CN116027305A - Motion compensation method, device and system of unmanned aerial vehicle through-wall radar detection system - Google Patents
Motion compensation method, device and system of unmanned aerial vehicle through-wall radar detection system Download PDFInfo
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Abstract
The invention discloses a motion compensation method, a device and a system of an unmanned aerial vehicle-mounted through-wall radar detection system, wherein the unmanned aerial vehicle-mounted through-wall radar detection system comprises an unmanned aerial vehicle platform and a through-wall radar, the through-wall radar is carried on the unmanned aerial vehicle platform, and the motion compensation method comprises the following steps: acquiring radar echo data received by an unmanned aerial vehicle through-wall radar detection system, and acquiring the position of an immobilized structure in a detection environment according to the radar echo data; acquiring data point information corresponding to the position of the stationary structure; and calibrating the radar echo data of each frame by using the data point information corresponding to the position of the stationary structure obtained by the radar echo data of each frame. The method has the advantages of simple implementation method, low cost, high compensation efficiency and precision, capability of realizing an efficient and flexible through-wall radar detection system based on unmanned aerial vehicle clusters, and the like.
Description
Technical Field
The invention relates to the technical field of target detection, in particular to a motion compensation method, a motion compensation device and a motion compensation system of an unmanned aerial vehicle through-wall radar detection system.
Background
Wall-penetrating Radar (TWR) is a typical system for enabling detection of concealed objects within a non-transparent dielectric barrier, which is capable of penetrating a non-metallic wall and detecting, locating, tracking and imaging moving objects behind the wall. When the through-wall detection radar is used for target detection at present, besides the requirement of accurate target positioning, the target can be detected rapidly, particularly for detection of hidden targets in a non-transparent medium barrier in a large-range area, for example, detection of human bodies in a high-rise building, scanning and detection of the whole building can be realized rapidly, so that the hidden targets in the high-rise building can be detected rapidly, and the single through-wall radar equipment cannot meet the requirement.
The wall penetrating radar system has the characteristics of light and small size and low power consumption, is very suitable for being carried on a small or miniature unmanned aerial vehicle platform to form an unmanned aerial vehicle penetrating radar forming system, can realize rapid and flexible target detection, and particularly can effectively realize rapid detection of hidden target detection in a non-transparent medium barrier in a large area by adopting an unmanned aerial vehicle penetrating radar cluster detection mode, so as to obtain accurate target position information. However, the unmanned aerial vehicle platform is influenced by atmospheric disturbance, rotation of the unmanned aerial vehicle rotor wing and other factors, so that the position deviation and the posture of the radar echo phase center are unstable, namely a serious motion error usually exists, and therefore weak targets hidden behind a wall and the like are difficult to detect, and missed detection is easy to cause.
For motion error compensation of unmanned airborne radar, the following two modes are generally adopted in the prior art:
1. by means of accurate airborne navigation measurement equipment, compensation is achieved by acquiring high-precision airborne platform position information, but the method has the problems of complex implementation, large calculation amount, extremely high requirement on the airborne measurement equipment, poor long-time position accuracy, low compensation efficiency and the like, and the unmanned airborne wall-penetrating radar has extremely high requirement on real-time performance and needs to complete target detection in a short time, so that the compensation method is not suitable for an unmanned airborne wall-penetrating radar system.
