CN115598635B - Millimeter wave radar ranging fusion method and system based on Beidou positioning - Google Patents
Millimeter wave radar ranging fusion method and system based on Beidou positioning 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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
The invention provides a millimeter wave radar ranging fusion method and system based on Beidou positioning, and relates to the technical field of radar ranging, wherein the fusion system is used for carrying out object ranging analysis on a moving path based on positioning information of a moving object and obtaining parameter information of the path; the fusion system comprises a Beidou positioning module, a radar ranging module and a fusion analysis module; the Beidou positioning module is used for positioning the position of a moving object on a moving path and demarcating a key ranging section and a basic ranging section of the moving path based on the position information of the moving object; the key distance measuring section comprises an ascending path, a descending path and a turning path, and the basic distance measuring section comprises a horizontal straight path; according to the invention, the Beidou satellite positioning system can perform positioning and timely perform distance measurement on road parameters of a moving path, so as to solve the problems of simple function and low distance measurement efficiency of the existing distance measurement method.
Description
Technical Field
The invention relates to the technical field of radar ranging, in particular to a millimeter wave radar ranging fusion method and system based on Beidou positioning.
Background
Radar, a transliteration of radio in english, is derived from the acronym of radio detection and ranging, and means "radio detection and ranging", i.e. finding objects and determining their spatial positions by radio. The millimeter wave radar is a radar that operates in a millimeter wave band (millimeter wave) for detection. Generally, the millimeter wave refers to the frequency domain (wavelength is 1-10 mm) of 30-300 GHz. Millimeter-wave radar has some of the advantages of both microwave and photoelectric radar because the wavelength of millimeter-wave waves is intermediate between microwave and centimeter waves. Compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser and television, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather (except heavy rainy days) all day long.
In the prior art, when distance measurement data of road information is acquired, road data is usually measured by using a moving object as a carrier, for example, the moving object uses a test vehicle, in the process of road moving distance measurement, a tester needs to adjust the position of distance measurement according to a test position, and some positions even need to be measured by holding test equipment by a tester, for example, when the gradient of a road is measured, the tester needs to use the test equipment to perform manual measurement, and the test mode has low efficiency and is not suitable for long-distance path and high-workload measurement, so that a millimeter wave radar distance measurement fusion method and system based on Beidou positioning are lacked to solve the existing problems.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a millimeter wave radar ranging fusion method and system based on Beidou positioning, which can be used for positioning through Beidou and timely ranging and acquiring the road parameters of the moving path, so as to solve the problems of simple function and low ranging efficiency of the conventional ranging method.
In order to achieve the purpose, the invention is realized by the following technical scheme: a millimeter wave radar ranging fusion system based on Beidou positioning is used for carrying out object ranging analysis on a moving path based on positioning information of a moving object and obtaining parameter information of the path; the fusion system comprises a Beidou positioning module, a radar ranging module and a fusion analysis module;
the Beidou positioning module is used for positioning the position of a moving object on a moving path and demarcating a key distance measuring section and a basic distance measuring section of the moving path based on the position information of the moving object; the key distance measuring section comprises an ascending path, a descending path and a turning path, and the basic distance measuring section comprises a horizontal straight path;
the radar ranging module is used for performing ranging acquisition on road parameters of the moving path and outputting ranging information to the fusion analysis module; the radar ranging module comprises an uphill ranging unit, a downhill ranging unit and a turning ranging unit; the system comprises an ascending distance measurement unit, a descending distance measurement unit and a turning distance measurement unit, wherein the ascending distance measurement unit is used for performing distance measurement acquisition on road parameters of an ascending path, the descending distance measurement unit is used for performing distance measurement acquisition on road parameters of a descending path, and the turning distance measurement unit is used for performing distance measurement acquisition on road parameters of a turning path;
the fusion analysis module is used for analyzing the distance measurement information based on the road parameters of the moving path and correcting the distance measurement parameters of the road parameters of the moving path.
