CN112782701B - Method, system and equipment for sensing visibility based on radar - Google Patents
Method, system and equipment for sensing visibility based on radar Download PDFInfo
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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
- G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
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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
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Abstract
The embodiment of the invention discloses a radar-based method, a radar-based system and radar-based equipment for detecting visibility, which are used for detecting the visibility by using echo attenuation of a calibration object and can be used for detecting the visibility by using lower transmitting power through a radar. The magnitude of the road visibility can be obtained by establishing a relation model between the echo attenuation quantity and the visibility of the calibration objects, and the visibility of each section of the whole road section can be determined by the positions of the plurality of calibration objects.
Description
Technical Field
The embodiment of the invention relates to the technical field of visibility radar detection, in particular to a radar-based visibility sensing method, a radar-based visibility sensing system and radar-based visibility sensing equipment.
Background
The measurement of atmospheric visibility is generally performed using an atmospheric transmittance meter, a laser visibility automatic measuring instrument, a camera, and the like.
The atmospheric transmittance meter directly measures the air column transmittance through the air column between two fixed points by light beams, so as to calculate the visibility value.
The laser visibility automatic measuring instrument calculates the visibility by a method of measuring the atmospheric extinction coefficient by laser, and is relatively objective and accurate. However, the instrument has the advantages of high cost, high maintenance cost and complex operation, and is difficult to observe normally in rainy and foggy days, so that the instrument is difficult to popularize.
The method of capturing an image with a camera and then calculating the visibility by digital image processing has the fatal disadvantage that the visibility is greatly affected by light, and inversion measurement of the visibility is greatly affected at night and in weather where light is bad.
The problem that visibility detection performance is affected by weather can be solved by using the radar for visibility measurement. The existing method for measuring the visibility by using the radar derives the visibility of the fog through the echo size of the fog. Because fog has weaker reflection capability on radar signals, a method for inverting visibility by using a large fog echo signal requires a radar to have large transmitting power and good receiver sensitivity. In addition, high emission power means higher power consumption, and high heat generation of the device can reduce the service life of the device, which is more unfavorable for miniaturization and reliability design. The method for determining the mass fog by utilizing the signal-to-noise ratio can only determine the existence of the mass fog, can not judge the visibility of the fog, and can not give out the specific position of the mass fog.
The method can only obtain the visibility condition of the monitoring point, cannot detect the specific position of the mist, and cannot measure the visibility condition of the whole road section.
Disclosure of Invention
Therefore, the embodiment of the invention provides a radar-based visibility sensing method, a radar-based visibility sensing system and radar-based visibility sensing equipment, which are used for solving the technical problems that the conventional radar detection method is high in visibility transmitting power, the visibility condition of the whole road section cannot be measured and the like.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
according to a first aspect of an embodiment of the present invention, there is provided a method of radar-based visibility perception, the method comprising:
in sunny days, the control radar transmits signals to a plurality of targets arranged on the road and receives echo signals, and echo power P of each target is measured n As an unattenuated echo power measurement value P sn ；
Under the current road environment, controlling the radar to transmit signals to the plurality of calibration objects and receive echo signals, and measuring the echo power P of each calibration object n As a current echo power measurementP tn ；
Based on the current echo power measurement value P tn And the unattenuated echo power measurement value P sn Determining echo power attenuation A of each calibration object rn The method comprises the steps of carrying out a first treatment on the surface of the And
According to the echo power attenuation A rn Inverting a first visibility between the respective scales
Wherein n is the label of the calibration object, n 1 Is the label of the first definite standard, n 2 Is the label of the second calibration object, n 1 Greater than n 2 。
Further, the first visibilityThe inversion formula of (2) is:
wherein A (n 1 ,n 2 )＝A rn1 -A rn2 ，n 1 Is the label of the first definite standard, n 2 Is the label of the second calibration object, n 1 Greater than n 2 C is a variable parameter, and a is a correction parameter.
Preferably, the method further comprises: according to the echo power attenuation A rn Inverting a second visibility V between each scale and the radar n The second visibility V n The inversion formula of (2) is:
wherein c is a variable parameter, and a is a correction parameter.
Further, the echo power P of each calibration object n The measurement method of (1) comprises:
acquiring echo signals in a radar detection range after the calibration objects are arranged;
dividing unit areas of all calibration objects according to radial distance, azimuth angle and pitch angle relative to the radar to form radar echo signal point cloud data; and
Extracting echo signal intensity A of each calibration object from grid corresponding to unit area n Directly using the echo signal intensity A n As the echo power P n Or according to the echo signal intensity A n Determining the echo power P n 。
Preferably, the unattenuated echo power measurement value P sn And the current echo power measurement value P tn Repeating the measurement for a plurality of times according to the preset interval time, and taking the average value after smoothing and filtering.
