CN115932779B - Dead tree target detection method based on obstacle avoidance radar distance Doppler integration - Google Patents
Dead tree target detection method based on obstacle avoidance radar distance Doppler integration Download PDFInfo
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Abstract
The invention discloses a dead tree target detection method based on range Doppler integration of obstacle avoidance radar, which comprises the steps of collecting radar signals, and performing range FFT processing once to obtain range dimension data; obtaining a range-Doppler spectrum after data Doppler FFT on each range dimension; traversing each grid in the range-Doppler spectrum, performing double integration operation if the energy value of the current grid meets a threshold condition, further calculating the volume in the integrated area, otherwise, performing weighted calculation on the energy value of the grid, and finally obtaining the range-Doppler spectrum after the range-Doppler integration treatment; performing constant false alarm rate detection processing to detect a required target point cloud; and obtaining a stable target track through a Kalman filtering algorithm, so that the unmanned aerial vehicle can avoid the obstacle target independently. The method eliminates the noise interference of the environment, enhances the energy of the target, and has good detection performance on the dead tree target with weak reflection energy; the operation speed is high, and the real-time performance is high.
Description
Technical Field
The invention belongs to the technical field of radar target detection, and particularly relates to a dead tree target detection method based on range Doppler integration of obstacle avoidance radar.
Background
Along with the development of unmanned aerial vehicle technology, plant protection unmanned aerial vehicle also begins extensive popularization, and it possesses a great deal of advantages such as high-efficient, convenient, accurate, environmental protection, and generally takes small-size as the main part, easy operation, high-efficient convenient, is applicable to multiple topography and plot, has received the multiparty approval and the favor from government and peasant household in recent years. For operation safety plant protection unmanned aerial vehicle can mark and join in marriage and keep away the barrier radar, when unmanned aerial vehicle is less than safe distance from the barrier, in time make the action of avoiding such as brake, around flying. However, due to the complex plant protection environment, when the dead tree with sparse leaves is encountered, the obstacle avoidance radar is difficult to detect the target with weak reflected energy, and normal obstacle avoidance action cannot be completed, so that unnecessary loss is caused.
Disclosure of Invention
In view of the above, the invention provides a detection algorithm of the dead tree target distance Doppler integral based on the unmanned aerial vehicle obstacle avoidance radar, which enhances the energy of the dead tree target and reduces the interference of background noise by double integral of the distance and Doppler in the distance Doppler spectrum of the signal, and finally ensures that the obstacle avoidance radar has better detection performance on the dead tree target.
The invention discloses a dead tree target detection method based on obstacle avoidance radar distance Doppler integration, which comprises the following steps:
s1: acquiring original echo data formed by column vectors and AD sampling data serving as row vectors of radar signal emission times, and performing primary distance FFT processing to obtain distance dimension data;
s2: in order to obtain the speed information of the target, obtaining n rows and m columns of range Doppler spectrums after data Doppler FFT on each range dimension;
s3: setting a certain threshold value, traversing each grid in the range-Doppler spectrum, performing double integration operation if the energy value of the current grid meets the threshold value condition, further calculating the volume in the integrated area, otherwise, performing weighted calculation on the energy value of the grid, and finally obtaining the range-Doppler spectrum after the range-Doppler integration treatment;
s4: after the input noise is processed, a CFAR threshold is determined, constant false alarm rate detection processing is carried out, and a required target point cloud is detected;
s5: and (3) performing filtering tracking operation on the point cloud target detected by the CFAR in the step (S4) through a Kalman filtering algorithm to obtain a stable target track, and finally performing information interaction between the radar and the flight control to enable the unmanned aerial vehicle to automatically avoid the obstacle target.
Further, the range-doppler integration processing in the step S3 includes:
wherein A is a range-Doppler matrix, and the radar range
，tFor the echo delay time, c is the speed of light,f n is the firstnThe data of the respective doppler dimensions are obtained,r m is the firstmDistance dimension data;P(f n ，r m ) Is the firstnLine 1mA grid of columns; />
Velocity information of the target is obtained from the Doppler frequency, and radar Doppler data is expressed as:
the method comprises the steps of carrying out a first treatment on the surface of the Wherein, the liquid crystal display device comprises a liquid crystal display device,vis the relative speed of the target and the radar, +.>
Is radar wavelength;
then, the n multiplied by m range Doppler matrix is circularly traversed until
When grid, the range Doppler double integral formula is expressed as:
wherein, the liquid crystal display device comprises a liquid crystal display device,
is double integral number->
As an integrated function, the area element of each small region in the double integration formula is expressed as +.>
Dr is a distance resolution unit, df is a Doppler resolution unit;
selecting a suitable threshold
From the slavei=0，jStarting traversal with energy value P of current grid as judgment criterion, if +.>
The influence caused by the bottom noise is restrained by twice weighted average processing on Doppler and distance dimensions;
when each grid is traversed, a new radar range-doppler spectrum a' is obtained, which is expressed as:
P’(f n ，r m ) Is the grid of the nth row and mth column in the new radar range-doppler spectrum.