Further, big dipper orientation module includes big dipper positioning element and route location division unit, big dipper positioning element is used for exporting positioning information, route location division unit disposes route location division strategy, route location division strategy includes: setting a gradient threshold value, and setting a rising starting point of the moving path as an ascending path point when the rising gradient of the moving path is greater than the gradient threshold value; when the descending gradient of the moving path is larger than the gradient threshold value, setting the descending starting point of the moving path as a descending path point;
setting a turning angle threshold value, and setting a turning starting point of the moving path as a turning path point when the turning angle of the moving path is greater than the turning angle threshold value;
and when the ascending slope or the descending slope of the moving path is less than or equal to the slope threshold value and the turning angle is less than or equal to the turning angle threshold value, setting the moving path as a horizontal straight line path.
Further, the ascending distance measuring unit is configured with an ascending radar detection strategy, which includes: set for the ascending distance measuring subassembly, the mode of setting up of ascending distance measuring subassembly does: a plurality of first radar detectors are arranged up and down on the front side of the moving direction of the moving object, and the detection direction of the first radar detectors is consistent with the moving direction of the moving object;
an angle adjusting component is arranged at the joint of the first radar detector and the moving object, the angle adjusting component is provided with a horizontal detector, and the first radar detector is always kept in a horizontal detection state through the angle adjusting component;
setting the vertical distance between two adjacent first radar detectors as a first distance;
when the moving object is located at the uphill path point, a plurality of first detection distances are obtained through a plurality of first radar detectors.
Further, the downhill ranging unit is configured with a downhill radar detection strategy comprising: setting a downhill distance measuring component, wherein the setting mode of the downhill distance measuring component is as follows: a plurality of second radar detectors are arranged up and down on the rear side of the moving direction of the moving object, and the detection direction of the second radar detectors is consistent with the reverse direction of the moving object;
an angle adjusting component is arranged at the joint of the second radar detector and the moving object, and the second radar detector is always kept in a horizontal detection state through the angle adjusting component;
setting the vertical distance between two adjacent second radar detectors as a second distance;
and when the moving object is positioned at the downhill path point, a plurality of second detection distances are obtained through a plurality of second radar detectors.
Further, the turn ranging unit is configured with a turn radar detection strategy comprising: set for turn range finding subassembly, turn range finding subassembly's the mode of setting up does: horizontally arranging a plurality of third radar detectors on the front side of the moving direction of the moving object, and keeping the detection direction of the third radar detectors consistent with the moving direction of the moving object;
setting the distance between two adjacent third radar detectors as a third distance;
and when the moving object is positioned at the turning path point, acquiring a plurality of third detection distances through a plurality of third radar detectors.
Further, the fusion analysis module is configured with a fusion analysis strategy comprising: calculating a plurality of first detection distances through an uphill angle calculation formula to obtain an uphill calibration angle slope; the uphill angle calculation formula is configured as:
(ii) a Wherein Rsj is the slope of the uphill calibration angle, ST1 1 And ST1 i Respectively obtaining first detection distances obtained by two first radar detectors which are farthest away, wherein s1 is the first distance;
calculating a plurality of second detection distances through a downhill angle calculation formula to obtain a downhill calibration angle slope; the formula for calculating the down-slope angleIs configured to:
(ii) a Where Rxj is the downhill calibration angle slope, ST2 1 And ST2 j Respectively obtaining second detection distances obtained by two second radar detectors which are farthest away, wherein s2 is the second distance;
calculating a plurality of third detection distances through a turning angle calculation formula to obtain a turning calibration angle slope; the turning angle calculation formula is configured to:
(ii) a Wherein Rzj is the slope of the turning calibration angle, ST3 1 And ST3 k Respectively obtaining third detection distances obtained by two third radar detectors which are farthest away, wherein s3 is the third distance;
and correspondingly storing the slope of the uphill calibration angle, the slope of the downhill calibration angle and the slope of the turning calibration angle into a distance measurement parameter database of the moving path.
A fusion method of a millimeter wave radar ranging fusion system based on Beidou positioning is used for carrying out object ranging analysis on a moving path based on positioning information of a moving object and obtaining parameter information of the path; the fusion method is provided with a Beidou positioning module and a radar ranging module, and comprises the following steps:
s10, positioning the position of the moving object on the moving path through a Beidou positioning module, and defining a key distance measuring section and a basic distance measuring section of the moving path based on the position information of the moving object; the basic distance measurement section comprises a horizontal straight line path;
step S20, performing ranging acquisition on road parameters of an uphill path, a downhill path and a turning path in the moving path through a radar ranging module, and outputting ranging information to step S30 for fusion analysis;
and step S30, analyzing the distance measurement information based on the road parameters of the moving path, and correcting the distance measurement parameters of the road parameters of the moving path.