Further, according to the echo signal intensity A n Determining the echo power P n It comprises:
by using the echo signal intensity A n Obtaining a frequency domain model of a target signal after fast Fourier transformation, identifying a noise signal according to the distance-Doppler characteristic of the target, and calculating to obtain a system noise signal level N of each calibration object n ；
Continuously measuring the noise signal m times to obtain the signal-to-noise ratio R of the current target signal of each calibration object n The signal to noise ratio of the target signal is calculated as follows:
SNR nj ＝A nj /N nj
wherein A is nj For the echo signal intensity of each calibration object measured for the jth time, N nj System noise signal level, SNR, for each of the calibrators of the jth measurement nj The ratio of signal to noise for each of the scales for the j-th measurement;
estimating a current noise level H of the radar receiving system, wherein an estimation formula of the current noise level H is as follows:
H＝K·T·B·N r ·G/λ
Wherein K is Boltzmann constant, T is working temperature of the radar receiver, B is frequency of signals received by the radar receiver, N r G is the gain of a radar receiver, and lambda is the wavelength of a radar receiving signal;
calculating the signal-to-noise ratio R of the current target signal n Obtaining a first measured echo power value P of each calibration object by multiplying the current noise level H 1 rn ；
Inputting signals from a high-level input end of a radar receiver by using a radar signal comprehensive tester, and increasing the output power P of a signal source from the sensitivity of the radar receiver according to preset intervals r For each P r Recording the corresponding sampled a/D value until the receiver is saturated, obtaining one of said output powers P r A corresponding table of the sampled A/D values is used for obtaining a calibration curve of the A/D values and the power values by using a least square method for data in the corresponding table;
the target echo signal is sampled according to the calibration curve and the current radar to obtain the expected power value of the echo signalUsing said echo signal to expect power value +.>And the first measured echo power value P 1 rn As the mean value of the respective calibration object, the second measured echo power value P 2 rn ；
Simulating a radar target by using a target simulator, and measuring i times by using the radar to obtain a third measured echo power value P each time 3 ri The true echo power is Q i The correction coefficient C is obtained according to the following correction coefficient calculation formula:
the second measured echo power value P is corrected by a correction coefficient C 2 rn Correcting to obtain echo power P of each calibration object n The method comprises the steps of carrying out a first treatment on the surface of the The correction formula is as follows:
P n ＝P 2 rn +C。
preferably, the echo power P of each of said scales n Further comprising: clutter filtering is carried out on the radar echo signal point cloud data, and the method comprises the following steps:
before the calibration object is installed, dividing a space area into a plurality of three-dimensional networks with unit sizes in the detection range of the radar, and numbering the divided space area;
acquiring echo signals in a radar detection range before the calibration object is arranged, and accumulating the number of clutter points on each space area; positioning a space region with the number of points accumulated in unit time exceeding a preset accumulation threshold as a static clutter region, and storing the number of the static clutter region to generate a static clutter table; performing clutter filtering on the radar echo signal point cloud data by using the static clutter table; and/or
Acquiring echo signals in a radar detection range after the calibration object is arranged, and accumulating the number of clutter points on each space area; calculating the current time t of each frame synchronous update auxiliary clock x Start time of current accumulation period with current spatial regionA time difference between; the time difference value is compared with a maximum preset accumulation time delta t max Comparing, wherein x is the number of the current space region; if the time difference is greater than the maximum preset accumulated time delta t max For the space region, the history accumulation value Num x Emptying, re-accumulating, and updating the starting time of the current accumulating period of the current space region +.>If the time difference is smaller than the maximum preset accumulation time delta t max Then loop to calculate the current time t of each frame synchronous update auxiliary clock x Start time of the current accumulation period from the current spatial region +.>A time difference between; if the time difference is equal to the maximum preset accumulation time delta t max Every frame traverses all the spatial regions and updates the current accumulated value Num x Judging the current accumulated value Num x Whether or not a preset maximum accumulation threshold Num is reached max The method comprises the steps of carrying out a first treatment on the surface of the If the current accumulated value Num x Less than a preset maximum accumulation threshold Num max Positioning the space region as a dynamic clutter region, and storing the number of the dynamic clutter region to generate a dynamic clutter table; and performing clutter filtering on the radar echo signal point cloud data by using the dynamic clutter table.
Preferably, the plurality of scales are equally spaced.
According to a second aspect of an embodiment of the present invention, there is provided a system for radar-based visibility perception, the system comprising:
an echo power measuring module of the calibration object for controlling the radar to transmit signals to a plurality of calibration objects arranged on the road and receive echo signals under the condition of sunny weather/current road environment, and measuring the echo power P of each calibration object n ；
An attenuation-free echo power measurement value acquisition module for acquiring echo power P of each calibration object measured in sunny weather n As an unattenuated echo power measurement value P sn ；
A current echo power measurement value acquisition module for acquiring the echo power P of each calibration object measured in the current road environment n As the current echo power measurement value P tn ；
An echo power attenuation calculation module for calculating the current echo power according to the current echo power measurement value P tn And said unattenuated echo power measurementValue P sn Determining echo power attenuation A of each calibration object rn The method comprises the steps of carrying out a first treatment on the surface of the And
A first visibility inversion module for inverting the echo power attenuation A rn Inverting a first visibility between the respective scales
Wherein n is the label of the calibration object, n 1 Is the label of the first definite standard, n 2 Is the label of the second calibration object, n 1 Greater than n 2 。
Preferably, the system further comprises: a second visibility inversion module for inverting the echo power attenuation A according to the echo power attenuation A rn Inverting a second visibility V between each scale and the radar n 。
Preferably, the plurality of scales are equally spaced.