Further, when the integration region D is a circular region, the integration region D is expressed as:
fthe radar doppler frequency value, in Hz,f i for the radar doppler frequency value corresponding to the current traversal grid,rfor radar range values, in m,r i for the radar distance value corresponding to the current traversal grid, the distance Doppler double integral indicates that the curved surface of the distance Doppler energy value is the top and the radius is thelThe circle of (2) is the volume enclosed by the curved top column of the bottom surface.
Further, the integral region D is an elliptical region, and the expression thereof is:
fthe radar doppler frequency value, in Hz,f i for the radar doppler frequency value corresponding to the current traversal grid,rfor radar range values, in m,r i for the radar distance value corresponding to the current traversal grid, a is the length of an elliptic long half shaft, b is the length of an elliptic short half shaft, and the distance Doppler double integral represents the volume surrounded by a curved top cylinder with a curved surface of the distance Doppler energy value as the top and an ellipse as the bottom surface.
Further, the integration region D is a rectangular region, and its expression is:
wherein, the liquid crystal display device comprises a liquid crystal display device,fthe radar doppler frequency value, in Hz,f i for the radar doppler frequency value corresponding to the current traversal grid,rfor radar range values, in m,r i c, for the radar distance value corresponding to the current traversal grid 1 、d 1 Two end points, c of the long side of the rectangle 2 、d 2 The double integral of the range Doppler is the volume enclosed by a curved top cylinder with a curved surface of the range Doppler energy value as the top and a rectangular bottom.
Further, the method for calculating the specific weights by performing the twice weighted average processing in the doppler dimension and the range dimension is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
the noise floor energy weighting coefficient corresponding to the kth unit in the Doppler dimension; />
The base noise energy weighting coefficient corresponding to the h unit in the distance dimension is obtained; u is the number of grids weighted and averaged in the Doppler dimension;
g is the number of grids weighted in the distance dimension,f i andf i+k is the firstiAnd (b)i+kThe data of the respective doppler dimensions are obtained,r j andr j+h is the firstjAnd (b)j+hAnd (3) distance dimension data.
The beneficial effects of the invention are as follows:
1. the obstacle avoidance radar algorithm effectively eliminates the noise interference of the environment, can enhance the energy of the target, and has good detection performance on the dead tree target with weak reflection energy;
2. the method has high operation speed and high instantaneity, the range-Doppler spectrum is reconstructed by the integration method, and different integration areas such as circles, rectangles, ellipses and the like can be selected according to the radar in different scene types.
Drawings
FIG. 1 is a flow chart of the obstacle avoidance radar signal processing of the present invention;
figure 2 is a grid schematic of a range-doppler spectrum;
FIG. 3 raw range-Doppler spectrum;
figure 4 is the result of the range-doppler spectrum integration algorithm processing.
Detailed Description
The invention is further described below with reference to the accompanying drawings, without limiting the invention in any way, and any alterations or substitutions based on the teachings of the invention are intended to fall within the scope of the invention.
The invention relates to a detection algorithm of a dead tree target distance Doppler integral based on an unmanned aerial vehicle obstacle avoidance radar, which is used for judging whether an obstacle exists in front or not by transmitting sector millimeter wave electromagnetic waves through multiple receiving and multiple transmitting antennas, feeding back information such as relative distance, speed, azimuth angle and the like of the obstacle and the radar, so that the unmanned aerial vehicle can autonomously avoid the obstacle and keep a safe distance. The algorithm also carries out distance Doppler integral processing, thus not only greatly improving the energy of the target, but also inhibiting the influence of background noise, and being very effective for detecting the dead tree target with small reflection sectional area.