2. Calibration is performed based on the known target point position to realize a compensation method, but the compensation method must depend on the information of the known target point, and for the unmanned airborne wall-penetrating radar, a usually unknown area needs to be detected, that is, the known compensation point cannot be determined in advance, and the method cannot meet the real-time detection requirement of the unmanned airborne wall-penetrating radar system, so that the method is still not suitable for the unmanned airborne wall-penetrating radar system.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides a motion compensation method and a motion compensation device for an unmanned aerial vehicle through-wall radar detection system, which have the advantages of simple implementation method, low cost and high compensation efficiency and precision, and the through-wall radar detection system based on unmanned aerial vehicle clusters, which has wide detection range and flexible and efficient detection mode, and can realize target detection rapidly and accurately without depending on the position information of an airborne platform or the information of known target points.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
the unmanned aerial vehicle-mounted through-wall radar detection system comprises an unmanned aerial vehicle platform and a through-wall radar, wherein the through-wall radar is carried on the unmanned aerial vehicle platform, and the method comprises the following steps of:
acquiring radar echo data received by the unmanned aerial vehicle through-wall radar detection system, and acquiring the position of a stationary structure in a detection environment according to the radar echo data;
acquiring data point information corresponding to the position of the stationary structure, wherein the data point information comprises amplitude and/or phase information;
and calibrating the radar echo data of each frame by using the data point information corresponding to the position of the stationary structure obtained by the radar echo data of each frame.
Further, when calibrating the radar echo data of each frame, if the radar echo data of each frame is the first frame, calibrating the data point information corresponding to the position of the stationary structure obtained by the radar echo data of the next frame by using the data point information corresponding to the position of the stationary structure obtained by the first frame, if the radar echo data of each frame is not the first frame, calibrating the data point information corresponding to the position of the stationary structure obtained by the radar echo data of the current frame by using the data after the last frame, and applying the calibration parameters obtained in the calibration process to all data points on the distance dimension of the corresponding frame to obtain data after each frame.
Further, the stationary structure is any one of a wall body, a glass window, a wood board shelter and an upright post.
Further, the method further comprises compensating the posture of the unmanned aerial vehicle by using data obtained by measuring the Inertial Measurement Unit (IMU) before acquiring the data point information corresponding to the position of the stationary structure.
Further, the acquiring the position of the stationary structure in the detection environment according to the radar echo data includes: and carrying out one-dimensional distance dimension pulse compression on the acquired radar echo data, and taking the data point which is closest to the data and has the strongest intensity in the data subjected to the distance dimension pulse compression as the position of the stationary structure.
A motion compensation apparatus for an unmanned on-board through-the-wall radar detection system, comprising:
the fixed structure position acquisition module is used for acquiring radar echo data received by the unmanned aerial vehicle through-wall radar detection system and acquiring the position of a fixed structure in a detection environment according to the radar echo data;
the system comprises an immobilized structure information acquisition module, a dynamic structure information acquisition module and a dynamic structure information acquisition module, wherein the immobilized structure information acquisition module is used for acquiring data point information corresponding to the position of an immobilized structure, and the data point information comprises amplitude and/or phase information;
and the calibration module is used for calibrating the radar echo data of each frame by using the data point information corresponding to the position of the stationary structure obtained by the radar echo data of each frame.
A motion compensation apparatus for an unmanned on-board through-the-wall radar detection system comprising a processor and a memory, the memory for storing a computer program, the processor for executing the computer program to perform a method as described above.
A through-wall radar detection system based on unmanned aerial vehicle clusters, comprising:
each unmanned aerial vehicle-mounted wall-penetrating radar detection system comprises an unmanned aerial vehicle platform and wall-penetrating radars, wherein the wall-penetrating radars are carried on the unmanned aerial vehicle platform, and the unmanned aerial vehicle-mounted wall-penetrating radar detection systems are in communication connection;
the control platform is respectively in communication connection with each unmanned aerial vehicle through-wall radar detection system and is used for sending control instructions to each unmanned aerial vehicle through-wall radar detection system and receiving feedback information of each unmanned aerial vehicle through-wall radar detection system;
the unmanned aerial vehicle through-wall radar detection system further comprises a motion error compensation device which is used for performing motion error compensation on each unmanned aerial vehicle through-wall radar detection system.
Furthermore, the unmanned aerial vehicle-mounted through-wall radar detection systems adopt the ad hoc network communication based on the ad hoc network protocol.