According to a third aspect of embodiments of the present invention, there is provided a radar-based visibility-awareness apparatus, the apparatus comprising: a processor and a memory;
the memory is used for storing one or more program instructions;
the processor is configured to execute one or more program instructions to perform the steps of a method of radar-based visibility awareness as described in any one of the preceding claims.
According to a fourth aspect of embodiments of the present invention, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a method of radar-based visibility sensing as defined in any one of the above.
The embodiment of the invention has the following advantages:
the embodiment of the invention uses the echo attenuation of the calibration object to measure the visibility, and can measure the visibility by using lower transmitting power through a radar. The magnitude of the road visibility can be obtained by establishing a relation model between the echo attenuation quantity and the visibility of the calibration objects, and the visibility of each section of the whole road section can be determined by the positions of the plurality of calibration objects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the ambit of the technical disclosure.
Fig. 1 is a schematic diagram of a logic structure of a radar-based visibility perception system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a road layout of a radar and a plurality of calibration objects according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a method for radar-based visibility sensing according to an embodiment of the present invention;
FIG. 4 shows the echo power P of each target object according to one embodiment of the present invention n A flow diagram of the measurement method of (2);
FIG. 5 shows the echo power P of each target object according to another embodiment of the present invention n A flow diagram of the measurement method of (2);
FIG. 6 shows the echo signal strength A according to an embodiment of the present invention n Determining the echo power P n Is a flow diagram of (1);
fig. 7 is a schematic flow chart of static clutter filtering for radar echo signal point cloud data according to an embodiment of the present invention;
fig. 8 is a flowchart illustrating a dynamic clutter filtering process for radar echo signal point cloud data according to another embodiment of the present invention.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The performance of the existing non-radar atmospheric visibility detection means is greatly influenced by weather, and visibility is difficult to accurately measure in severe weather. Currently, the radar is used for measuring the visibility of fog, which is mainly applied to weather radars, and the principle is to invert the visibility according to the echo energy of the fog. This method requires a radar with a large transmit power due to the weak echo energy of the fog. Aiming at the measurement of road dough fog, whether the road is provided with the fog is judged according to the signal to noise ratio, and the method is mainly used for judging whether the fog exists or not and cannot give the visibility. In addition, at present, the position where fog appears cannot be given, only the visibility of a monitoring point can be obtained, and the visibility condition of the whole road section cannot be measured.
In order to solve the problems, the embodiment of the invention uses the radar echo attenuation of the calibration object to measure the visibility, can use lower transmitting power to measure the visibility, and simultaneously avoids the influence of weather conditions. The magnitude of the road visibility can be obtained by modeling the relationship between attenuation and visibility, and the magnitude of the visibility of each section of the road section can be determined by a plurality of calibration objects.
First, the functional entities according to the embodiments of the present invention are described below, and these functional entities may be physical functional entities or logical functional entities, and a single functional entity may be a stand-alone device, or multiple functional entities may be a unified device. The technical scheme is not limited in this respect.
Referring to fig. 1, an embodiment of the present invention discloses a radar-based visibility perception system, comprising: the system comprises: the system comprises an echo power measurement module 1 of a calibration object, an attenuation-free echo power measurement value acquisition module 2, a current echo power measurement value acquisition module 3, an echo power attenuation calculation module 4 and a first visibility inversion module 5.
Wherein the echo power measuring module 1 of the calibration object is used for controlling the radar to transmit signals to a plurality of calibration objects arranged on the road and receive echo signals under the condition of sunny weather/current road environment, and measuring the echo power P of each calibration object n The method comprises the steps of carrying out a first treatment on the surface of the The non-attenuation echo power measured value acquisition module 2 is used for acquiring echo power P of each calibration object measured in sunny weather n As an unattenuated echo power measurement value P sn The method comprises the steps of carrying out a first treatment on the surface of the The current echo power measurement value acquisition module 3 is used for acquiring the echo power P of each calibration object measured under the current road environment n As the current echo power measurement value P tn The method comprises the steps of carrying out a first treatment on the surface of the The echo power attenuation amount calculation module 4 is used for calculating the current echo power measured value P tn And the unattenuated echo power measurement value P sn Determining echo power attenuation A of each calibration object rn The method comprises the steps of carrying out a first treatment on the surface of the And a first visibility inversion module 5 for inverting the attenuation A of the echo power rn Inverting a first visibility between the respective scalesWherein n is the label of the calibration object, n 1 Is the label of the first definite standard, n 2 Is the label of the second calibration object, n 1 Greater than n 2 。
In the embodiment of the invention, the echo power P of each calibration object is respectively measured in sunny weather/current road environment n . The measured result in sunny weather is used as an unattenuated echo power measured value, and the echo power attenuation A of each calibration object is obtained by comparing the measured result in the current road environment with the unattenuated echo power measured value r The first visibility between the individual scales is then inverted. The method realizes the measure of the visibility by utilizing the radar echo attenuation of the calibration object, and avoids the problem that the visibility of non-radar detection is easily affected by weather conditions. In addition, measurement of visibility using lower radar transmit power is achieved. The visibility between the scales can be obtained, that is, the visibility of each section of the whole road section can be determined by the positions of the scales.
