CN113433521A - Frequency spectrum refining method for synchronous detection of lightning field target - Google Patents
Frequency spectrum refining method for synchronous detection of lightning field target Download PDFInfo
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Abstract
The invention discloses a frequency spectrum refining method for synchronous detection of a lightning field target, which comprises three parts: (1) each detection extension machine carries out offline calculation of refined parameters according to detection requirements; (2) each detection extension machine carries out online detection and spectrum refinement according to a synchronous detection instruction sent by the detection control host machine; (3) each detection extension identifies and positions a lightning field target according to the detection refined spectrum, and the detection control host integrates the detection identification data of each detection extension to obtain a detection result; the method effectively combines the characteristics of the detection of the lightning field target and the advantages of a complex modulation frequency spectrum refining method based on a complex analytic band-pass filter, divides the refining parameter calculation and the frequency spectrum refining into an off-line part and an on-line part, disperses the filtering and frequency shift operation to a plurality of sampling periods to be executed, can obtain the refining spectral line of an analysis bandwidth range only by FFT of one Q point after the sampling is finished, improves the frequency resolution and the operation efficiency, thereby improving the accuracy and the reliability of the identification of the lightning field target.
Description
Technical Field
The invention relates to a frequency spectrum refining method, in particular to a frequency spectrum refining method for synchronously detecting a lightning field target.
Background
In modern wars, the role of mine wars in maneuvering and anti-maneuvering operations is more and more important, and the problem that the rapid and efficient large-area clearing of mine fields in various countries and military boundaries is difficult to solve is always solved. Since world war II, a great deal of land mines buried underground by enemy and opponent bring great threat to civilians in peace period; although a great deal of manpower, material resources and financial resources are invested in various countries to clean the problems of mines left after a war, the effects are very little, and the mines hurt people and cause disastrous accidents. Therefore, the effective solution of the land mine detection problem has become a hot difficult problem of great concern in the international society, and particularly, the post-war mine clearance work puts higher demands on the mine detection technology, because the psychological bearing capacity of people on casualties of mine clearance operators is far lower than that in the war, and the casualties can not be missed and reported, and can not cause too many false alarms, so that the land mine detection plays an important role in both modern war and post-war mine clearance.
At present, the buried explosive detection technology which is widely applied practically combines a metal detector and a ground penetrating radar, a double-sensor system is adopted for detection, and the system developed according to the scheme is applied in actual combat. The ground penetrating radar is based on the transmission and scattering principle of electromagnetic waves, imaging, positioning and quantitative calculation of underground targets are achieved by transmitting electromagnetic wave signals to the underground and receiving echoes scattered back from discontinuous parts of underground media, and in 1926, Hulsenbeck first proposes that an electromagnetic pulse technology is applied to detecting underground targets.
How to process radar echo signals to identify underground buried targets is always a difficult problem which troubles the application of ground penetrating radar, and the current main processing means depends on imaging technology and spectrum analysis technology. Imaging techniques are two-dimensional and three-dimensional: the two-dimensional processing method not only can not carry out real-time processing, but also puts high requirements on the technique and experience of operators; the three-dimensional imaging processing is computationally intensive, has high requirements on a computer, can be performed only in an off-line state, and is not suitable for real-time identification.