The detection method of the through-wall radar detection system based on the unmanned aerial vehicle cluster comprises the following steps:
each unmanned aerial vehicle-mounted through-the-wall radar detection system detects targets in a sub-area in the area to be detected respectively;
respectively acquiring target information detected by each unmanned aerial vehicle through-the-wall radar detection system;
and carrying out association fusion on the position information of each subarea and the corresponding detected target information to obtain detection results of each subarea in the to-be-detected area.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, the accurate estimation of the radar sight drift, the shake and other motion errors is realized by fully utilizing the motionless structural characteristic information obtained in the unmanned aerial vehicle through-wall radar detection, so that the motion errors are compensated, the effective suppression of the vibration and the drift of the unmanned aerial vehicle can be realized, the motion error compensation can be rapidly and accurately realized without depending on the position information of an airborne platform or the information of a known target point, the compensation complexity, the hardware cost and the like can be greatly reduced, the target detection efficiency and the accuracy of the unmanned aerial vehicle through-wall radar detection system can be effectively improved, the real-time requirement of the unmanned aerial vehicle through-wall radar detection can be well met, and meanwhile, the omission of weak targets hidden behind a wall and the like is avoided.
2. According to the invention, the through-wall radar detection system based on the unmanned aerial vehicle cluster is formed, the capability of rapid layer-by-layer scanning detection can be realized based on the multi-machine network, a large number of tasks which cannot be completed by the single machine system can be completed in a distributed manner, the complex tasks which are more effectively completed in a group manner can be brought into play, and the unmanned aerial vehicle cluster distributed system topological structure can enable the system to have no central weak point, even if part of platforms cannot work, the whole task capability of the cluster cannot be influenced, so that the system has high stability and low maintenance cost.
3. According to the invention, the unmanned aerial vehicle cluster wall-penetrating radar system can realize simultaneous scanning of a multi-story building and different buildings, can simultaneously acquire detection results of a plurality of floors or a plurality of designated areas, respectively acquire inner and outer structures of the building, and invert to form three-dimensional scanning images and target display, so that inversion and reconstruction of the inner and outer structures of the building and fusion display of targets in the whole building are realized.
Drawings
Fig. 1 is a schematic flow chart of an implementation of a motion compensation method of an unmanned aerial vehicle through-wall radar detection system according to embodiment 1 of the present invention.
Fig. 2 is a schematic flow chart of a specific implementation of motion error compensation for the echo data of the first two frames of radar in embodiment 1 of the present invention.
Fig. 3 is a schematic diagram of wall echo phase waveforms before and after motion compensation in embodiment 1 of the present invention.
Fig. 4 is a schematic structural diagram of a through-wall radar detection system based on unmanned clusters in embodiment 2 of the present invention.
Fig. 5 is a schematic diagram of a first communication mode between the unmanned airborne wall penetrating radar and the control platform in embodiment 2 of the present invention.
Fig. 6 is a schematic diagram of a second communication mode between the unmanned airborne wall penetrating radar and the control platform in embodiment 2 of the present invention.
Fig. 7 is a schematic diagram of a third communication mode between the unmanned airborne wall penetrating radar and the control platform in embodiment 2 of the present invention.
Fig. 8 is a schematic diagram of a target fusion display implementation flow for implementing high-rise building detection by using an unmanned aerial vehicle cluster through-wall radar detection system in embodiment 2 of the present invention.
Detailed Description
The invention is further described below in connection with the drawings and the specific preferred embodiments, but the scope of protection of the invention is not limited thereby.
Example 1:
the unmanned aerial vehicle carries through-wall radar detecting system of this embodiment includes unmanned aerial vehicle platform and through-wall radar, and through-wall radar carries on unmanned aerial vehicle platform. Taking the detection of the target in the high-rise building as an example, the wall penetrating radar can realize the wall penetrating detection capability of the high-rise building, and the target of the moving person in the building can be accurately and rapidly detected in a hovering mode; meanwhile, the through-wall radar can also fly around a designated room or floor, perspective imaging is carried out on the designated room or floor, and further the structural features and layout of the building are effectively extracted, so that two-dimensional images of the inner and outer structures of the high-rise building are formed. Meanwhile, the fact that the unmanned aerial vehicle platform is influenced by factors such as atmospheric disturbance and rotation of a rotor wing of the unmanned aerial vehicle can cause the position deviation of a radar echo phase center to bring motion errors is considered, and obstacles with motionless structures exist in front of the radar in a large-range area during detection, namely, the obstacles are relatively static, such as walls and the like, the accurate estimation of the motion errors such as radar sight drift and shaking is achieved by fully utilizing the motionless structural feature information obtained in the radar detection process, and further the motion errors are compensated, so that the effective suppression of the vibration and drift of the unmanned aerial vehicle is achieved, the motion error compensation can be achieved rapidly and accurately, the complexity and the hardware cost of compensation can be greatly reduced, the target detection precision of the unmanned aerial vehicle through-wall radar detection system is effectively improved, and the omission of weak targets hidden behind the walls and the like is avoided.