Preferably, referring to fig. 1, the above-mentioned system for radar-based visibility sensing disclosed in the embodiment of the present invention further includes: a second visibility inversion module 6 for inverting the echo power attenuation A according to the echo power attenuation A rn Inverting a second visibility V between each scale and the radar n 。
Therefore, the embodiment of the invention not only can realize the detection of the visibility of the interval between each calibration object, but also can detect the visibility of the interval between each calibration object and the radar.
The calibration object related to the embodiment of the invention refers to: in a visibility measuring system, the visibility is inverted from the attenuation of the energy of its echo signal. The radar has a larger reflective cross-sectional area and thus a greater reflective power than other targets observed by the radar, and is easier to detect in clutter.
Further, the radar and the plurality of scales in the embodiment of the invention are arranged on the road to be detected, and one radar transmits signals to a plurality of scales and receives echo signals of the scales. Preferably, the plurality of scales are arranged at equal intervals. One possible mounting of the radar and the scales is shown in fig. 2, in which the radar 7 is mounted to an overhead girder of a road, a plurality of scales 8 are arranged at a road side, and the respective scales 8 are spaced apart from each other by a distance, for example, a distance of 100m between the first scale 8 and the radar, a distance of 200m between the second scale 8 and the radar, a distance of 300m between the third scale 8 and the radar, a distance of 400m between the fourth scale 8 and the radar, and a distance of 500m between the fifth scale 8 and the radar. The system for sensing the visibility based on the radar disclosed by the embodiment of the invention realizes the functions of the modules through wireless communication or wired interaction with the radar.
Corresponding to the system for sensing the visibility based on the radar disclosed above, the embodiment of the invention also discloses a method for sensing the visibility based on the radar. The following describes in detail a method for radar-based visibility sensing disclosed in an embodiment of the present invention in connection with a system for radar-based visibility sensing described above.
Referring to fig. 1 to 3, a radar-based visibility sensing method according to an embodiment of the present invention includes: in sunny weather, the echo power measuring module 1 of the calibration object controls the radar 7 to transmit signals to a plurality of calibration objects 8 arranged on the road and receive echo signals, and the echo power P of each calibration object 8 is measured n The echo power P measured at this time is acquired by the attenuation-free echo power measurement value acquisition module 2 n As an unattenuated echo power measurement value P sn And sends the echo power attenuation amount to an echo power attenuation amount calculation module 4; under the current road environment, the echo power measuring module 1 of the calibration object controls the radar 7 to transmit signals to a plurality of calibration objects 8 and receive echo signals, and the echo power P of each calibration object 8 is measured n The current echo power measured value acquisition module 3 acquires the echo power P measured at the time n As the current echo power measurement value P tn And sends the echo power attenuation amount to an echo power attenuation amount calculation module 4; from the current echo power measurement value P by the echo power attenuation calculation module 4 tn And unattenuated echo power measurement P sn Determining the echo power attenuation A of each calibration object 8 rn The method comprises the steps of carrying out a first treatment on the surface of the And the first visibility inversion module 5 is used for carrying out the method according to the attenuation A of the echo power rn Inverting a first visibility between the respective scalesWherein n is the label of the calibration object, n 1 Is the label of the first definite standard, n 2 Is the label of the second calibration object, n 1 Greater than n 2 。
In the embodiment of the invention, in sunny weather/current roadRespectively measuring echo power P of each calibration object under environment n . The measured result in sunny weather is used as an unattenuated echo power measured value, and the echo power attenuation A of each calibration object is obtained by comparing the measured result in the current road environment with the unattenuated echo power measured value r The first visibility between the individual scales is then inverted. The method realizes the measure of the visibility by utilizing the radar echo attenuation of the calibration object, and avoids the problem that the visibility of non-radar detection is easily affected by weather conditions. In addition, measurement of visibility using lower radar transmit power is achieved. The visibility between the scales can be obtained, that is, the visibility of each section of the whole road section can be determined by the positions of the scales.
Preferably, the method for sensing the visibility based on the radar disclosed in the embodiment of the present invention further includes: from the echo power attenuation A by the second visibility inversion module 6 rn Inverting a second visibility V between each scale 8 and the radar 7 n . Therefore, the embodiment of the invention not only can realize the detection of the visibility of the interval between each calibration object, but also can detect the visibility of the interval between each calibration object and the radar.