As shown in fig. 1, the algorithm comprises the following steps:
firstly, acquiring original echo data formed by column vectors and AD sampling data serving as row vectors of radar signals, and performing primary distance FFT processing to obtain distance dimension data;
secondly, obtaining n multiplied by m range Doppler spectrum after data Doppler FFT on each range dimension in order to obtain the speed information of the target;
thirdly, performing distance Doppler integral processing, namely setting a certain threshold value, traversing each grid in the distance Doppler spectrum, performing double integral operation if the energy value of the current grid meets the threshold value condition, further calculating the volume in the integral area, otherwise, performing weighting on the energy value of the grid, and finally obtaining the distance Doppler spectrum after the distance Doppler integral processing. The new range-Doppler spectrum amplifies the signal of the detected target while eliminating the ambient noise interference;
fourthly, determining a cfar threshold after processing the input noise, and detecting constant false alarm rate to detect a required target point cloud;
and fifthly, performing filtering tracking operation on the point cloud target detected by the cfar in the fourth step through a Kalman filtering algorithm to obtain a stable target track, and finally enabling the unmanned aerial vehicle to automatically avoid the obstacle target through radar and flight control information interaction.
Examples
The method comprises the following steps of:
the algorithm comprises the following steps:
in the first step, the distance FFT, the original echo data is composed of n column vectors of signal transmitting times and m row vectors of AD sampling data, and the AD sampling data on each transmitting signal is subjected to FFT operation to obtain the distance information of the target. At this time, the echo signal has n signal transmitting times and m distance dimension data;
in the second step, doppler FFT is to perform FFT transformation on data in each distance dimension to obtain n doppler dimension data as a column vector and m distance dimension data as a row vector, so as to obtain a distance doppler spectrum a of an n×m matrix, as shown in fig. 2.
The third step, the range-doppler integration process, is specifically as follows:
the range-doppler matrix a can be expressed as:
a is a range-Doppler matrix, radar range
，tFor the echo delay time, c is the speed of light,f n is the firstnThe data of the respective doppler dimensions are obtained,r m is the firstmDistance dimension data;P(f n ，r m ) Is the firstnLine 1mA grid of columns;
obtaining speed information of target from Doppler frequency, radarThe Doppler data is expressed as:
the method comprises the steps of carrying out a first treatment on the surface of the Wherein, the liquid crystal display device comprises a liquid crystal display device,vis the relative speed of the target and the radar, +.>
Is the radar wavelength.
Then, the n multiplied by m range Doppler matrix is circularly traversed until
When grid (i from i=0 to i=n, j from j=0 to j=m), its range-doppler double integral formula can be expressed as
Wherein, the liquid crystal display device comprises a liquid crystal display device,
is double integral number->
The area element of each small region in the double integration formula can be expressed as +.>
Dr is a distance resolution unit, df is a doppler resolution unit, and in the embodiment, the integration region D is a circular region and can be expressed as:
fthe radar doppler frequency value, in Hz,f i for the radar doppler frequency value corresponding to the current traversal grid,rfor radar range values, in m,r i and the radar distance value corresponding to the current traversal grid is obtained.
In this embodiment, the range-doppler double integral represents the volume enclosed by a curved top cylinder with a curved surface of the range-doppler energy value of the sense dimension as the top and a circle with a radius l as the bottom.
In other embodiments, different integration regions D are selected according to the radar in different scene types, such as elliptical regions, expressed as:
fthe radar doppler frequency value, in Hz,f i for the radar doppler frequency value corresponding to the current traversal grid,rfor radar range values, in m,r i for the radar range value corresponding to the current traversal grid,ais the length of the elliptic long half shaft,bis the length of the elliptic short half shaft.
In other embodiments, according to the radar, different integration areas D are selected in different scene types, and rectangular areas are taken, where the expression is:
wherein, the liquid crystal display device comprises a liquid crystal display device,fthe radar doppler frequency value, in Hz,f i for the radar doppler frequency value corresponding to the current traversal grid,rfor radar range values, in m,r i c, for the radar distance value corresponding to the current traversal grid 1 、d 1 Two end points, c of the long side of the rectangle 2 、d 2 Is the two end points of the short side of the rectangle. The distance Doppler double integral at this time represents the volume enclosed by a curved top cylinder with a curved surface of the significant dimension distance Doppler energy value as the top and an ellipse or rectangle as the bottom.
Selecting a suitable threshold
Traversing from i=0, j=0, taking the energy value P of the current grid as the judgment criterion, if +.>
Execution->
Otherwise->
，/>
Is a weighting coefficient for the noise floor energy.