As shown in fig. 1, the steps of the motion compensation method of the unmanned aerial vehicle through-wall radar detection system of the embodiment include:
s01, radar echo data received by an unmanned aerial vehicle through-wall radar detection system are obtained, and the position of a stationary structure in a detection environment is obtained according to the radar echo data;
s02, acquiring data point information corresponding to the position of the stationary structure, wherein the data point information comprises amplitude and phase information;
s03, calibrating radar echo data of each frame by using data point information (amplitude and phase information) corresponding to the position of the stationary structure obtained by the radar echo data of each frame.
When the method is applied to target detection in a high-rise building, the wall body is of an immobilized structure during detection through the unmanned aerial vehicle through-wall radar detection system, so that in the detection process of the unmanned aerial vehicle through-wall radar detection system, the position of the wall body in a detection environment is determined after radar echo data are acquired, and further amplitude and phase information corresponding to the position of the wall body are extracted.
In step S01 of this embodiment, obtaining the position of the stationary structure in the detection environment according to the radar echo data includes: and carrying out one-dimensional distance dimension pulse compression on the acquired radar echo data, wherein the data point which is closest to the data and has the strongest intensity in the distance dimension pulse compressed data is used as the position of the stationary structure. For example, the wall is typically the nearest and strongest data point of radar returns for target detection in high-rise buildings. After one-dimensional distance dimension pulse compression is carried out on the obtained radar echo data, the data point which is closest to the wall and has the highest intensity is determined, and then the position of the stationary structure of the wall can be determined.
In step S02 of this embodiment, the method further includes compensating the attitude of the unmanned aerial vehicle by using data obtained by measuring the inertial navigation unit IMU before obtaining the data point information corresponding to the position of the stationary structure. The unmanned aerial vehicle is also provided with the inertial navigation unit IMU, the inertial navigation unit IMU carries out navigation positioning in the flight process of the unmanned aerial vehicle, the unmanned aerial vehicle is compensated by acquiring the data of the IMU, the vibration and drift of the unmanned aerial vehicle can be restrained, then the data point information corresponding to the position of the motionless structure is acquired for carrying out motion error compensation, and the motion error compensation such as radar sight line drift and shake can be accurately realized by combining the IMU equipment and radar echo data.
In step S03 of this embodiment, when calibrating radar echo data of each frame, if the radar echo data is first frame radar echo data, data point information corresponding to the position of an motionless structure obtained by using first frame radar echo data is calibrated, if the radar echo data is not first frame radar echo data, data point information corresponding to the position of the motionless structure obtained by using last frame radar echo data is calibrated, and calibration parameters obtained in the calibration process are applied to all data points on a distance dimension of a corresponding frame, so as to obtain data output after each frame calibration. If the radar echo data is the first frame of radar echo data, using the data point information corresponding to the position of the stationary structure obtained by the current frame of radar echo data to calibrate the data point information corresponding to the position of the stationary structure obtained by the next frame of radar echo data to obtain calibration parameters, applying the calibration parameters to all data points on the distance dimension of the current frame, and outputting second frame of calibrated data. And if the data is not the first frame radar echo data, using the data after the last frame calibration to calibrate the data point information corresponding to the position of the fixed structure obtained by the current frame radar echo data, obtaining calibration parameters, applying the calibration parameters to all data points on the current frame distance dimension, and outputting the data after the current frame calibration is completed.