Further, a first visibilityThe inversion formula of (2) is:
wherein A (n 1 ,n 2 )＝A rn1 -A rn2 ，n 1 Is the label of the first definite standard, n 2 Is the label of the second calibration object, n 1 Greater than n 2 C is a variable parameter, and a is a correction parameter.
Second visibility V n The inversion formula of (2) is:
wherein c is a variable parameter, and a is a correction parameter.
The first visibilityAnd a second visibility V n The variable parameter c in the inversion formula of (2) depends on the mist particle size and the moisture content. According to the embodiment of the invention, the variable parameter c is obtained through data fitting, specifically, corresponding data of visibility V and attenuation A of enough fog are obtained through laboratory simulation, and a theoretical relation is fitted according to the fact that the visibility V and the attenuation A meet the inverse proportion relation, so that the value of the parameter c in an empirical formula model is obtained.
The first visibilityAnd a second visibility V n The calculation of the correction parameter a in the inversion formula of (a) is as follows: obtaining enough true visibility V through actual measurement ri Data of corresponding attenuation A by +.>Obtaining a visibility inversion value V i According to the formula->Solving for the true visibility V ri And visibility inversion value V i Deviation average value of>Wherein f (A, c) is conventional in the art and will not be described herein.
Preferably, in the embodiment of the present invention, the above-mentioned non-attenuation echo power measurement value P sn And the current echo power measurement value P tn Repeating the measurement for a plurality of times according to a preset interval time (for example, 5 s), and taking an average value after smoothing filter treatment.
Referring to FIG. 4, in one embodiment of the present disclosure, the echo power P of each target object n The measurement method of (1) comprises: acquiring echo signals in the radar detection range of the arranged calibration object 8 from the radar 7 by the echo power measurement module 1 of the calibration object; dividing unit areas of the calibration objects by an echo power measurement module 1 of the calibration objects according to the radial distance, azimuth angle and pitch angle of an echo signal source relative to a radar 7 to form radar echo signal point cloud data; and the echo power measuring module 1 of the calibration object extracts the echo signal intensity A of each calibration object 8 from the grid corresponding to the unit area n The method comprises the steps of carrying out a first treatment on the surface of the The echo power measuring module 1 of the calibration object directly uses the echo signal intensity A n As echo power P n Or according to the echo signal intensity A n Determining the echo power P n 。
In the embodiment of the invention, according to the intensity A of the echo signal n Obtaining echo power P of each calibration object n There are two methods of (a) and (b). A method is as follows: because the A/D quantized value of the radar receiver system has better linear relation with the echo power, the change of the echo signal can be reflected in the change of the A/D quantized value, thus, the received echo signal intensity A of each calibration object is directly used n Echo power P as a corresponding target n 。
Referring to fig. 6, another method is preferably: according to the echo signal intensity A n Determining echo power P n The method comprises the following specific steps:
by using the echo signal intensity A n Obtaining a frequency domain model of a target signal after fast Fourier transformation, identifying a noise signal according to the distance-Doppler characteristic of the target, and calculating to obtain a system noise signal level N of each calibration object n ；
Continuously measuring the noise signal m times to obtain the signal-to-noise ratio R of the current target signal of each calibration object n The signal to noise ratio of the target signal is calculated as follows:
SNR nj ＝A nj /N nj
Wherein A is nj For the echo signal intensity of each calibration object measured for the jth time, N nj System noise signal level, SNR, for each of the calibrators of the jth measurement nj The ratio of signal to noise for each of the scales for the j-th measurement;
estimating a current noise level H of the radar receiving system, wherein an estimation formula of the current noise level H is as follows:
H＝K·T·B·N r ·G/λ
wherein K is Boltzmann constant, T is working temperature of the radar receiver, B is frequency of signals received by the radar receiver, N r G is the gain of a radar receiver, and lambda is the wavelength of a radar receiving signal; wherein the system noise figure N r The method comprises the following steps: connecting a frequency spectrograph and a signal comprehensive tester with a radar radio frequency output port, simulating echo signals by using the signal comprehensive tester, and removing target signals by using the frequency domain signal measurement capability of the frequency spectrograph so as to obtain the system noise coefficient Nr of the radar system at the moment through measurement;
calculating the signal-to-noise ratio R of the current target signal n Obtaining a first measured echo power value P of each calibration object by multiplying the current noise level H 1 rn The method comprises the steps of carrying out a first treatment on the surface of the Namely P 1 rn ＝R n ·H；
Inputting signals from a high-level input end of a radar receiver by using a radar signal comprehensive tester, and increasing the output power P of a signal source from the sensitivity of the radar receiver according to preset intervals r For example, the preset interval may be 0.5dB for each P r Recording the corresponding sampled a/D value until the receiver is saturated, obtaining one of said output powers P r A corresponding table of the sampled A/D values is used for obtaining a calibration curve of the A/D values and the power values by using a least square method for data in the corresponding table;
sampling A/D value of target echo signal according to calibration curve and current radarDesired power valueUsing said echo signal to expect power value +.>And the first measured echo power value P 1 rn As the mean value of the respective calibration object, the second measured echo power value P 2 rn ；
Simulating a radar target by using a target simulator, and measuring i times by using the radar to obtain a third measured echo power value P each time 3 ri The true echo power is Q i The correction coefficient C is obtained according to the following correction coefficient calculation formula:
the second measured echo power value P is corrected by a correction coefficient C 2 rn Correcting to obtain echo power P of each calibration object n The method comprises the steps of carrying out a first treatment on the surface of the The correction formula is as follows:
P n ＝P 2 rn +C。
because there is a certain error in the measurement of the signal-to-noise ratio, and the current noise power value is affected by the environmental measurement clutter, there is a certain error in the first measurement echo power value. In the embodiment of the present invention, the echo power P is obtained n In the method of (2), the echo signal is calibrated so as to be corrected according to the calibration curve. Found by actual measurement, the average value of the difference value between the echo power obtained by the method and the true value is within 0.1dB, and the measurement accuracy of the echo power is greatly improved.