The invention has the beneficial effects that: the method comprises the steps that firstly, the position of a moving object on a moving path is positioned through a Beidou positioning module, and a key ranging section and a basic ranging section of the moving path are defined based on the position information of the moving object; the key distance measuring section comprises an ascending path, a descending path and a turning path, and the basic distance measuring section comprises a horizontal straight path; then, the radar ranging module is used for ranging and acquiring road parameters of an ascending path, a descending path and a turning path in the moving path, and outputting ranging information for fusion analysis; finally, analyzing the distance measurement information based on the road parameters of the moving path, and correcting the distance measurement parameters of the road parameters of the moving path; according to the method, the acquisition of the road parameters of the uphill road, the downhill road and the turning path of the road can be started in time based on Beidou positioning, then fusion analysis is carried out, the accuracy of distance measurement analysis can be improved, meanwhile, the intellectualization of the distance measurement process is enhanced, and the efficiency of distance measurement data acquisition is improved.
Advantages of additional aspects of the invention will be set forth in part in the description of the embodiments which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a functional block diagram of a fusion system of the present invention;
FIG. 2 is a schematic view of ranging acquisition of an uphill path of the present invention;
FIG. 3 is a schematic diagram of the ranging acquisition of the turning path of the present invention.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
Referring to fig. 1, the invention provides a millimeter wave radar ranging fusion system based on Beidou positioning, which can timely perform ranging acquisition on road parameters of a moving path through Beidou positioning, so as to solve the problems of simple function and low ranging efficiency of the existing ranging method.
Specifically, the fusion system is used for performing object ranging analysis of a moving path based on positioning information of a moving object and obtaining parameter information of the path; the fusion system comprises a Beidou positioning module, a radar ranging module and a fusion analysis module;
the Beidou positioning module is used for positioning the position of a moving object on a moving path and demarcating a key ranging section and a basic ranging section of the moving path based on the position information of the moving object; the key distance measuring section comprises an ascending path, a descending path and a turning path, and the basic distance measuring section comprises a horizontal straight path; big dipper orientation module includes big dipper orientation unit and route location division unit, and big dipper orientation unit is used for exporting the locating information, and route location division unit disposes the route location and divides the strategy, and the route location divides the strategy to include: setting a gradient threshold value, and setting a rising starting point of the moving path as an ascending path point when the rising gradient of the moving path is greater than the gradient threshold value; when the descending gradient of the moving path is larger than the gradient threshold value, setting the descending starting point of the moving path as a descending path point;
setting a turning angle threshold value, and setting a turning starting point of the moving path as a turning path point when the turning angle of the moving path is greater than the turning angle threshold value; wherein, the storage has the basic information of removal route among the big dipper positioning unit, includes uphill route, downhill path and the route of turning in the removal route of storage in the basic information of removal route to uphill route, downhill path and the route of turning are set for respectively on uphill route, downhill path and the route of turning and are had a downhill path point, downhill path point and the route point of turning, and big dipper positioning unit's effect lies in: after the moving object moves to the corresponding path point, starting a corresponding detection mode, for example, starting an uphill distance measurement component to measure when the moving object reaches the uphill path point, starting a downhill distance measurement component to measure when the moving object reaches the downhill path point, and starting a turning distance measurement component to measure when the moving object reaches the turning path point;
and when the ascending slope or the descending slope of the moving path is less than or equal to the slope threshold value and the turning angle is less than or equal to the turning angle threshold value, setting the moving path as a horizontal straight line path.