The lightning field targets are generally distributed on a shallow layer of the earth surface, a primary UWB pulse signal is transmitted to the earth surface in an ungrounded loop mode to generate an electromagnetic field to be transmitted to the periphery, if a target body (the lightning field target) with electrical difference with the stratum soil is touched, eddy current can be generated on the target body in a reflection, refraction or induction mode, the direction of the eddy current flows towards the direction of disappearance of an original magnetic field (namely, a magnetic field identical with the original magnetic field is reconstructed), the eddy current signal can slowly disappear along with the complete disappearance of the primary field to form a trailing phenomenon, the trailing attenuation speed of the signal depends on the conductivity and magnetic permeability characteristics of the target to be detected, the attenuation speed of the secondary induction signal of a pure magnetic target or a weak conductive target is fast, and the attenuation rate of a ferromagnetic target or a large-size target is slow; therefore, during the intermittent period of a primary pulse signal or UWB radar wave, the detected targets (radar field targets) with different materials can be distinguished by detecting different intervals of signal tail; the frequency information of the trailing signal carrying the information of the thunder field target is usually modulated at the repetition frequency of the emission pulse for transmission, in order to clearly display the frequency spectrum structure of the thunder field target, the frequency spectrum graph of the echo signal needs to be subjected to band selection thinning processing, the most common frequency spectrum graph is complex modulation Zoom-FFT, but the frequency spectrum graph has the defects of large calculation amount, limited maximum thinning multiple, limited precision when the thinning multiple reaches a certain value and more complex frequency adjustment; aiming at the limitation of complex modulation Zoom-FFT, a learner provides a complex modulation frequency spectrum refining method based on a complex analysis band-pass filter, which has the advantages of small calculation amount, high speed and small memory space for storing intermediate data, and because the amplitude of the negative frequency part of the complex analysis band-pass filter is zero, the precision requirement on the filter can be greatly relaxed, the filtering order is few, the width of the transition band can be even doubled, high filtering precision can still be obtained, and the complex frequency adjustment is not needed; however, when the refinement multiple D is small, the calculation speed is ideal, and when D is large, the calculation amount is greatly increased, which makes it difficult to meet the requirement of online detection.
In actual detection of a thunder field target, in order to accurately identify the thunder field target as soon as possible, a spectrum microstructure in a required range needs to be known quickly, so that signal analysis is required to have high frequency resolution, real-time processing can be realized, and the operation efficiency is improved, so that the overall performance of the detection of the thunder field target is improved, and the method is an important subject in front of mine exploration science and technology workers.
Disclosure of Invention
In order to overcome the technical problem, the invention discloses a frequency spectrum refining method for synchronously detecting a lightning field target.
The technical scheme of the invention is as follows: a frequency spectrum refining method for synchronous detection of a lightning field target is used for a lightning field detection system consisting of 1 detection control host and 7 detection extension sets, wherein the 7 detection extension sets fly to a planning initial position to hover according to a regular hexagon formation mode under the control of the detection control host; the method is characterized in that: the synchronous detection and the frequency spectrum refinement of the lightning field target are divided into the following six steps:
step one, the detection control host machine plans a detection task and determines the repeat frequency of UWB pulse emissionf aEach detection extension carries out offline calculation of refined parameters according to detection requirements;
step two, the detection control host sends synchronous detection (repetition) to each detection extension setiSecond) command, 0# probing extension receives the command and pressesf aTransmitting a UWB pulse;
step three, each detection extension machine carries out online synchronous detection and frequency spectrum refinement on the UWB echo signals;
fourthly, identifying, positioning and storing results of the mine field targets by all the detection extension sets based on the detection refined spectrums;
step five, repeating the step three and the step fouriThe subsequent detection extension set sends the detection result to the detection control host;
step six, if the planned position is not detected, the detection control host controls the detection extension set to fly to the next planned position to hover and jump to the step two to be executed; and if the planned position is detected, the detection control host controls the detection extension sets to return and synthesizes the detection identification data of all the detection extension sets to obtain a detection result.