The embodiment can realize motion error compensation by combining the information of the position of the motionless structure and an imaging algorithm model (such as a back projection BP algorithm, a distance Doppler RD algorithm and the like), so as to further improve the accuracy of the motion error compensation.
In the embodiment, the data point information of the stationary structure position corresponding to the current frame is calibrated by using the data after the calibration of the previous frame (if the data point information is the first frame, the data point information is the data point information of the acquired stationary structure position), the calibration parameters are obtained after the calibration of the stationary structure position is completed, and then the calibration parameters are expanded and applied to all data points on other distance dimensions, so that the data point information of the stationary structure position can be fully utilized to calibrate all data points of the radar echo.
Taking the motion error compensation of the first two frames of echo data obtained by the radar as an example, as shown in fig. 2, the specific flow is as follows:
and 1, performing one-dimensional pulse compression on the obtained 1 st frame radar echo data, and obtaining the position of the wall body from the nearest and strongest data point.
And 2, compensating the attitude of the unmanned aerial vehicle according to the data provided by the IMU to obtain the amplitude and phase information of the wall position data points.
And calibrating the data of the following 3 rd frame according to the data calibrated in the 2 nd frame, and so on until the calibration of all echo data is completed.
In a specific application embodiment, the front and rear results of the compensation for the wall target phase by the motion compensation method are shown in fig. 3, where (a) in fig. 3 corresponds to the wall target phase before the motion compensation, and (b) in fig. 3 corresponds to the wall target phase after the motion compensation, as can be obtained from fig. 3, by the motion compensation method of the present invention, the motion error compensation of the wall echo can be effectively implemented, so that the phase jitter of the wall is negligible.
In this embodiment, the data point information may be implemented by adopting one of the amplitude information and the phase information according to actual requirements, or may be more information types introduced to further improve the compensation performance.
It will be appreciated that the stationary structure described above may be other types of stationary structures other than walls, such as glazing, wooden panels, pillars, etc., as may be determined by the actual detection environment.
The motion compensation device of the unmanned aerial vehicle through-wall radar detection system of the embodiment comprises:
the system comprises an immobilized structure position acquisition module, a detection module and a detection module, wherein the immobilized structure position acquisition module is used for acquiring radar echo data received by an unmanned aerial vehicle through-wall radar detection system and acquiring the position of an immobilized structure in a detection environment according to the radar echo data;
the fixed structure information acquisition module is used for acquiring data point information corresponding to the position of the fixed structure, wherein the data point information comprises amplitude, phase information and the like;
and the calibration module is used for calibrating the radar echo data of each frame by using the data point information corresponding to the position of the stationary structure obtained by the radar echo data of each frame.
When the calibration module calibrates radar echo data of each frame, if the radar echo data is first frame radar echo data, data point information corresponding to the position of an motionless structure obtained by using first frame radar echo data is calibrated, if the radar echo data is not first frame radar echo data, data point information corresponding to the position of the motionless structure obtained by using last frame radar echo data is calibrated, and calibration parameters obtained in the calibration process are applied to all data points on a corresponding frame distance dimension to obtain data output after each frame of calibration.
The modules can be arranged separately or in an integrated mode, can be arranged on an unmanned aerial vehicle or at a remote data processing end, and can be specifically selected and configured according to actual requirements.
The motion compensation device of the unmanned aerial vehicle through-wall radar detection system in this embodiment corresponds to the motion compensation method of the unmanned aerial vehicle through-wall radar detection system in a one-to-one manner, and will not be described in detail here.
In another embodiment, the motion compensation device of the unmanned aerial vehicle through-wall radar detection system of the present invention may further be: comprising a processor for storing a computer program and a memory for executing the computer program for performing the method as described above.