Referring to fig. 2 and 3, the radar ranging module is configured to perform ranging acquisition on road parameters of a moving path and output ranging information to the fusion analysis module; the radar ranging module comprises an ascending ranging unit, a descending ranging unit and a turning ranging unit; the system comprises an uphill ranging unit, a downhill ranging unit and a turning ranging unit, wherein the uphill ranging unit is used for performing ranging acquisition on road parameters of an uphill path, the downhill ranging unit is used for performing ranging acquisition on road parameters of a downhill path, and the turning ranging unit is used for performing ranging acquisition on road parameters of a turning path; the ascending distance measuring unit is provided with an ascending radar detection strategy, and the ascending radar detection strategy comprises: set for the ascending distance measuring subassembly, the mode of setting up of ascending distance measuring subassembly does: a plurality of first radar detectors are arranged up and down on the front side of the moving direction of the moving object, and the detection direction of the first radar detectors is consistent with the moving direction of the moving object;
an angle adjusting component is arranged at the joint of the first radar detector and the moving object, the angle adjusting component is provided with a horizontal detector, and the first radar detector is always kept in a horizontal detection state through the angle adjusting component; the angle adjusting component adopts current angle adjusting device can, specific simple angle adjusting component includes the motor, the apparatus further comprises a rotating shaft, the rotating shaft is connected with the rotation of moving object, the one end of the rotating shaft is connected with the output shaft of the motor, first radar detector is fixed in the middle of the rotating shaft, the rotating shaft is driven to rotate through the motor, thereby the angle of first radar detector is adjusted, the level detector can be arranged at the junction of first radar detector and rotating shaft, the angle adjusting mode in the second radar detector refers to the angle adjusting component's of first radar detector adjusting mode.
Setting the vertical distance between two adjacent first radar detectors as a first distance;
when the moving object is located at an uphill path point, a plurality of first detection distances are obtained through a plurality of first radar detectors; when a plurality of first radar detectors are always in a horizontal detection state, in the process of ascending, the detection angle of the first radar detectors cannot incline upwards along with the ascending motion of a vehicle, so that the detection directions of the upper and lower groups of first radar detectors can be reflected with the road surface, the distance measurement is realized, and the ascending angle is obtained through the difference of the distances detected by the upper and lower groups of first radar detectors.
The downhill distance measurement unit is provided with a downhill radar detection strategy, and the downhill radar detection strategy comprises the following steps: setting a downhill distance measuring component, wherein the setting mode of the downhill distance measuring component is as follows: a plurality of second radar detectors are arranged up and down on the rear side of the moving direction of the moving object, and the detection direction of the second radar detectors is kept consistent with the reverse direction of the moving object;
an angle adjusting component is arranged at the joint of the second radar detector and the moving object, and the second radar detector is always kept in a horizontal detection state through the angle adjusting component;
setting the vertical distance between two adjacent second radar detectors as a second distance; the schematic diagram of collecting distance measurement of an uphill route shown in fig. 2 is similar to that of collecting distance measurement of a downhill route, and only the moving direction of the moving object needs to be changed once.
And when the moving object is positioned at the downhill path point, a plurality of second detection distances are obtained through a plurality of second radar detectors. When the plurality of second radar detectors are always in a vertical detection state, the detection angle of the second radar detectors cannot incline downwards along with the downhill motion of the vehicle in the downhill process, so that the detection directions of the upper and lower groups of second radar detectors can be reflected with the road surface, the distance measurement is realized, and the downhill angle is obtained through the difference of the distances detected by the upper and lower groups of second radar detectors.
The turning distance measurement unit is configured with a turning radar detection strategy, and the turning radar detection strategy comprises the following steps: set for turn range finding subassembly, turn range finding subassembly's the mode of setting up does: horizontally arranging a plurality of third radar detectors on the front side of the moving direction of the moving object, and keeping the detection direction of the third radar detectors consistent with the moving direction of the moving object;
setting the distance between two adjacent third radar detectors as a third distance;
and when the moving object is positioned at the turning path point, acquiring a plurality of third detection distances through a plurality of third radar detectors. When the moving object enters a turning path point, a turning path exists in the front, and the vehicle is still in a path before the straight line is transited to the turning, the distances detected by the plurality of third radar detectors are inconsistent, and the approximate angle of the turning can be calculated through the distances detected by the plurality of third radar detectors.
The fusion analysis module is used for analyzing the distance measurement information based on the road parameters of the moving path and correcting the distance measurement parameters of the road parameters of the moving path; the fusion analysis module is configured with a fusion analysis strategy, and the fusion analysis strategy comprises the following steps: calculating a plurality of first detection distances through an uphill angle calculation formula to obtain an uphill calibration angle slope; the uphill angle calculation formula is configured as follows:
(ii) a Wherein Rsj is the slope of the uphill calibration angle, ST1 1 And ST1 i Respectively obtaining first detection distances obtained by two first radar detectors which are farthest away, wherein s1 is the first distance; specifically, in the setting process, two first radar detectors are preferably provided, for example, in the actual test process, the calculation manner of the uphill angle is as follows: the two groups of first detection distances are respectively 1.2m and 1.5m, the first distance is 0.3m, the slope of the calculated uphill calibration angle is 1, and correspondingly, the uphill angle can be converted into 45 degrees according to the slope.