In the present invention: the offline calculation of the refining parameters is that each detection extension machine offline calculates and caches a complex analysis filter coefficient and a complex modulation frequency shift coefficient according to detection requirements; each detecting extension transmitting repeat frequency by UWB pulsef aFor analysing spectral centres, depth is probed as requiredhAnd the transmission rate lambda of the electromagnetic wave in the mine field unconsolidated soil layer0Determining an analysis lower frequency limitf 1=(2λ0 f a)/(hf a+2λ0) Taking analysis bandwidth B =2f 1Sampling frequencyf s≥2(f a+f 1) Analysis spectral window width Q =2NFrom the depth resolution Δ of the probehDetermination of refinement factor D = (Δ)hf s)/(λ0Q), taking the order M of the filter to be more than or equal to 2D, and selecting the sampling position of the sampling data asn= M, M + D, M +2D, …, M + (Q-1) D, complex analysis filter coefficients for analysis band are calculated and bufferedh(k) And complex modulation frequency shift coefficienty(r)。
In the present invention: the online synchronous detection and frequency spectrum refinement are implemented by that each detection extension set carries out synchronous data acquisition, data selection and extraction, complex analysis band-pass filtering and complex modulation frequency shift on echo signals of UWB pulses, FFT is carried out on the data after frequency shift to obtain a refined spectrum of an analysis frequency band, and the specific process is implemented in five steps;
in the first step, each detection extension set is provided with M sampling data cache units and Q selective extraction result storage units;
second step, each detecting extension set is according to sampling frequencyf sSynchronously acquiring echo signal data and filling M sampling data cache units;
thirdly, each detection extension machine performs complex analysis band-pass filtering operation on the M sampling data and moves the sampling data of the M cache units out of the D units to the left;
fourthly, each detection extension carries out complex modulation frequency shift operation on the data after the complex analysis band-pass filtering and stores the result in a selective extraction result storage unit;
if the Q selecting result storage units are not fully stored, jumping to the second step to execute; and when the Q selective extraction result storage units are fully stored, performing FFT (fast Fourier transform) on the Q data after frequency shift to obtain a refined spectrum of the analysis frequency band.
The invention has the beneficial effects that: the method effectively combines the characteristics of the detection of the lightning field target and the advantages of the complex modulation frequency spectrum refining method based on the complex analysis band-pass filter, divides the refining parameter calculation and the frequency spectrum refining into an off-line part and an on-line part, improves the frequency resolution and the operation efficiency, and accordingly improves the accuracy and the reliability of the identification of the lightning field target.
Drawings
FIG. 1 is a flow chart of the synchronous probing and frequency spectrum refining of the present invention;
FIG. 2 is a schematic diagram of a detection system in accordance with an embodiment of the present invention;
fig. 3 is a schematic front view of a detecting portion of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 invention.
Referring to the drawings, fig. 1 is a flow chart of synchronous detection and spectrum refinement of the present invention, and fig. 2 is a schematic diagram of a detection system according to an embodiment of the present invention; the technical scheme of the invention is as follows: a frequency spectrum refining method for synchronous detection of a lightning field target is used for a lightning field detection system consisting of 1 detection control host and 7 detection extension sets, wherein the 7 detection extension sets fly to a planning initial position to hover according to a regular hexagon formation mode under the control of the detection control host; the method is characterized in that: the synchronous detection and the frequency spectrum refinement of the lightning field target are divided into the following six steps.
Step one, the detection control host machine plans a detection task and determines the repeat frequency of UWB pulse emissionf aAnd each detection extension machine carries out offline calculation of refined parameters according to detection requirements.