When each grid is traversed, a new radar range-doppler spectrum a' is obtained, which can be expressed as:
fourthly, detecting the constant false alarm rate, determining a threshold after processing the input noise, and comparing the threshold with the input end signal, if the input end signal exceeds the threshold, judging that the target exists, otherwise, judging that the target does not exist;
and fifthly, tracking and detecting the target, and filtering the target tracking by utilizing a Kalman filtering algorithm according to the cloud information of the target point detected by the cfar to obtain a stable target track, so as to output the real-time distance between the unmanned aerial vehicle radar and the obstacle.
FIG. 3 is a raw range-Doppler spectrum; fig. 4 shows the result of the distance doppler spectrum integration algorithm, and as can be seen from fig. 4, the new distance doppler spectrum calculated by the doppler double integration effectively suppresses the influence of environmental clutter, enhances the signal energy of the detected target, and improves the detection accuracy of weak targets such as dead trees.
The beneficial effects of the invention are as follows:
1. the obstacle avoidance radar algorithm effectively eliminates the noise interference of the environment, can enhance the energy of the target, and has good detection performance on the dead tree target with weak reflection energy;
2. the method has high operation speed and high instantaneity, the range-Doppler spectrum is reconstructed by the integration method, and different integration areas such as circles, rectangles, ellipses and the like can be selected according to the radar in different scene types.
The word "preferred" is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as "preferred" is not necessarily to be construed as advantageous over other aspects or designs. Rather, use of the word "preferred" is intended to present concepts in a concrete fashion. The term "or" as used in this application is intended to mean an inclusive "or" rather than an exclusive "or". That is, unless specified otherwise or clear from the context, "X uses a or B" is intended to naturally include any of the permutations. That is, if X uses A; x is B; or X uses both A and B, then "X uses A or B" is satisfied in any of the foregoing examples.
Moreover, although the disclosure has been shown and described with respect to one or more implementations, equivalent alterations and modifications will occur to others skilled in the art based upon a reading and understanding of this specification and the annexed drawings. The present disclosure includes all such modifications and alterations and is limited only by the scope of the following claims. In particular regard to the various functions performed by the above described components (e.g., elements, etc.), the terms used to describe such components are intended to correspond, unless otherwise indicated, to any component which performs the specified function of the described component (e.g., that is functionally equivalent), even though not structurally equivalent to the disclosed structure which performs the function in the herein illustrated exemplary implementations of the disclosure. Furthermore, while a particular feature of the disclosure may have been disclosed with respect to only one of several implementations, such feature may be combined with one or other features of the other implementations as may be desired and advantageous for a given or particular application. Moreover, to the extent that the terms "includes," has, "" contains, "or variants thereof are used in either the detailed description or the claims, such terms are intended to be inclusive in a manner similar to the term" comprising.
The functional units in the embodiment of the invention can be integrated in one processing module, or each unit can exist alone physically, or a plurality of or more than one unit can be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. The above-mentioned devices or systems may perform the storage methods in the corresponding method embodiments.
In summary, the foregoing embodiment is an implementation of the present invention, but the implementation of the present invention is not limited to the embodiment, and any other changes, modifications, substitutions, combinations, and simplifications made by the spirit and principles of the present invention should be equivalent to the substitution manner, and all the changes, modifications, substitutions, combinations, and simplifications are included in the protection scope of the present invention.
Claims (6)
1. The dead tree target detection method based on the obstacle avoidance radar distance Doppler integration is characterized by comprising the following steps of:
s1: acquiring original echo data formed by column vectors and AD sampling data serving as row vectors of radar signal emission times, and performing primary distance FFT processing to obtain distance dimension data;
s2: in order to obtain the speed information of the target, obtaining n rows and m columns of range Doppler spectrums after data Doppler FFT on each range dimension;
s3: setting a certain threshold value, traversing each grid in the range-Doppler spectrum, performing double integration operation if the energy value of the current grid meets the threshold value condition, further calculating the volume in the integrated area, otherwise, performing weighted calculation on the energy value of the grid, and finally obtaining the range-Doppler spectrum after the range-Doppler integration treatment;
s4: after the input noise is processed, a CFAR threshold is determined, constant false alarm rate detection processing is carried out, and a required target point cloud is detected;
s5: and (3) performing filtering tracking operation on the point cloud target detected by the CFAR in the step (S4) through a Kalman filtering algorithm to obtain a stable target track, and finally performing information interaction between the radar and the flight control to enable the unmanned aerial vehicle to automatically avoid the obstacle target.