Calculating a plurality of second detection distances according to the downward slope angleCalculating to obtain a slope of a downhill calibration angle; the downhill angle calculation formula is configured as:
(ii) a Where Rxj is the downhill calibration angle slope, ST2 1 And ST2 j Respectively obtaining second detection distances obtained by two second radar detectors which are farthest away, wherein s2 is the second distance; in particular during the setting, preferably two second radar detectors are provided. The specific calculation of the downhill angle refers to the calculation method of the uphill angle described above.
Calculating a plurality of third detection distances through a turning angle calculation formula to obtain a turning calibration angle slope; the turning angle calculation formula is configured as:
(ii) a Wherein Rzj is the slope of the turning calibration angle, ST3 1 And ST3 k Respectively obtaining third detection distances obtained by two third radar detectors which are farthest away, wherein s3 is the third distance; in particular, two third radar detectors are preferably provided during the setting process; the calculation method of the turning angle refers to the calculation method of the upward slope angle.
And correspondingly storing the slope of the uphill calibration angle, the slope of the downhill calibration angle and the slope of the turning calibration angle into a distance measurement parameter database of the moving path.
Example two
The invention also provides a fusion method of the millimeter wave radar ranging fusion system based on Beidou positioning, which is used for carrying out object ranging analysis on a moving path based on the positioning information of a moving object and obtaining the parameter information of the path; the fusion method is configured with a Beidou positioning module and a radar ranging module, and comprises the following steps:
s10, positioning the position of the moving object on the moving path through a Beidou positioning module, and defining a key distance measuring section and a basic distance measuring section of the moving path based on the position information of the moving object; the basic distance measurement section comprises a horizontal straight line path;
step S20, performing ranging acquisition on road parameters of an uphill path, a downhill path and a turning path in the moving path through a radar ranging module, and outputting ranging information to step S30 for fusion analysis;
and step S30, analyzing the distance measurement information based on the road parameters of the moving path, and correcting the distance measurement parameters of the road parameters of the moving path.
Step S10 further includes the steps of:
step S101, a gradient threshold value is set, and when the ascending gradient of the moving path is larger than the gradient threshold value, the ascending starting point of the moving path is set as an ascending path point; when the descending gradient of the moving path is larger than the gradient threshold value, setting the descending starting point of the moving path as a descending path point;
step S102, setting a turning angle threshold value, and setting a turning starting point of the moving path as a turning path point when the turning angle of the moving path is greater than the turning angle threshold value;
in step S103, when the rising gradient or the falling gradient of the movement path is equal to or less than the gradient threshold and the turning angle is equal to or less than the turning angle threshold, the movement path is set to a horizontal straight path.
Step S20 further includes the steps of:
step S2011, an uphill ranging component is set, and the uphill ranging component is set in the following mode: a plurality of first radar detectors are arranged up and down on the front side of the moving direction of the moving object, and the detection direction of the first radar detectors is consistent with the moving direction of the moving object;
step S2012, an angle adjusting component is arranged at the joint of the first radar detector and the moving object, the angle adjusting component is configured with a horizontal detector, and the first radar detector is always kept in a horizontal detection state through the angle adjusting component;
step S2013, setting the vertical distance between two adjacent first radar detectors as a first distance;
step S2014, when the moving object is located at the uphill path point, a plurality of first detection distances are obtained by the plurality of first radar detectors.
Step S20 further includes the steps of:
step S2021, setting a downhill distance measurement component, where the downhill distance measurement component is set in the following manner: a plurality of second radar detectors are arranged up and down on the rear side of the moving direction of the moving object, and the detection direction of the second radar detectors is kept consistent with the reverse direction of the moving object;
step S2022, arranging an angle adjusting component at the joint of the second radar detector and the moving object, and enabling the second radar detector to be always in a horizontal detection state through the angle adjusting component;
step S2023, setting the vertical distance between two adjacent second radar detectors as a second distance;
in step S2024, when the moving object is located at the downhill path point, a plurality of second detection distances are obtained by a plurality of second radar detectors.