The specific method of the invention is as follows: the mine field detection system is a one-master multi-slave multi-point detection system and comprises a detection control host and seven detection extension sets, wherein the detection control host is arranged at a position at least 200 meters away from a suspected mine field to ensure the safety of operators, and the seven detection extension sets are unmanned aerial vehicles with transmitting and receiving functions and communication functions and are remotely controlled by the detection control host; the detection control host machine plans a detection task according to the detection requirement and determines the repetition frequency of UWB pulse emissionf aEach detection extension machine carries out offline calculation of refining parameters according to detection requirements, wherein the offline calculation of the refining parameters is that each detection extension machine carries out offline calculation according to the detection requirements and caches complex analysis filter coefficients and complex modulation frequency shift coefficients; each detecting extension transmitting repeat frequency by UWB pulsef aFor analysing spectral centres, depth is probed as requiredhAnd the transmission rate lambda of the electromagnetic wave in the mine field unconsolidated soil layer0Determining an analysis lower frequency limitf 1=(2λ0 f a)/(hf a+2λ0) Taking analysis bandwidth B =2f 1Sampling frequencyf s≥2(f a+f 1) Analysis spectral window width Q =2NFrom the depth resolution Δ of the probehDetermination of refinement factor D = (Δ)hf s)/(λ0Q), taking the order M of the filter to be more than or equal to 2D, and selecting the sampling position of the sampling data asn= M, M + D, M +2D, …, M + (Q-1) D, complex analysis filter coefficients for analysis band are calculated and bufferedh(k) And complex modulation frequency shift coefficienty(r) (ii) a It is generally desirable to improve the flatness of the pass band and the ripple effect of the stop band by windowing, the impulse response function after adding the Hamming window being
Wherein k =0,1,2, M +1, hR(k) Complex analysis of real part, h, of pass-band filter coefficientsI(k) The imaginary part of the coefficient of the passband filter is analyzed in a complex mode, and the complex modulation frequency shift has the function of shifting the thinning initial frequency f1 to a zero frequency pointThe amount is ω =2 π Df 1According to the frequency shift of DFT, the real part and imaginary part of the complex modulation frequency shift coefficient y (r) are respectively
Wherein r =0,1,2, Q +1, as shown in the above two formulas: the calculation of the complex analysis band-pass filter coefficient h (k) and the complex modulation frequency shift coefficient y (r) is only related to the point number Q of the order M, FFT of the filter selection filter and is not related to the sampling sequence, so that the refining parameters can be calculated off-line and stored temporarily between synchronous detection.
Step two, the detection control host sends synchronous detection (repetition) to each detection extension setiSecond) command, 0# probing extension receives the command and pressesf aUWB pulses are transmitted.
The hexagonal formation mode is characterized in that one detection extension set is located at the center of a regular hexagon and is numbered as a 0# detection extension set, the detection extension set is determined to work as a transmitter or a receiver according to a synchronous detection instruction sent by a detection control host, the other six detection extension sets are located at the vertex angles of the regular hexagon respectively and are numbered as p (p =1,2 … 6) # detection extension sets in sequence, the detection extension sets work as receivers, all the detection extension sets are located on the same horizontal plane and are H in height from the ground, and the detection extension sets are provided with RTK modules and are used for accurately controlling synchronous detection.
The specific method of the invention is as follows: the detection control host sends synchronous detection instructions to all the detection extension sets and sets repetitioniSecond, the number of times of sending synchronous probe command is agreed in the commandiAnd the signal emission and on-line synchronous detection of each detection extension and the RTK-PPS pulse position at the beginning of frequency spectrum refinement, wherein the RTK-PPS pulse position at the appointed signal emission after the 0# detection extension receives the instruction is determined according to the sequencef aUWB pulses are transmitted.
And step three, each detection extension machine carries out online synchronous detection and frequency spectrum refinement on the UWB echo signals.
Each detection extension carries out online synchronous detection and frequency spectrum refinement at the appointed RTK-PPS pulse position where the online synchronous detection and the frequency spectrum refinement start, and the online synchronous detectionThe method comprises the following steps of performing synchronous data acquisition, data selection and extraction, complex analysis band-pass filtering and complex modulation frequency shift on echo signals of UWB pulses by all detection extension sets, performing FFT on the data after frequency shift to obtain a refined spectrum of an analysis frequency band, and performing the specific process in five steps; in the first step, each detection extension set is provided with M sampling data cache units and Q selective extraction result storage units; second step, each detecting extension set is according to sampling frequencyf sSynchronously acquiring echo signal data and filling M sampling data cache units; thirdly, each detection extension performs complex analysis band-pass filtering operation on the M sampling data to obtain g (r), and meanwhile, the sampling data of the M cache units are shifted out of the D units to the left; fourthly, each detection extension carries out complex modulation frequency shift operation on the data after the complex analysis band-pass filtering and stores the result in a selective extraction result storage unit; if the Q selecting result storage units are not fully stored, jumping to the second step to execute; and when the Q selective extraction result storage units are fully stored, performing FFT (fast Fourier transform) on the Q data after frequency shift to obtain a refined spectrum of the analysis frequency band.
