CN112946619B - Method, device, system and medium for absolute positioning of radar detection target - Google Patents
Method, device, system and medium for absolute positioning of radar detection target 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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Abstract
The invention discloses a method, a device, a system and a medium for absolute positioning of a radar detection target, which are used for converting a radar spherical coordinate system into a local rectangular coordinate system and calculating the coordinate of the detection target point in the local rectangular coordinate system according to the distance, pitch angle and azimuth angle between the radar and the detection target point; converting the local rectangular coordinate system into a reference rectangular coordinate system, measuring the arrangement included angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system, and calculating the coordinate of the detection target point in the reference rectangular coordinate system according to a rotary translation formula; and converting the reference rectangular coordinate system into a geodetic coordinate system, and calculating the geodetic coordinates of the detection target point according to the reference rectangular coordinate set and the geodetic coordinate set of the radar and the calibration point. According to the invention, the radar coordinate set and the geodetic coordinate set of the radar and the calibration point are obtained in advance, and the accuracy of absolute positioning of the detection target is improved by utilizing the proportional relation, so that the radar coordinate of the detection target can be quickly and largely converted into the geodetic coordinate in the follow-up process.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a method, a device, a system and a medium for absolute positioning of a radar detection target.
Background
With the continuous development of satellite positioning technology, satellite navigation positioning systems have become an indispensable and important tool. For example, a Global Positioning System (GPS), a Global Navigation Satellite System (GNSS), a Beidou satellite navigation system (BDS) and the like are adopted, so that high-precision and high-reliability positioning, navigation and time service is provided for various users all the day around the world, and the short message communication capability is provided. However, the satellite navigation positioning system is adopted only, so that the efficiency is reduced at certain times (for example, in the case of urban canyons, bridges, tunnels or severe weather conditions), and the output positioning information has poor precision and high error.
The technical problem can be effectively solved by utilizing the radar to assist satellite positioning, and the existing method for converting the radar coordinates into the geodetic coordinates is usually a grid division method, but the method has larger error.
Disclosure of Invention
In view of this, the present invention provides a method for absolute positioning of a radar detection target, comprising the steps of:
s10, converting a radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinate of the detection target point in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle of the radar and the detection target point;
s20, converting the local rectangular coordinate system into a reference rectangular coordinate system, measuring the arrangement included angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system, and calculating the coordinate of the detection target point in the reference rectangular coordinate system according to a rotary translation formula;
s30, converting the reference rectangular coordinate system into a geodetic coordinate system, and according to the reference rectangular coordinate set of the radar and the calibration point { (0, 0), (X) i ，Y i ，Z i ) And the geodetic coordinate set { (lon) radar ,lat radar ),(lon i ,lat i ) And calculating the geodetic coordinates of the detection target point.
Preferably, the method further comprises converting the geodetic coordinates of the detected target point obtained in S30 into geodetic coordinates suitable for different map coordinate systems by different conversion algorithms.
Preferably, the map coordinate system comprises a WGS-84 coordinate system, a Mars coordinate system, a Siemens 80 coordinate system, a Beijing 54 coordinate system, a hundred degree coordinate system, a CGSC2000 coordinate system, a dog search coordinate system and a MapBar coordinate system.
Preferably, the converting the radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinates of the detection target point in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle between the radar and the detection target point, where the coordinates are:
wherein, (X 0 Y 0 Z 0 ) T In order to detect the coordinates of the target point in a local rectangular coordinate system, d is the distance between the radar and the detected target point, θ is the radar pitch angle,is radar azimuth.