Step S20 further includes the steps of:
step S2031, a turning distance measurement component is set, and the setting mode of the turning distance measurement component is as follows: horizontally arranging a plurality of third radar detectors on the front side of the moving direction of the moving object, and keeping the detection direction of the third radar detectors consistent with the moving direction of the moving object;
step S2032, setting the distance between two adjacent third radar detectors as a third distance;
and step S2033, when the moving object is located at the turning path point, a plurality of third detection distances are obtained by a plurality of third radar detectors.
Step S30 further includes the steps of:
step S301, calculating a plurality of first detection distances through an uphill angle calculation formula to obtain an uphill calibration angle slope; the uphill angle calculation formula is configured as follows:
(ii) a Wherein Rsj is the slope of the uphill calibration angle, ST1 1 And ST1 i Respectively obtained for the two first radar detectors which are farthest awayTaking the first detection distance, wherein s1 is the first distance;
step S302, calculating a plurality of second detection distances through a downhill angle calculation formula to obtain a downhill calibration angle slope; the downhill angle calculation formula is configured as:
(ii) a Where Rxj is the downhill calibration angle slope, ST2 1 And ST2 j Respectively obtaining second detection distances by two second radar detectors which are farthest away, wherein s2 is the second distance;
step S303, calculating a plurality of third detection distances through a turning angle calculation formula to obtain a turning calibration angle slope; the turning angle calculation formula is configured as:
(ii) a Wherein Rzj is the slope of the turning calibration angle, ST3 1 And ST3 k Respectively obtaining third detection distances obtained by two third radar detectors which are farthest away, wherein s3 is the third distance;
and step S304, correspondingly storing the slope of the uphill calibration angle, the slope of the downhill calibration angle and the slope of the turning calibration angle into a distance measurement parameter database of the moving path.
The above formulas are all calculated by taking the numerical value of the dimension, the formula is a formula of the latest real situation obtained by collecting a large amount of data and performing software simulation, the preset parameters in the formula are set by the technicians in the field according to the actual situation, if the weight coefficient and the scale coefficient exist, the set size is a specific numerical value obtained by quantizing each parameter, the subsequent comparison is convenient, and as for the size of the weight coefficient and the scale coefficient, the proportional relation between the parameter and the quantized numerical value is not influenced.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media having computer-usable program code embodied in the medium. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), an on-Read Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the following descriptions are only illustrative and not restrictive, and that the scope of the present invention is not limited to the above embodiments: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (2)
1. A millimeter wave radar ranging fusion system based on Beidou positioning is characterized in that the fusion system is used for carrying out object ranging analysis on a moving path based on positioning information of a moving object and obtaining parameter information of the path; the fusion system comprises a Beidou positioning module, a radar ranging module and a fusion analysis module;
the Beidou positioning module is used for positioning the position of a moving object on a moving path and demarcating a key ranging section and a basic ranging section of the moving path based on the position information of the moving object; the key distance measuring section comprises an ascending path, a descending path and a turning path, and the basic distance measuring section comprises a horizontal straight path;
the radar ranging module is used for performing ranging acquisition on road parameters of the moving path and outputting ranging information to the fusion analysis module; the radar ranging module comprises an uphill ranging unit, a downhill ranging unit and a turning ranging unit; the system comprises an ascending distance measurement unit, a descending distance measurement unit and a turning distance measurement unit, wherein the ascending distance measurement unit is used for performing distance measurement acquisition on road parameters of an ascending path, the descending distance measurement unit is used for performing distance measurement acquisition on road parameters of a descending path, and the turning distance measurement unit is used for performing distance measurement acquisition on road parameters of a turning path;
the fusion analysis module is used for analyzing the distance measurement information based on the road parameters of the moving path and correcting the distance measurement parameters of the road parameters of the moving path;
the big dipper orientation module includes big dipper positioning element and route location division unit, big dipper positioning element is used for exporting locating information, route location division unit disposes route location division strategy, route location division strategy includes: setting a gradient threshold value, and setting a rising starting point of the moving path as an ascending path point when the rising gradient of the moving path is greater than the gradient threshold value; when the descending gradient of the moving path is larger than the gradient threshold value, setting the descending starting point of the moving path as a descending path point;