The specific method of the invention is that (1) the first addresses of the filter coefficient h (k) and the frequency shift coefficient y (r) calculated in the first step are assigned in each detection extension, M sampling data buffer units and Q sampling result storage units are arranged, and the counting pointers j =0 and r =0 are set; (2) circularly sampling data and storing the circularly sampled data into M sampling data buffer units, adding 1 to a counting pointer j of each piece of sampling data when the sampling data is stored until j equals 104, exiting the circulation and juxtaposing the counting pointer k =0 and j = 0; (3) reading sampling data x (k) and a filter coefficient h (k), adding 1 to a count pointer k when the sampling data x (k) and the filter coefficient h (k) are read once, if the k is more than or equal to D, storing the data x (k) to a sampling data cache unit x (j) appointed by j, and adding 1 to the count pointer j when one data is stored; (4) calculating the cumulative and average of the multiplication of the M sample data by the complex analytic filter coefficients:
judging the counting pointer k after each product is accumulated once, if k is<M returns to the step (3) for reading data circularly, otherwise, the data are accumulated and averaged out of the circulation, and a frequency shift coefficient y (r) is read; (5) the result after the selection and the filtering is carried out the complex modulation frequency shift,multiplying the complex analytic filter operation result by the complex modulation frequency shift coefficient:
storing the multiplication result g (r), adding 1 to the counter pointer r of each g (r) stored, if r<And Q returns to the step (2) for circularly sampling D data and supplementing the D data to the full M data units, otherwise, the circulation is quitted and the FFT is carried out on the complex modulation frequency shift result, and Q/2 effective refining spectral lines can be obtained.
And step four, identifying, positioning and storing results of the mine field targets by all the detection extension sets based on the detection refined spectrums.
The method comprises the specific steps that each detection extension machine carries out trailing characteristic criterion, discrete criterion and environmental interference factor criterion on a refined frequency spectrum to obtain the conclusion whether a lightning field target exists or not, and if the lightning field target exists, the lightning field target is positioned and the identification and positioning results are stored; otherwise, the recognition result is saved.
Step five, repeating the step three and the step fouriAnd the subsequent detection extension sends the detection result to the detection control host.
The specific method of the invention is that each detection extension repeats the third step and the fourth step, and the detection times are repeated onceiDecrease by 1, ifi>And 0, returning to the step three, otherwise, sending the detection result to the detection control host.
Step six, if the planned position is not detected, the detection control host controls the detection extension set to fly to the next planned position to hover and jump to the step two to be executed; and if the planned position is detected, the detection control host controls the detection extension sets to return and synthesizes the detection identification data of all the detection extension sets to obtain a detection result.
The method comprises the following specific steps that a detection control host machine judges whether the detection of a planned position is finished or not, and if the detection of the planned position is not finished, the detection control host machine controls a detection extension machine to fly to the next planned position to hover and jump to the second step to execute; if the planned position is detected, the detection control host controls the detection extension sets to return and obtains the detection result of the planned position according to the detection identification data sent by each detection extension set of each planned position, so that the identification and positioning result of the target of the mine field of the whole mine field is obtained.