Example 2:
as shown in fig. 4, the through-wall radar detection system based on the unmanned aerial vehicle cluster of the present embodiment includes:
each unmanned aerial vehicle-mounted through-wall radar detection system comprises an unmanned aerial vehicle platform and through-wall radars, wherein the through-wall radars are carried on the unmanned aerial vehicle platform, and the unmanned aerial vehicle-mounted through-wall radars are connected through network communication;
the control platform is respectively in communication connection with each unmanned aerial vehicle through-wall radar detection system and is used for sending control instructions to each unmanned aerial vehicle through-wall radar detection system and receiving feedback information of each unmanned aerial vehicle through-wall radar detection system;
the apparatus for compensating motion error as in embodiment 1 is further included for performing motion error compensation for each of the unmanned airborne wall-penetrating radar detection systems.
According to the embodiment, the unmanned aerial vehicle cluster is formed by the plurality of unmanned aerial vehicle mechanisms with the mutual communication capability, meanwhile, each unmanned aerial vehicle is provided with the through-wall radar equipment, the through-wall radar detection system based on the unmanned aerial vehicle cluster is formed, the through-wall radar in the unmanned aerial vehicle cluster is integrated with the functions of intelligent perception, autonomous decision, cooperative control and the like, the effective coverage area can be increased, the task execution time is saved, the efficiency and cost ratio are high, the use is flexible, the deployment is convenient and rapid, and the like. By using the wall penetrating radar detection system based on the unmanned aerial vehicle cluster, the capability of quick layer-by-layer scanning detection can be realized based on the multi-machine networking, a large number of tasks which cannot be completed by a single machine system can be completed in a distributed mode, the complex tasks which can be completed more effectively by the advantages of a group mode are brought into play, and the system has no central weak point due to the distributed system topology structure of the unmanned aerial vehicle cluster, so that the whole task capability of the cluster is not influenced even if part of platforms cannot work, and the system has high stability and low maintenance cost. Meanwhile, when each unmanned aerial vehicle-mounted through-wall radar detection system works, the motion error compensation device performs motion compensation on radar echo data, so that the position deviation of the radar echo phase center of the unmanned aerial vehicle platform due to the influence of factors such as atmospheric disturbance and rotation of a rotor wing of the unmanned aerial vehicle is eliminated, the detection precision of the single unmanned aerial vehicle-mounted through-wall radar detection system can be improved, and the precision of the whole detection result of the whole system is further ensured.
The structure of building can cause very big influence to unmanned aerial vehicle's communication, simultaneously because unmanned aerial vehicle quick movement's characteristics lead to whole network topology structure to change violently, adopt the ad hoc network protocol network to communicate between the unmanned aerial vehicle platform of this embodiment for possess ad hoc network communication function, the network adopts the ad hoc self-healing, need not central node and can realize distributed routing protocol, can provide more reliable and more robust communication system, reinforcing relay and MESH performance, realize the hopping function of multiple spot communication, accurate synchronous communication path, thereby realize the target of ultralow time delay and ultra-low power consumption. As shown in fig. 5 to 7, the unmanned aerial vehicle through-wall radars can be independently communicated with the control platform, and the unmanned aerial vehicle through-wall radars can also be mutually communicated to form a star-shaped or net-shaped communication system, wherein fig. 5 corresponds to the unmanned aerial vehicle through-wall radars respectively in communication connection with the control center, fig. 6 corresponds to the unmanned aerial vehicle through-wall radars connected with the control center through a central unmanned aerial vehicle through-wall radar, and fig. 7 corresponds to the unmanned aerial vehicle through-wall radars which are connected with the control center after forming the net-shaped communication system.
Because radar signals and communication signals have different signal characteristics and different frequency bands, different sensitivities, different airspace scanning modes, different modulation modes and different bandwidths, the integrated design of the unmanned aerial vehicle through-wall radar detection system is realized, and mutual interference between ad hoc network communication and radar is further avoided, so that the requirement of internal electromagnetic compatibility is met.