Referring to FIG. 5, in another embodiment of the present disclosure, the echo power P of each target object n The measurement method of (1) comprises: acquiring echo signals in the radar detection range of the arranged calibration object 8 from the radar 7 by the echo power measurement module 1 of the calibration object; from echo power measurement module 1 of the calibration objectThe radial distance, azimuth angle and pitch angle of the wave signal source relative to the radar 7 divide the unit area of each calibration object to form radar echo signal point cloud data; the echo power measuring module 1 of the calibration object carries out clutter filtering on the radar echo signal point cloud data; and the echo power measuring module 1 of the calibration object extracts the echo signal intensity A of each calibration object 8 from the grid corresponding to the unit area n The method comprises the steps of carrying out a first treatment on the surface of the The echo power measuring module 1 of the calibration object directly uses the echo signal intensity A n As echo power P n Or according to the echo signal intensity A n Determining the echo power P n 。
That is, the present embodiment is different from the previous embodiment in that the echo power P of each calibration object n The measurement method of (2) further comprises: and clutter filtering is carried out on the radar echo signal point cloud data. In the present embodiment, the echo signal strength A is determined n Obtaining echo power P of each calibration object n The same two methods are not described in detail herein.
Further, the clutter filtering of the radar echo signal point cloud data includes: static clutter filtering is performed on radar echo signal point cloud data, and referring to fig. 7, specific steps include: before the calibration object 8 is installed, the space area is divided into a plurality of three-dimensional networks with unit sizes in the detection range of the radar 7, and the divided space areas are numbered; the echo power measuring module 1 of the calibration object obtains echo signals in the radar detection range before the calibration object 8 is arranged, and the number of clutter points is accumulated on each space area; judging whether the number of the accumulated points in unit time exceeds a preset accumulation threshold value by an echo power measurement module 1 of the calibration object, positioning a space region in which the number of the accumulated points in unit time exceeds the preset accumulation threshold value as a static clutter region, and storing the number of the static clutter region to generate a static clutter table; the radar echo signal point cloud data is subjected to clutter filtering by the echo power measurement module 1 of the calibration object by utilizing the static clutter table; and when the number of points accumulated in unit time does not exceed a preset accumulation threshold value, discarding the static clutter identification.
Advancing oneThe step of clutter filtering the radar echo signal point cloud data comprises the following steps: the method for filtering the radar echo signal point cloud data by dynamic clutter comprises the following specific steps of: before the calibration object 8 is installed, the space area is divided into a plurality of three-dimensional networks with unit sizes in the detection range of the radar 7, and the divided space areas are numbered; the echo power measuring module 1 of the calibration object obtains echo signals in the radar detection range after the calibration object 8 is arranged, and the number of clutter points is accumulated on each space area; calculating the current time t of the auxiliary clock for each frame synchronous update by the echo power measuring module 1 of the calibration object x Start time of current accumulation period with current spatial regionA time difference between; the time difference value is compared with the maximum preset accumulation time delta t max Comparing, wherein x is the number of the current space region; if the time difference is greater than the maximum preset accumulated time delta t max For the space region, the history accumulation value Num x Emptying, re-accumulating, and updating the starting time of the current accumulating period of the current space region +.>If the time difference is smaller than the maximum preset accumulation time delta t max The above calculation of the current time t of each frame synchronous update auxiliary clock is circulated x Start time of the current accumulation period from the current spatial region +.>A time difference between; if the time difference is equal to the maximum preset accumulation time delta t max Every frame traverses all the spatial regions and updates the current accumulated value Num x Judging the current accumulated value Num x Whether or not a preset maximum accumulation threshold Num is reached max The method comprises the steps of carrying out a first treatment on the surface of the If the current accumulated value Num x Less than a preset maximum accumulation threshold Num max Locating the spatial region as a dynamic clutter region, and locating the dynamic clutter regionThe number of the code is saved to generate a dynamic clutter table; performing clutter filtering on the radar echo signal point cloud data by using the dynamic clutter table; if the current accumulated value Num x Reaching a preset maximum accumulation threshold Num max Continuing accumulation on the previous basis, wherein the starting time of the current accumulation period of the current spatial region is not updated +.>
In the embodiment of the invention, the radar echo signal point cloud data is subjected to clutter filtering, and the method can be used for simultaneously carrying out static clutter filtering and dynamic clutter filtering on the radar echo signal point cloud data. Echo power P of the environmental clutter on each calibration object is reduced through clutter filtering n The measurement result is more accurate.