Preferably, the converting the local rectangular coordinate system into a reference rectangular coordinate system, measuring a placement angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system, and calculating the coordinate of the detection target point in the reference rectangular coordinate system according to a rotation translation formula, where the rotation translation formula is:
wherein, (X Y Z) T Is a coordinate in a reference rectangular coordinate system; r is a rotation matrix obtained by a placement included angle between a local rectangular coordinate system and a reference rectangular coordinate system; (DeltaX) 0 ΔY 0 ΔZ 0 ) T The radar is a displacement vector between a local rectangular coordinate system origin and a reference rectangular coordinate system origin, and a rotation matrix and the displacement vector are fixed after the radar is installed;
wherein the X axis of the reference rectangular coordinate system is parallel to the latitude line, the Y axis is parallel to the longitude line, the Z axis is perpendicular to the ground, and the origin of the local rectangular coordinate system is coincident with the origin of the reference rectangular coordinate system, namely O 0 =o, i.e. (Δx 0 ΔY 0 ΔZ 0 ) T ＝(0 0 0) T The method comprises the steps of carrying out a first treatment on the surface of the The local rectangular coordinate system is obtained by sequentially rotating gamma, alpha and beta angles around Z, X, Y axes by referring to the rectangular coordinate system, R=Z (gamma) X (alpha) Y (beta), gamma, alpha and beta are obtained by measurement,
preferably, the conversion of the reference rectangular coordinate system into the geodetic coordinate system, the calculation of the geodetic coordinates of the probe target point from the reference rectangular coordinate set and the geodetic coordinate set of the radar and the calibration point, is obtained by the following formula,
wherein (lon) radar ,lat radar ) Is the geodetic coordinates of the radar, (X) target ,Y target ) To detect the two-dimensional coordinates of the target point in the reference rectangular coordinate system, (lon) i ,lat i ) Is the geodetic coordinates of the radar, (X) i ,Y i ) For the two-dimensional coordinates of the calibration point in the reference rectangular coordinate system, (lon) target ,lat target ) To detect the geodetic coordinates of the target point.
Based on the above object, the present invention also provides a device for absolute positioning of a radar detection target, and the method for absolute positioning of the radar detection target is adopted, and the device comprises:
and the local rectangular coordinate conversion module is used for converting the radar spherical coordinates into local rectangular coordinates.
The reference rectangular coordinate conversion module is connected with the local rectangular coordinate conversion module and converts the local rectangular coordinate into a reference rectangular coordinate.
And the geodetic coordinate conversion module is connected with the reference rectangular coordinate conversion module and converts the reference rectangular coordinate into the geodetic coordinate.
Preferably, the system further comprises a map coordinate conversion module, wherein the map coordinate conversion module is connected with the geodetic coordinate conversion module and converts geodetic coordinates of the detection target into geodetic coordinates applicable to different map coordinate systems through different conversion algorithms.
In view of the above objects, the present invention also provides a system for absolute positioning of radar detection targets, comprising at least one radar and a processing device, said processing device being connected to said at least one radar, the processing device comprising one or more processors and memory means, the memory means storing one or more programs; when executed by the one or more processors, causes the one or more processors to implement the radar detection target absolute positioning method described above.
Based on the above object, the present invention further provides a medium for absolute positioning of a radar detection target, where the medium is a computer readable storage medium, and a computer program is stored on the medium, and when the program is executed by a processor, the method for absolute positioning of a radar detection target is implemented.
Compared with the prior art, the method, the device, the system and the medium for absolutely positioning the radar detection target disclosed by the invention have the advantages that the radar coordinate set and the geodetic coordinate set of the radar and the calibration point are obtained in advance, and the accuracy of absolutely positioning the radar detection target is improved by utilizing the proportional relation, so that the radar coordinate of the detection target can be quickly and largely converted into the geodetic coordinate.
Drawings
In order to make the objects, technical solutions and advantageous effects of the present invention more clear, the present invention provides the following drawings for description:
FIG. 1 is a flowchart of the steps of a method for acquiring geodetic coordinates of a radar detection target according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a relationship between a radar spherical coordinate system and a local rectangular coordinate system in S10 of a method for obtaining a geodetic coordinate of a radar detection target according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a relationship between a local rectangular coordinate system and a reference rectangular coordinate system in S20 of a method for obtaining a geodetic coordinate of a radar detection target according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of absolute positioning of a radar detection target when the number of the marked points in S30 of the method for obtaining the geodetic coordinates of the radar detection target is multiple in the embodiment of the invention;
FIG. 5 is a flowchart illustrating steps of a method for acquiring geodetic coordinates of a radar detection target according to still another embodiment of the present invention;
FIG. 6 is a block diagram of a device for acquiring geodetic coordinates of a radar detection target according to an embodiment of the present invention;
fig. 7 is a block diagram of a system for acquiring a geodetic coordinate of a radar detection target according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Method example 1
Referring to fig. 1, a method for absolute positioning of a radar detection target includes the steps of:
s10, converting a radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinate of the detection target point in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle of the radar and the detection target point;
s20, converting the local rectangular coordinate system into a reference rectangular coordinate system, measuring the arrangement included angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system, and calculating the coordinate of the detection target point in the reference rectangular coordinate system according to a rotary translation formula;
s30, converting the reference rectangular coordinate system into a geodetic coordinate system, and according to the reference rectangular coordinate set of the radar and the calibration point { (0, 0), (X) i ，Y i ，Z i ) And the geodetic coordinate set { (lon) radar ,lat radar ),(lon i ,lat i ) And calculating the geodetic coordinates of the detection target point.