The wall-penetrating radar detection system based on the unmanned aerial vehicle cluster further comprises an ad hoc network communication system, and all the unmanned aerial vehicle-penetrating radar detection systems are connected through the ad hoc network communication; the unmanned aerial vehicle cluster through-wall radar detection system further comprises mobile storage and transportation equipment for achieving storage and transportation of the unmanned aerial vehicle cluster through-wall radar detection system, and meanwhile a control platform can be deployed in the mobile storage and transportation equipment. The unmanned plane platform is provided with an environment sensing system, can automatically avoid obstacles and fly, and can realize regional detection and reconnaissance according to the path planning or remote control instructions of the control platform. The through-wall radar can realize the out-of-wall penetration detection capability of the high storey of the building, and can accurately and rapidly detect the moving personnel targets in the building in a hovering mode; meanwhile, the through-wall radar can fly around a target room or floor, perspective imaging is carried out in a building, and structural features and layout of the building are effectively extracted to form a two-dimensional image of the inner and outer structures of the building.
In a specific application embodiment, the mobile storage and transportation equipment adopts a storage and transportation integrated vehicle, and the control of the unmanned aerial vehicle cluster and the display of the cluster through-wall radar detection result are realized through a control platform. Before reconnaissance is carried out on a specific area, a flight path is automatically calculated according to parameters such as four-corner coordinates of the area, flight height, load coverage angle and detection overlapping rate, then the unmanned aerial vehicle is controlled to fly according to the path and automatically avoid the obstacle, and the complete detection result of the area based on the through-wall radar can be obtained based on multi-machine cooperation of the unmanned aerial vehicle platform, so that reconnaissance efficiency and quality are improved to the maximum extent.
Taking an example of applying the unmanned aerial vehicle cluster through-wall radar system to a certain multi-story building and different buildings in an urban environment for simultaneous scanning, detection results of a plurality of floors or a plurality of designated areas can be obtained simultaneously through each unmanned aerial vehicle through-wall radar detection system, the internal and external structures of the building are respectively obtained, and three-dimensional scanning images and target display are formed in an inversion mode.
The detection method of the through-wall radar detection system based on the unmanned aerial vehicle cluster comprises the following steps:
each unmanned aerial vehicle-mounted through-the-wall radar detection system detects targets in a sub-area in the to-be-detected area respectively;
respectively acquiring target information detected by each unmanned aerial vehicle through-wall radar detection system;
and carrying out association fusion on the position information of each subarea and the corresponding detected target information to obtain detection results of each subarea in the to-be-detected area.
Taking detection for realizing a high-rise building as an example, as shown in fig. 8, firstly, acquiring an internal structure and GPS coordinates of a certain layer of the building detected by a single unmanned airborne wall-penetrating radar system (detection systems 1-N), acquiring detected human body target GPS coordinates, eliminating false and repeated targets, and fusing the detected building structure GPS and the human body target GPS to obtain fusion reality of a single-layer building; and then, carrying out fusion processing on the structural images of each layer of building obtained by the unmanned aerial vehicle group to obtain the internal and external structures of the whole building, finally, carrying out fusion display on the human body target and the building structure, and outputting the fusion display to the comprehensive command platform to provide next walking advice for the command control platform. Through the steps, the fusion display of the building structure and the target can be performed based on the regional target information and the building structure information which are rapidly acquired by the unmanned aerial vehicle group.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.
Claims (10)
1. The method for compensating the motion of the unmanned aerial vehicle-mounted through-wall radar detection system comprises an unmanned aerial vehicle platform and a through-wall radar, wherein the through-wall radar is carried on the unmanned aerial vehicle platform, and the method is characterized by comprising the following steps of:
acquiring radar echo data received by the unmanned aerial vehicle through-wall radar detection system, and acquiring the position of a stationary structure in a detection environment according to the radar echo data;
acquiring data point information corresponding to the position of the stationary structure, wherein the data point information comprises amplitude and/or phase information;
and calibrating the radar echo data of each frame by using the data point information corresponding to the position of the stationary structure obtained by the radar echo data of each frame.
