 'circuit fixed noise + obstacle echo + propeller echo', so that the lowest power Chirp is intercepted, and actually, only the section of 'fixed noise + obstacle echo' is subjected to conversion processing, and the interference of the propeller echo is avoided.
Through the steps, the problem of propeller interference of the four-rotor aircraft is solved, interference signals can be successfully avoided, correct signals are selected for processing, and the technical effect of correct detection information is achieved.
According to an alternative embodiment of the present application, a preset number of echo signals received by the radar are obtained when step S104 is executed.
Since the test finds that 7 electromagnetic waves are continuously emitted, there always exist echo signals which are not reflected back by the propeller, therefore, at least 7 echo signals are obtained in the step.
In an optional embodiment of the present application, the plurality of echo signals further comprises: and a third echo signal formed by superposing a signal reflected by the electromagnetic wave encountering an obstacle and a signal reflected by the electromagnetic wave encountering a propeller of the aircraft.
According to an optional embodiment of the present application, after the step S108 is completed, fast fourier transform processing needs to be performed on the first echo signal to obtain a frequency domain signal of the first echo signal; the type of the obstacle is determined from the frequency domain signal.
In an alternative embodiment of the present application, the determining the type of the obstacle according to the frequency domain signal includes: determining a value range to which the frequency of the frequency domain signal belongs; and determining the type of the obstacle reflecting the target echo signal according to the value range of the frequency domain signal.
Fast fourier transform, a general name of an efficient and fast calculation method for calculating discrete fourier transform by using a computer, is FFT. In the step, the first echo signal is converted from a time domain signal to a frequency domain signal by fast Fourier transform, and then the obstacle is screened out by a threshold analysis method. Since the frequencies of the echo signals of the electromagnetic waves reflected by the objects of different types (materials) are different, the type of the obstacle reflecting the first echo signal can be determined by the frequency of the frequency domain signal corresponding to the first echo signal. For example, if the frequency of the frequency domain signal corresponding to the first echo signal is less than a certain threshold, the type of the obstacle reflecting the first echo signal may be determined.
Fig. 3 is a schematic structural diagram of an aircraft according to an embodiment of the present application, as shown in fig. 3, the aircraft including: a radar 30 and a processor 32, wherein,
the radar 30 is used for transmitting electromagnetic waves and receiving a plurality of echo signals, wherein the echo signals comprise a first echo signal reflected by the electromagnetic waves encountering an obstacle and a second echo signal reflected by a propeller of the unmanned aerial vehicle;
according to an alternative embodiment of the present application, the plurality of echo signals include chirp signals. The Chirp signal, i.e., the Chirp signal, is a kind of Chirp (1 ms per Chirp).
And the processor 32 is connected to the radar 30, and is configured to acquire a plurality of echo signals, compare power of the plurality of echo signals, and select an echo signal with the lowest power from the plurality of echo signals as the first echo signal.
In the embodiment provided by the application, tests find that 7 electromagnetic waves are continuously sent, and echo signals which are not reflected back by the propeller always exist, so the following scheme can be realized.
Fig. 2a is a time domain waveform diagram of an echo signal according to an embodiment of the present application, and as shown in fig. 2a, firstly, observing the time domain waveform diagram (without an object in front), it can be seen that the interference of the box 1 is small, while the interference of the propeller appears in the box 2, and some interference also appears in other Chirp besides the box 2, which can be clearly seen in fig. 2 a.
Fig. 2b shows the maximum power value of each Chirp, which corresponds to the Chirp in fig. 2a, and in the case of an empty space, the power should be very small (only the noise floor, i.e. the noise inherent in the circuit exists), so it can be seen that the Chirp with larger power should have propeller interference, the power is the minimum power, there is absolutely no propeller interference, and the case where there is no propeller interference should be much larger than the case where there is propeller interference (as shown in fig. 2b, the band occupation ratio without propeller interference is much larger than the band occupation ratio with propeller interference), then in a certain number of Chirp, the Chirp with the lowest power can be found out, and this Chirp is free of propeller interference.
So, as shown in fig. 2b, assuming that we take 7 chirps at a time in the null case, the lowest power, i.e. the third Chirp, is selected as the correct non-interference Chirp, which is satisfactory, and the fast fourier transform is performed on it, which shows that it should be the noise floor.
For the condition that an obstacle exists, three types of circuit fixed noise, obstacle echo and propeller echo exist in a plurality of echo signals received in the same direction, wherein the lowest power Chirp is 'circuit fixed noise + obstacle echo', and the highest power is 'circuit fixed noise + obstacle echo + propeller echo', so that the lowest power Chirp is intercepted, and actually, only the section of 'fixed noise + obstacle echo' is subjected to conversion processing, and the interference of the propeller echo is avoided.
According to an optional embodiment of the present application, the processor 30 is further configured to perform fast fourier transform processing on the first echo signal to obtain a frequency domain signal of the first echo signal; the type of obstacle is determined from the frequency domain signal.
Fast fourier transform, a general name of an efficient and fast calculation method for calculating discrete fourier transform by using a computer, is FFT. In the step, the first echo signal is converted from a time domain signal to a frequency domain signal by fast Fourier transform, and then the obstacle is screened out by a threshold analysis method. Since the frequencies of the echo signals of the electromagnetic waves reflected by the objects of different types (materials) are different, the type of the obstacle reflecting the first echo signal can be determined by the frequency of the frequency domain signal corresponding to the first echo signal.