setting a turning angle threshold value, and setting a turning starting point of the moving path as a turning path point when the turning angle of the moving path is greater than the turning angle threshold value;
when the ascending gradient or the descending gradient of the moving path is less than or equal to the gradient threshold value and the turning angle is less than or equal to the turning angle threshold value, setting the moving path as a horizontal straight path;
the ascending distance measuring unit is provided with an ascending radar detection strategy, and the ascending radar detection strategy comprises the following steps: set for the ascending distance measuring subassembly, the mode of setting up of ascending distance measuring subassembly does: a plurality of first radar detectors are arranged up and down on the front side of the moving direction of the moving object, and the detection direction of the first radar detectors is consistent with the moving direction of the moving object;
an angle adjusting component is arranged at the joint of the first radar detector and the moving object, the angle adjusting component is provided with a horizontal detector, and the first radar detector is always kept in a horizontal detection state through the angle adjusting component;
setting the vertical distance between two adjacent first radar detectors as a first distance;
when the moving object is located at an uphill path point, a plurality of first detection distances are obtained through a plurality of first radar detectors;
the downhill distance measurement unit is configured with a downhill radar detection strategy, which comprises: setting a downhill distance measuring component, wherein the downhill distance measuring component is arranged in the following mode: a plurality of second radar detectors are arranged up and down on the rear side of the moving direction of the moving object, and the detection direction of the second radar detectors is kept consistent with the reverse direction of the moving object;
an angle adjusting component is arranged at the joint of the second radar detector and the moving object, and the second radar detector is always kept in a horizontal detection state through the angle adjusting component;
setting the vertical distance between two adjacent second radar detectors as a second distance;
when the moving object is located at the downhill path point, a plurality of second detection distances are obtained through a plurality of second radar detectors;
the turn range unit is configured with a turn radar detection strategy, which includes: set for turn range finding subassembly, turn range finding subassembly's the mode of setting up does: horizontally arranging a plurality of third radar detectors on the front side of the moving direction of the moving object, and keeping the detection direction of the third radar detectors consistent with the moving direction of the moving object;
setting the distance between two adjacent third radar detectors as a third distance;
when the moving object is located at the turning path point, a plurality of third detection distances are obtained through a plurality of third radar detectors;
the fusion analysis module is configured with a fusion analysis strategy comprising: calculating a plurality of first detection distances through an uphill angle calculation formula to obtain an uphill calibration angle slope; the uphill angle calculation formula is configured as:
(ii) a Wherein Rsj is the slope of the uphill calibration angle, ST1 1 And ST1 i Respectively obtaining first detection distances obtained by two first radar detectors which are farthest away, wherein s1 is the first distance;
calculating a plurality of second detection distances through a downhill angle calculation formula to obtain a downhill calibration angle slope; the downhill angle calculation formula is configured as:
(ii) a Where Rxj is the downhill calibration angle slope, ST2 1 And ST2 j Respectively obtaining second detection distances by two second radar detectors which are farthest away, wherein s2 is the second distance;
calculating a plurality of third detection distances through a turning angle calculation formula to obtain a turning calibration angle slope; the turning angle calculation formula is configured to:
(ii) a Wherein Rzj is the slope of the turning calibration angle, ST3 1 And ST3 k Acquired by two third radar detectors, respectively, which are furthest apartA third detection distance, s3 being a third distance;
and correspondingly storing the slope of the uphill calibration angle, the slope of the downhill calibration angle and the slope of the turning calibration angle into a distance measurement parameter database of the moving path.
2. The fusion method of the Beidou positioning-based millimeter wave radar ranging fusion system is characterized in that the fusion method is used for performing object ranging analysis of a moving path based on positioning information of a moving object and obtaining parameter information of the path; the fusion method is provided with a Beidou positioning module and a radar ranging module, and comprises the following steps:
s10, positioning the position of the moving object on the moving path through a Beidou positioning module, and defining a key distance measuring section and a basic distance measuring section of the moving path based on the position information of the moving object; the basic distance measurement section comprises a horizontal straight line path;
step S20, performing ranging acquisition on road parameters of an uphill path, a downhill path and a turning path in the moving path through a radar ranging module, and outputting ranging information to step S30 for fusion analysis;
and step S30, analyzing the distance measurement information based on the road parameters of the moving path, and correcting the distance measurement parameters of the road parameters of the moving path.
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