2. The method for motion compensation of an unmanned aerial vehicle through-the-wall radar detection system according to claim 1, wherein when the radar echo data of each frame is calibrated, if the radar echo data of each frame is the first frame of radar echo data, data point information corresponding to the position of the stationary structure obtained by using the first frame of radar echo data is calibrated, if the data point information corresponding to the position of the stationary structure obtained by using the next frame of radar echo data is not the first frame of radar echo data, data point information corresponding to the position of the stationary structure obtained by using the last frame of calibrated data is calibrated, and calibration parameters obtained in the calibration process are applied to all data points on a corresponding frame distance dimension to obtain calibrated data of each frame.
3. The method of motion compensation for an unmanned airborne wall penetrating radar detection system of claim 1, wherein the stationary structure is any one of a wall, a glass window, a wood panel shelter, and a column.
4. The motion compensation method of the unmanned aerial vehicle through-wall radar detection system according to any one of claims 1 to 3, wherein the method further comprises compensating the attitude of the unmanned aerial vehicle by using data measured by an inertial measurement unit IMU before acquiring the data point information corresponding to the position of the stationary structure.
5. A method of motion compensation for an unmanned airborne wall-penetrating radar detection system according to any one of claims 1 to 3, wherein said obtaining the position of the stationary structure in the detection environment from said radar echo data comprises: and carrying out one-dimensional distance dimension pulse compression on the acquired radar echo data, and selecting the data point which is closest to the radar echo data and has the strongest intensity from the data subjected to the distance dimension pulse compression as the position of the stationary structure.
6. A motion compensation apparatus for an unmanned on-board through-the-wall radar detection system, comprising:
the fixed structure position acquisition module is used for acquiring radar echo data received by the unmanned aerial vehicle through-wall radar detection system and acquiring the position of a fixed structure in a detection environment according to the radar echo data;
the system comprises an immobilized structure information acquisition module, a dynamic structure information acquisition module and a dynamic structure information acquisition module, wherein the immobilized structure information acquisition module is used for acquiring data point information corresponding to the position of an immobilized structure, and the data point information comprises amplitude and/or phase information;
and the calibration module is used for calibrating the radar echo data of each frame by using the data point information corresponding to the position of the stationary structure obtained by the radar echo data of each frame.
7. A motion compensation apparatus for an unmanned on-board through-the-wall radar detection system, comprising a processor and a memory for storing a computer program, wherein the processor is configured to execute the computer program to perform the method of any one of claims 1 to 5.
8. Wall-penetrating radar detection system based on unmanned aerial vehicle cluster, characterized by comprising:
each unmanned aerial vehicle-mounted wall-penetrating radar detection system comprises an unmanned aerial vehicle platform and wall-penetrating radars, wherein the wall-penetrating radars are carried on the unmanned aerial vehicle platform, and the unmanned aerial vehicle-mounted wall-penetrating radar detection systems are in communication connection;
the control platform is respectively in communication connection with each unmanned aerial vehicle through-wall radar detection system and is used for sending control instructions to each unmanned aerial vehicle through-wall radar detection system and receiving feedback information of each unmanned aerial vehicle through-wall radar detection system;
a motion error compensation apparatus according to claim 6 or 7 for motion error compensation of each of said unmanned on-board through-the-wall radar detection systems.
9. The unmanned aerial vehicle cluster-based wall-penetrating radar detection system of claim 8, wherein an ad hoc network communication based on an ad hoc network protocol is adopted between each unmanned aerial vehicle-penetrating radar detection system.
10. A detection method using the unmanned cluster-based through-wall radar detection system according to claim 8 or 9, characterized in that the steps include:
each unmanned aerial vehicle-mounted through-the-wall radar detection system detects targets in a sub-area in the area to be detected respectively;
respectively acquiring target information detected by each unmanned aerial vehicle through-the-wall radar detection system;
and carrying out association fusion on the position information of each subarea and the corresponding detected target information to obtain detection results of each subarea in the to-be-detected area.
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| CN116929350B (en) * | 2023-08-23 | 2023-11-21 | 南京理工大学 | Rapid temporary reconstruction collaborative navigation system and method based on data link ranging |
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