In addition, the embodiment of the invention also provides a device for sensing the visibility based on the radar, which comprises: a processor and a memory; the memory is used for storing one or more program instructions; the processor is configured to execute one or more program instructions to perform the steps of a method of radar-based visibility awareness as described in any one of the preceding claims.
In addition, an embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored, where the computer program, when executed by a processor, implements the steps of a method for radar-based visibility sensing according to any one of the above.
In the embodiment of the invention, the processor may be an integrated circuit chip with signal processing capability. The processor may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP for short), an application specific integrated circuit (Application Specific f ntegrated Circuit ASIC for short), a field programmable gate array (FieldProgrammable Gate Array FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The processor reads the information in the storage medium and, in combination with its hardware, performs the steps of the above method.
The storage medium may be memory, for example, may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable ROM (Electrically EPROM, EEPROM), or a flash Memory.
The volatile memory may be a random access memory (Random Access Memory, RAM for short) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (Double Data RateSDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and direct memory bus RAM (directracram, DRRAM).
The storage media described in embodiments of the present invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will appreciate that in one or more of the examples described above, the functions described in the present invention may be implemented in a combination of hardware and software. When the software is applied, the corresponding functions may be stored in a computer-readable medium or transmitted as one or more instructions or code on the computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (9)
1. A method of radar-based visibility perception, the method comprising:
in sunny days, the control radar transmits signals to a plurality of targets arranged on the road and receives echo signals, and echo power P of each target is measured n As an unattenuated echo power measurement value P sn ；
Under the current road environment, controlling the radar to transmit signals to the plurality of calibration objects and receive echo signals, and measuring the echo power P of each calibration object n As the current echo power measurement value P tn ；
Based on the current echo power measurement value P tn And the unattenuated echo power measurement value P sn Determining echo power attenuation A of each calibration object rn The method comprises the steps of carrying out a first treatment on the surface of the And
According to the echo power attenuation A rn Inverting a first visibility between the respective scalesSaid first visibility +. >The inversion formula of (2) is:
wherein n is the label of the calibration object, n 1 Is the label of the first definite standard, n 2 Is the label of the second calibration object, n 1 Greater than n 2 ，A(n 1 ,n 2 )＝A rn1 -A rn2 C is a variable parameter, and a is a correction parameter.
2. A method of radar-based visibility sensing according to claim 1, further comprising: according to the echo power attenuation A rn Inverting a second visibility V between each scale and the radar n The second visibility V n The inversion formula of (2) is:
wherein c is a variable parameter, and a is a correction parameter.
3. A method of radar-based visibility perception as claimed in claim 1, wherein the echo power P of each of said scales n The measurement method of (1) comprises:
acquiring echo signals in a radar detection range after the calibration objects are arranged;
dividing unit areas of all calibration objects according to radial distance, azimuth angle and pitch angle relative to the radar to form radar echo signal point cloud data; and
Extracting echo signal intensity A of each calibration object from grid corresponding to unit area n Directly using the echo signal intensity A n As the echo power P n Or according to the echo signal intensity A n Determining the echo power P n 。
4. A method of radar-based visibility perception according to any one of claims 1-3, wherein said non-attenuated echo power measurement value P sn And the current echo power measurement value P tn Repeating the measurement for a plurality of times according to the preset interval time, and taking the average value after smoothing and filtering.