Method example 2
The method comprises the following steps:
s10, converting the radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinate of the detection target point in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle of the radar and the detection target point:
wherein, (X 0 Y 0 Z 0 ) T In order to detect the coordinates of the target point in a local rectangular coordinate system, d is the distance between the radar and the detected target point, θ is the radar pitch angle,is radar azimuth. The relationship of the radar spherical coordinate system and the local rectangular coordinate system is shown in fig. 2. 51 is radar, 53 is detection target point.
S20, converting the local rectangular coordinate system into a reference rectangular coordinate system, measuring the arrangement included angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system, and calculating the coordinate of the detection target point in the reference rectangular coordinate system according to a rotary translation formula. The rotation translation formula in this step is:
wherein, (X Y Z) T Coordinates of points in a reference rectangular coordinate system; r is a rotation matrix obtained by a placement included angle between a local rectangular coordinate system and a reference rectangular coordinate system; (DeltaX) 0 ΔY 0 ΔZ 0 ) T The radar is a displacement vector between a local rectangular coordinate system origin and a reference rectangular coordinate system origin, and the rotation matrix and the displacement vector are fixed after the radar is installed.
Wherein, the relationship between the local rectangular coordinate system and the reference rectangular coordinate system is shown in fig. 3, and 52 is a calibration point. The X axis and the latitude line of the reference rectangular coordinate system are parallel, the Y axis and the longitude line are parallel, the Z axis is perpendicular to the ground, for the convenience of calculation, the origin of the local rectangular coordinate system is coincident with the origin of the reference rectangular coordinate system, O 0 =o, i.e. (Δx 0 ΔY 0 ΔZ 0 ) T ＝(0 0 0) T . WhileThe local rectangular coordinate system is obtained by sequentially rotating (pronating) the angles gamma, alpha and beta around the Z, X, Y axis by referring to the rectangular coordinate system, and R=Z (gamma) X (alpha) Y (beta), wherein gamma, alpha and beta are obtained through measurement.
S30, converting the reference rectangular coordinate system into a geodetic coordinate system, and according to the reference rectangular coordinate set of the radar and the calibration point { (0, 0), (X) i ，Y i ，Z i ) And the geodetic coordinate set { (lon) radar ,lat radar ),(lon i ,lat i ) -calculating the geodetic coordinates (latitude and longitude) of the probe target point, the calculation formula being as follows:
wherein (lon) radar ,lat radar ) Is the geodetic coordinates of the radar, (X) target ,Y target ) To detect the two-dimensional coordinates of the target point in the reference rectangular coordinate system, (X) i ,Y i ) For the two-dimensional coordinates of the calibration point in the reference rectangular coordinate system, (lon) target ,lat target ) To detect the geodetic coordinates (latitude and longitude) of the target point.
Wherein the location of the index point is shown in fig. 3.
Alternatively, the number of the index points may be plural.
According to the method, the radar coordinate set and the geodetic coordinate set of the radar and the calibration point are obtained in advance, and the accuracy of absolute positioning of the radar detection target is improved by utilizing the proportional relation, so that the radar coordinate of the detection target can be quickly and largely converted into the geodetic coordinate in the follow-up process.
Method example 3
Referring to fig. 4, a schematic structural diagram of absolute positioning of a radar detection target when the number of calibration points is plural, and the XOY plane coordinate shown in fig. 4 is a plane projection coordinate system of XYZ coordinates of the reference rectangular coordinate system shown in fig. 3.