2. The method for detecting a dead tree target based on range-doppler integration of obstacle avoidance radar according to claim 1, wherein the range-doppler integration processing in step S3 comprises:
wherein A is a range-Doppler matrix, radar range r=c.t/2, t is echo delay time, c is light velocity, f n Is the nth Doppler data, r m Is the mth distance dimension data; p (f) n ，r m ) A grid of nth row and mth column;
velocity information of the target is obtained from the Doppler frequency, and radar Doppler data is expressed as:
f=2·v/λ, where v is the relative speed of the target and the radar and λ is the radar wavelength;
then, the n×m range-doppler matrix is circularly traversed, when traversing to P (f i ,R j ) When grid, the range Doppler double integral formula is expressed as:
P'(f i ,r j )＝∫∫ D P(f,r)dσ＝∫∫ D P(f,r)dfdr
wherein, the integral number of the < lambda > is double, P (f, r) is an integrated function, the area element of each small area in the double integral formula is expressed as dsigma=dfdr, dr is a distance resolution unit, df is a Doppler resolution unit, and D is an integral area;
selecting a suitable threshold value P 0 Traversing from i=0 and j=0, taking the energy value P of the current grid as a judgment criterion, if P is more than or equal to P 0 The influence caused by the bottom noise is restrained by twice weighted average processing on Doppler and distance dimensions;
when each grid is traversed, a new radar range-doppler spectrum a' is obtained, which is expressed as:
P’(f n ，r m ) Is the grid of the nth row and mth column in the new radar range-doppler spectrum.
3. The method for detecting a dead tree target based on range-doppler integration of obstacle avoidance radar according to claim 2, wherein when the integration region D is a circular region, the integration region D is expressed as:
D＝{(f,r)|(f-f i ) 2 +(r-r i ) 2 ≤l 2 }
f is the Doppler frequency value of the radar, the unit is Hz, f i For the radar Doppler frequency value corresponding to the current traversal grid, r is the radar distance value, and the unit is m, r i For the radar distance value corresponding to the current traversal grid, the distance Doppler double integral represents the volume surrounded by a curved top cylinder with a curved surface of the distance Doppler energy value as the top and a circle with a radius of l as the bottom.
4. The method for detecting a dead tree target based on range-doppler integration of obstacle avoidance radar according to claim 2, wherein the integration region D is an elliptical region, and the expression is:
f is the Doppler frequency value of the radar, the unit is Hz, f i For the radar Doppler frequency value corresponding to the current traversal grid, r is the radar distance value, and the unit is m, r i For the radar distance value corresponding to the current traversal grid, a is the length of an elliptic long half shaft, b is the length of an elliptic short half shaft, and the distance Doppler double integral represents the volume surrounded by a curved top cylinder with a curved surface of the distance Doppler energy value as the top and an ellipse as the bottom surface.
5. The method for detecting a dead tree target based on range-doppler integration of obstacle avoidance radar according to claim 2, wherein the integration region D is a rectangular region, and the expression is:
D＝{(f,r)|c 1 ≤(f-f i )≤d 1 ,c 2 ≤(r-r i )≤d 2 }；
wherein f is the Doppler frequency value of the radar, the unit is Hz, f i For the radar Doppler frequency value corresponding to the current traversal grid, r is the radar distance value, and the unit is m, r i C, for the radar distance value corresponding to the current traversal grid 1 、d 1 Two end points, c of the long side of the rectangle 2 、d 2 The double integral of the range Doppler is the volume enclosed by a curved top cylinder with a curved surface of the range Doppler energy value as the top and a rectangular bottom.
6. The method for detecting the dead tree target based on the range-doppler integration of the obstacle avoidance radar according to claim 2, wherein the twice weighted average processing in the doppler and range dimensions is performed by the following specific weighted calculation method:
wherein alpha (k) is a background noise energy weighting coefficient corresponding to the kth unit on the Doppler dimension; beta (h) is a background noise energy weighting coefficient corresponding to the h unit in the distance dimension; u is the number of grids weighted and averaged in the Doppler dimension; g is the number of grids weighted and averaged in the distance dimension, f i And f i+k Is the ith and the (i+k) th Doppler data, r j And r j+h Is the j-th and j+h-th distance dimension data.
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| US20190346548A1 (en) * | 2018-05-11 | 2019-11-14 | GM Global Technology Operations LLC | Filtering to address range walk effect in range-doppler map |
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