5. A method of radar-based visibility sensing according to claim 3, wherein, based on said echo signal strength a n Determining the echo power P n It comprises:
by using the echo signal intensity A n Obtaining a frequency domain model of a target signal after fast Fourier transformation, identifying a noise signal according to the distance-Doppler characteristic of the target, and calculating to obtain a system noise signal level N of each calibration object n ；
Continuously measuring the noise signal m times to obtain the signal-to-noise ratio R of the current target signal of each calibration object n The signal to noise ratio of the target signal is calculated as follows:
SNR nj ＝A nj /N nj
wherein A is nj For the echo signal intensity of each calibration object measured for the jth time, N nj System noise signal level, SNR, for each of the calibrators of the jth measurement nj The ratio of signal to noise for each of the scales for the j-th measurement;
Estimating a current noise level H of the radar receiving system, wherein an estimation formula of the current noise level H is as follows:
H＝K·T·B·N r ·G/λ
wherein K is Boltzmann constant, T is working temperature of the radar receiver, B is frequency of signals received by the radar receiver, N r G is the gain of a radar receiver, and lambda is the wavelength of a radar receiving signal;
calculating the signal-to-noise ratio R of the current target signal n Obtaining a first measured echo power value P of each calibration object by multiplying the current noise level H 1 rn ；
Inputting signals from a high-level input end of a radar receiver by using a radar signal comprehensive tester, and increasing the output power P of a signal source from the sensitivity of the radar receiver according to preset intervals r For each P r Recording the corresponding sampled a/D value until the receiver is saturated, obtaining one of said output powers P r A corresponding table of the sampled A/D values is used for obtaining a calibration curve of the A/D values and the power values by using a least square method for data in the corresponding table;
the target echo signal is sampled according to the calibration curve and the current radar to obtain the expected power value of the echo signalUsing said echo signal to expect power value +.>And the first measured echo power value P 1 rn As the mean value of the respective calibration object, the second measured echo power value P 2 rn ；
Simulating a radar target by using a target simulator, and measuring i times by using the radar to obtain a third measured echo power value P each time 3 ri The true echo power is Q i The correction coefficient C is obtained according to the following correction coefficient calculation formula:
by correction coefficient CThe second measured echo power value P 2 rn Correcting to obtain echo power P of each calibration object n The method comprises the steps of carrying out a first treatment on the surface of the The correction formula is as follows:
P n ＝P 2 rn +C。
6. a method of radar-based visibility sensing according to claim 4, wherein the echo power P of each of said scales n Further comprising: clutter filtering is carried out on the radar echo signal point cloud data, and the method comprises the following steps:
before the calibration object is installed, dividing a space area into a plurality of three-dimensional networks with unit sizes in the detection range of the radar, and numbering the divided space area;
acquiring echo signals in a radar detection range before the calibration object is arranged, and accumulating the number of clutter points on each space area; positioning a space region with the number of points accumulated in unit time exceeding a preset accumulation threshold as a static clutter region, and storing the number of the static clutter region to generate a static clutter table; performing clutter filtering on the radar echo signal point cloud data by using the static clutter table; and/or
Acquiring echo signals in a radar detection range after the calibration object is arranged, and accumulating the number of clutter points on each space area; calculating the current time t of each frame synchronous update auxiliary clock x Start time of current accumulation period with current spatial regionA time difference between; the time difference value is compared with a maximum preset accumulation time delta t max Comparing, wherein x is the number of the current space region; if the time difference is greater than the maximum preset accumulated time delta t max For the space region, the history accumulation value Num x Emptying, re-accumulating, and updating the starting time of the current accumulating period of the current space region +.>If the time difference is smaller than the maximum preset accumulation time delta t max Then loop to calculate the current time t of each frame synchronous update auxiliary clock x Start time of the current accumulation period from the current spatial region +.>A time difference between; if the time difference is equal to the maximum preset accumulation time delta t max Every frame traverses all the spatial regions and updates the current accumulated value Num x Judging the current accumulated value Num x Whether or not a preset maximum accumulation threshold Num is reached max The method comprises the steps of carrying out a first treatment on the surface of the If the current accumulated value Num x Less than a preset maximum accumulation threshold Num max Positioning the space region as a dynamic clutter region, and storing the number of the dynamic clutter region to generate a dynamic clutter table; and performing clutter filtering on the radar echo signal point cloud data by using the dynamic clutter table.
7. A radar-based visibility perception system, the system comprising:
an echo power measuring module of the calibration object for controlling the radar to transmit signals to a plurality of calibration objects arranged on the road and receive echo signals under the condition of sunny weather/current road environment, and measuring the echo power P of each calibration object n ；
An attenuation-free echo power measurement value acquisition module for acquiring echo power P of each calibration object measured in sunny weather n As an unattenuated echo power measurement value P sn ；
A current echo power measurement value acquisition module for acquiring the echo power P of each calibration object measured in the current road environment n As the current echo power measurement value P tn ；
An echo power attenuation calculation module for calculating the current echo power according to the current echo power measurement value P tn And the unattenuated echo power measurement value P sn Solving for each calibration objectEcho power attenuation A rn The method comprises the steps of carrying out a first treatment on the surface of the And
A first visibility inversion module for inverting the echo power attenuation A rn Inverting a first visibility between the respective scalesSaid first visibility +.>The inversion formula of (2) is:
wherein n is the label of the calibration object, n 1 Is the label of the first definite standard, n 2 Is the label of the second calibration object, n 1 Greater than n 2 ，A(n 1 ,n 2 )＝A rn1 -A rn2 C is a variable parameter, and a is a correction parameter.
8. A radar-based visibility awareness system in accordance with claim 7, further comprising: a second visibility inversion module for inverting the echo power attenuation A according to the echo power attenuation A rn Inverting a second visibility V between each scale and the radar n 。
9. A radar-based visibility-awareness apparatus, the apparatus comprising: a processor and a memory;
the memory is used for storing one or more program instructions;
the processor for executing one or more program instructions for performing the steps of a radar-based visibility-awareness method according to any one of claims 1-6.
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