Fig. 4 is a block diagram of a radar signal processing apparatus according to an embodiment of the present application, as shown in fig. 4, the apparatus including:
a control module 40 for controlling the radar of the aircraft to emit electromagnetic waves;
the acquiring module 42 is configured to acquire a plurality of echo signals received by the radar, where the plurality of echo signals include a first echo signal reflected by an obstacle encountered by the electromagnetic wave and a second echo signal reflected by a propeller of the aircraft;
a comparison module 44, configured to compare magnitudes of powers of the multiple echo signals;
and a processing module 46, configured to select an echo signal with the lowest power from the multiple echo signals as the first echo signal.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 4, and details are not described here again.
The embodiment of the application also provides a nonvolatile storage medium, which comprises a stored program, wherein when the program runs, the device where the nonvolatile storage medium is located is controlled to execute the processing method of the radar signal.
The nonvolatile storage medium stores a program for executing the following functions: controlling a radar of the aircraft to emit electromagnetic waves; acquiring a plurality of echo signals received by a radar, wherein the echo signals comprise a first echo signal reflected by an electromagnetic wave encountering an obstacle and a second echo signal reflected by a propeller of an aircraft; comparing the power of a plurality of echo signals; and selecting the echo signal with the lowest power from the echo signals as a first echo signal.
The embodiment of the application also provides a processor, and the processor is used for running the program stored in the memory, wherein the program runs to execute the above radar signal processing method.
The processor is used for running a program for executing the following functions: controlling a radar of the aircraft to emit electromagnetic waves; acquiring a plurality of echo signals received by a radar, wherein the echo signals comprise a first echo signal reflected by an electromagnetic wave encountering an obstacle and a second echo signal reflected by a propeller of an aircraft; comparing the power of a plurality of echo signals; and selecting the echo signal with the lowest power from the echo signals as a first echo signal.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a variety of media that can store program codes, such as a usb disk, a read-Only Memory (ROM), a random access Memory (RGZJFM), a mobile hard disk, a magnetic disk, or an optical disk.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (11)
1. A method for processing a radar signal, comprising:
controlling a radar of the aircraft to emit electromagnetic waves;
acquiring a plurality of echo signals received by the radar, wherein the echo signals comprise a first echo signal reflected by the electromagnetic wave encountering an obstacle and a second echo signal reflected by a propeller of the aircraft;
comparing the magnitudes of the powers of the plurality of echo signals;
and selecting the echo signal with the lowest power from the plurality of echo signals as the first echo signal.
2. The method of claim 1, wherein acquiring a plurality of echo signals received by the radar comprises: and acquiring a preset number of echo signals received by the radar.
3. The method of claim 1, wherein the plurality of echo signals further comprises: and a third echo signal formed by superposing a signal reflected by the electromagnetic wave when the electromagnetic wave meets the obstacle and a signal reflected by the electromagnetic wave when the electromagnetic wave meets the propeller of the aircraft.
4. The method of claim 1, wherein after selecting the echo signal with the lowest power from the plurality of echo signals as the first echo signal, the method further comprises:
performing fast Fourier transform processing on the first echo signal to obtain a frequency domain signal of the first echo signal;
determining the type of the obstacle from the frequency domain signal.
5. The method of claim 4, wherein determining the type of the obstacle from the frequency domain signal comprises:
determining a value range to which the frequency of the frequency domain signal belongs;
and determining the type of the obstacle according to the value range to which the frequency of the frequency domain signal belongs.
6. The method of claim 1, wherein the plurality of echo signals comprise chirp signals.
7. An aircraft, characterized in that it comprises: a radar and a processor, wherein,
the radar is used for transmitting electromagnetic waves and receiving a plurality of echo signals, wherein the echo signals comprise a first echo signal reflected by the electromagnetic waves encountering an obstacle and a second echo signal reflected by a propeller of an aircraft;
the processor is connected with the radar and used for acquiring the echo signals, comparing the power of the echo signals and selecting the echo signal with the lowest power from the echo signals as the first echo signal.
8. The aircraft of claim 7, wherein the processor is further configured to perform fast fourier transform processing on the first echo signal to obtain a frequency domain signal of the first echo signal; determining the type of the obstacle from the frequency domain signal.
9. A radar signal processing apparatus, comprising:
the control module is used for controlling the radar of the aircraft to emit electromagnetic waves;
the acquisition module is used for acquiring a plurality of echo signals received by the radar, wherein the echo signals comprise a first echo signal reflected by the electromagnetic wave encountering an obstacle and a second echo signal reflected by a propeller of the aircraft;
the comparison module is used for comparing the power of the echo signals;
and the processing module is used for selecting the echo signal with the lowest power from the echo signals as the first echo signal.
10. A non-volatile storage medium, comprising a stored program, wherein when the program is executed, a device in which the non-volatile storage medium is located is controlled to execute the radar signal processing method according to any one of claims 1 to 6.
11. A processor for executing a program stored in a memory, wherein the program is executed to perform the method of processing a radar signal according to any one of claims 1 to 6.
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