Referring to fig. 4, when the calibration points are plural and uniformly distributed within the detection range of the radar, the geodetic coordinates of the radar are (lon radar ,lat radar ) The two-dimensional coordinates of the radar reference rectangular coordinate system are (0, 0). The geodetic coordinates of the calibration points are (lon 1 ,lat 1 ),(lon 2 ,lat 2 ),…,(lon i ,lat i ),…(lon n ,lat n ). The two-dimensional coordinates of the calibration point in the reference rectangular coordinate system are (X 1 ,Y 1 ),(X 2 ,Y 2 ),…,(X i ,Y i ),…(X n ,Y n ). The two-dimensional coordinates of the detection target point in the reference rectangular coordinate system are (X target ,Y target )。
…
…
Then, the formula for calculating the geodetic coordinates of the detection target point is as follows:
according to the method, the radar coordinate sets and the geodetic coordinate sets of the radar and a plurality of calibration points are obtained in advance, and the accuracy of absolute positioning of the radar detection target is improved by using a proportional and average method, so that the radar coordinates of the detection target can be quickly and largely converted into the geodetic coordinates in the follow-up process.
Method example 4
Referring to fig. 5, S40 is further included, and the geodetic coordinates of the detected target point obtained in S30 are converted into geodetic coordinates applicable to different map coordinate systems by different conversion algorithms.
The different map coordinate systems can be WGS-84 coordinate system, mars coordinate system (GCJ-02), siemens 80 coordinate system, beijing 54 coordinate system, hundred degree coordinate system (BD-09), CGSC2000 coordinate system, dog searching coordinate system, mapBar coordinate system, etc.
According to the method, the radar coordinate set and the geodetic coordinate set of the radar and the calibration point are obtained in advance, and the accuracy of absolute positioning of the radar detection target is improved by utilizing the proportional relation, so that the radar coordinate of the detection target can be quickly and largely converted into the geodetic coordinate in the follow-up process, and the obtained geodetic coordinate can be converted into the geodetic coordinate suitable for different maps.
Device embodiment
Referring to fig. 6, the device can execute the method for absolute positioning of the radar detection target provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. The device mainly comprises:
the local rectangular coordinate conversion module 401 is configured to convert the radar spherical coordinates into local rectangular coordinates.
And the reference rectangular coordinate conversion module 402 is used for converting the local rectangular coordinate obtained by the module 401 into a reference rectangular coordinate.
The geodetic coordinate conversion module 403 is configured to convert the reference rectangular coordinate obtained at 402 into geodetic coordinates.
A map coordinate conversion module may be further included, connected to the geodetic coordinate conversion module 403, for converting geodetic coordinates of the detection target into geodetic coordinates suitable for different maps through different conversion algorithms.
System embodiment
Fig. 7 is a schematic diagram of a system structure for absolute positioning of a radar detection target according to the present invention. The system mainly comprises at least one radar 51 and a processing device 50, and the processing device 50 is connected to the radar 51. The processing device includes one or more processors 501, and the processor 501 may perform various suitable actions and processes in accordance with programs stored in a Read Only Memory (ROM) 502 or loaded from a storage section into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the system operation are also stored. The processor 501, ROM502, RAM503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input section 506 including a sensor radar or the like, an output section 507 including a liquid crystal display or the like, a storage section 508 including a hard disk or the like, and a communication section 509 including a network interface card. The communication section 509 performs communication processing via a network such as the internet.
Media embodiment
The medium is a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described method of absolute positioning of a radar detection target.
Where the computer-readable storage medium includes both persistent and non-persistent, removable and non-removable media, information storage may be implemented by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, such as Julia, java, C ++ or the like.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
Claims (4)
1. A method for absolute positioning of a radar detection target, comprising the steps of:
s10, converting a radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinate of the detection target point in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle of the radar and the detection target point;
s20, converting the local rectangular coordinate system into a reference rectangular coordinate system, and calculating the coordinate of the detection target point in the reference rectangular coordinate system according to the arrangement included angle and displacement between the measurement reference rectangular coordinate system and the local rectangular coordinate system and a rotary translation formula;
s30, converting the reference rectangular coordinate system into a geodetic coordinate system, and according to the reference rectangular coordinate set of the radar and the calibration point { (0, 0), (X) i ，Y i ，Z i ) And the geodetic coordinate set { (lon) radar ,lat radar ),(lon i ,lat i ) -calculating the geodetic coordinates of the probe target point;