The invention has the beneficial effects that: the method effectively combines the characteristics of the detection of the lightning field target and the advantages of a complex modulation frequency spectrum refining method based on a complex analytic band-pass filter, divides the refining parameter calculation and the frequency spectrum refining into an off-line part and an on-line part, disperses the filtering and frequency shift operation to a plurality of sampling periods to be executed, and can obtain the refining spectral line within the analysis bandwidth range only by one Q-point FFT after the sampling is finished, thereby improving the frequency resolution and the operation efficiency, and further improving the accuracy and the reliability of the identification of the lightning field target.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A frequency spectrum refining method for synchronous detection of a lightning field target is used for a lightning field detection system consisting of 1 detection control host and 7 detection extension sets, wherein the 7 detection extension sets fly to a planning initial position to hover according to a regular hexagon formation mode under the control of the detection control host; the method is characterized in that: the synchronous detection and the frequency spectrum refinement of the lightning field target are divided into the following six steps:
step one, the detection control host machine plans a detection task and determines the repeat frequency of UWB pulse emissionf aEach detection extension carries out offline calculation of refined parameters according to detection requirements;
step two, the detection control host sends synchronous detection (repetition) to each detection extension setiSecond) command, 0# probing extension receives the command and pressesf aTransmitting a UWB pulse;
step three, each detection extension machine carries out online synchronous detection and frequency spectrum refinement on the UWB echo signals;
fourthly, identifying, positioning and storing results of the mine field targets by all the detection extension sets based on the detection refined spectrums;
step five, repeating the step three and the step fouriThe secondary detection extension set sends the detection result to the detection control host；
Step six, if the planned position is not detected, the detection control host controls the detection extension set to fly to the next planned position to hover and jump to the step two to be executed; and if the planned position is detected, the detection control host controls the detection extension sets to return and synthesizes the detection identification data of all the detection extension sets to obtain a detection result.
2. The method for spectrum refinement of synchronous detection of lightning field targets according to claim 1, characterized by: the offline calculation of the refining parameters is that each detection extension machine offline calculates and caches a complex analysis filter coefficient and a complex modulation frequency shift coefficient according to detection requirements; each detecting extension transmitting repeat frequency by UWB pulsef aFor analysing spectral centres, depth is probed as requiredhAnd the transmission rate lambda of the electromagnetic wave in the mine field unconsolidated soil layer0Determining an analysis lower frequency limitf 1=(2λ0 f a)/(hf a+2λ0) Taking analysis bandwidth B =2f 1Sampling frequencyf s≥2(f a+f 1) Analysis spectral window width Q =2NFrom the depth resolution Δ of the probehDetermination of refinement factor D = (Δ)hf s)/(λ0Q), taking the order M of the filter to be more than or equal to 2D, and selecting the sampling position of the sampling data asn= M, M + D, M +2D, …, M + (Q-1) D, complex analysis filter coefficients for analysis band are calculated and bufferedh(k) And complex modulation frequency shift coefficienty(r)。
3. The method for spectrum refinement of synchronous detection of lightning field targets according to claim 1, characterized by: the online synchronous detection and frequency spectrum refinement are implemented by that each detection extension set carries out synchronous data acquisition, data selection and extraction, complex analysis band-pass filtering and complex modulation frequency shift on echo signals of UWB pulses, FFT is carried out on the data after frequency shift to obtain a refined spectrum of an analysis frequency band, and the specific process is implemented in five steps;
in the first step, each detection extension set is provided with M sampling data cache units and Q selective extraction result storage units;
second step each detection branchMachine dependent sampling frequencyf sSynchronously acquiring echo signal data and filling M sampling data cache units;
thirdly, each detection extension machine performs complex analysis band-pass filtering operation on the M sampling data and moves the sampling data of the M cache units out of the D units to the left;
fourthly, each detection extension carries out complex modulation frequency shift operation on the data after the complex analysis band-pass filtering and stores the result in a selective extraction result storage unit;
if the Q selecting result storage units are not fully stored, jumping to the second step to execute; and when the Q selective extraction result storage units are fully stored, performing FFT (fast Fourier transform) on the Q data after frequency shift to obtain a refined spectrum of the analysis frequency band.
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