the method further comprises the step of converting the geodetic coordinates of the detection target point obtained in the step S30 into geodetic coordinates applicable to different map coordinate systems through different conversion algorithms;
the map coordinate system comprises a WGS-84 coordinate system, a Mars coordinate system, a Siemens 80 coordinate system, a Beijing 54 coordinate system, a hundred-degree coordinate system, a CGSC2000 coordinate system, a dog searching coordinate system and a MapBar coordinate system;
the method comprises the steps of converting a radar spherical coordinate system into a local rectangular coordinate system, and calculating the coordinate of a detection target point in the local rectangular coordinate system according to the distance, the pitch angle and the azimuth angle of the radar and the detection target point, wherein the coordinate is as follows:
wherein, (X 0 Y 0 Z 0 ) T In order to detect the coordinates of the target point in a local rectangular coordinate system, d is the distance between the radar and the detected target point, θ is the radar pitch angle,is radar azimuth;
the method comprises the steps of converting a local rectangular coordinate system into a reference rectangular coordinate system, measuring a placement included angle and displacement between the reference rectangular coordinate system and the local rectangular coordinate system, and calculating the coordinate of a detection target point located in the reference rectangular coordinate system according to a rotary translation formula, wherein the rotary translation formula is as follows:
wherein, (X Y Z) T Is a coordinate in a reference rectangular coordinate system; r is a rotation matrix obtained by a placement included angle between a local rectangular coordinate system and a reference rectangular coordinate system; (DeltaX) 0 ΔY 0 ΔZ 0 ) T The radar is a displacement vector between a local rectangular coordinate system origin and a reference rectangular coordinate system origin, and a rotation matrix and the displacement vector are fixed after the radar is installed;
wherein the X axis of the reference rectangular coordinate system is parallel to the latitude line, the Y axis is parallel to the longitude line, the Z axis is perpendicular to the ground, and the origin of the local rectangular coordinate system is coincident with the origin of the reference rectangular coordinate system, namely O 0 =o, i.e. (Δx 0 ΔY 0 ΔZ 0 ) T ＝(0 0 0) T The method comprises the steps of carrying out a first treatment on the surface of the The local rectangular coordinate system is obtained by sequentially rotating gamma, alpha and beta angles around Z, X, Y axes by referring to the rectangular coordinate system, R=Z (gamma) X (alpha) Y (beta), gamma, alpha and beta are obtained by measurement,
the reference rectangular coordinate system is converted into a geodetic coordinate system, the geodetic coordinates of the detection target point are calculated according to the radar and the reference rectangular coordinate set and the geodetic coordinate set of the calibration point, and are obtained by the following formula,
wherein (lon) radar ,lat radar ) Is the geodetic coordinates of the radar, (X) target ,Y target ) To detect the two-dimensional coordinates of the target point in the reference rectangular coordinate system, (lon) i ,lat i ) Geodetic coordinates of points marked for radar, (X) i ,Y i ) For the two-dimensional coordinates of the calibration point in the reference rectangular coordinate system, (lon) target ,lat target ) To detect the geodetic coordinates of the target point.
2. An apparatus for absolute positioning of a radar detection target, wherein the method for absolute positioning of a radar detection target according to claim 1 is employed, the apparatus comprising:
the local rectangular coordinate conversion module is used for converting the radar spherical coordinates into local rectangular coordinates;
the reference rectangular coordinate conversion module is connected with the local rectangular coordinate conversion module and converts the local rectangular coordinate into a reference rectangular coordinate;
the geodetic coordinate conversion module is connected with the reference rectangular coordinate conversion module and converts the reference rectangular coordinate into a geodetic coordinate;
the system also comprises a map coordinate conversion module which is connected with the geodetic coordinate conversion module and converts the geodetic coordinates of the detection target into geodetic coordinates applicable to different map coordinate systems through different conversion algorithms.
3. A system for absolute positioning of radar detection targets, comprising at least one radar and a processing device, said processing device being connected to said at least one radar, the processing device comprising one or more processors and memory means, the memory means storing one or more programs; when executed by the one or more processors, causes the one or more processors to implement the radar detection target absolute positioning method of claim 1.
4. A medium for absolute positioning of a radar detection target, characterized in that the medium is a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, implements the method for absolute positioning of a radar detection target according to claim 1.
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| CN113447908B (en) * | 2021-09-02 | 2021-11-16 | 湖南众天云科技有限公司 | GPS Beidou coordinate acquisition method and device for fixed radar detection target |
| CN113884067A (en) * | 2021-09-30 | 2022-01-04 | 浙江数智交院科技股份有限公司 | Tunnel positioning method and device, electronic equipment and readable storage medium |
| CN117723069A (en) * | 2023-12-20 | 2024-03-19 | 中北数科(河北)科技有限公司 | Vehicle positioning realization method, device, electronic equipment and system |
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