CN116482677A - Multi-radar cooperative control scanning scheduling method based on sea fog observation - Google Patents
Multi-radar cooperative control scanning scheduling method based on sea fog observation 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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/865—Combination of radar systems with lidar systems
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/95—Radar or analogous systems specially adapted for specific applications for meteorological use
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
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Abstract
The invention discloses a multi-radar cooperative control scanning scheduling method based on sea fog observation, which relates to the technical field of meteorological radars and comprises the following steps: step S1: calculating radar scanning parameters; step S2: calculating radar scanning time based on the radar scanning parameters; step S3: generating a radar collaborative scanning strategy according to radar scanning characteristics and radar scanning time; step S4: executing a collaborative scanning task according to a radar collaborative scanning strategy; step S5: generating a multi-source data fusion product based on a scanning result of the collaborative scanning task; according to the invention, millimeter wave radar and laser radar are integrated comprehensively, so that collaborative observation, time synchronization and data fusion are realized, and a multi-source data fusion product is obtained, which is a necessary condition for subsequent sea fog data identification and analysis.
Description
Technical Field
The invention relates to the technical field of meteorological radars, in particular to a multi-radar cooperative control scanning scheduling method based on sea fog observation, which is used for cooperatively scheduling millimeter waves and laser radars to periodically observe sea fog according to a certain scanning strategy.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The traditional large-fog observation which is carried out by taking an automatic weather station as a main means is limited by the aspects of geographical conditions, equipment performance and the like, cannot be laid on a large scale on the sea, has small sampling space of single-point observation equipment, has larger uncertainty for sea fog observation with wide distribution, large space difference and quick generation and elimination, and cannot accurately acquire the development process and the space structure of the whole sea fog.
Along with the development of the foundation remote sensing observation technology, the important application of the weather radar in the aspect of weather monitoring is referred, the millimeter wave radar and the laser radar are used for performing sea fog remote sensing observation successively, and the technical feasibility is verified. However, the millimeter wave radar observation sea fog has insufficient fixed intensity monitoring sensitivity, and the sea fog has serious attenuation to the laser radar and small observation range, so that the observation benefit is influenced. The millimeter wave radar has the problems of large observation range, insufficient sensitivity, high laser radar sensitivity and small observation range; meanwhile, due to different scanning time of the laser radar and the millimeter wave radar, the two have the problem of space-time mismatch during data fusion.
Therefore, how to integrate two devices comprehensively, realize collaborative observation, time synchronization and data fusion, and obtain a multi-source data fusion product is a necessary condition for subsequent sea fog data identification and analysis.
Disclosure of Invention
The invention aims at: aiming at the problems in the prior art, the multi-radar cooperative control scanning scheduling method based on sea fog observation is provided, the problem that time-space mismatch exists in data fusion caused by time asynchronism when the millimeter wave radar and the laser radar are used for sea fog observation is solved, and reliable data is provided for follow-up sea fog recognition and analysis algorithms.
The technical scheme of the invention is as follows:
a multi-radar cooperative control scanning scheduling method based on sea fog observation comprises the following steps:
step S1: calculating radar scanning parameters;
step S2: calculating radar scanning time based on the radar scanning parameters;
step S3: generating a radar collaborative scanning strategy according to radar scanning characteristics and radar scanning time;
step S4: executing a collaborative scanning task according to a radar collaborative scanning strategy;
step S5: and generating a multi-source data fusion product based on the scanning result of the collaborative scanning task.
Further, the radar includes: millimeter wave radar and lidar;
the millimeter wave radar includes the following scanning modes:
horizontal parsing mode, vertical parsing mode, fixed point scanning mode.
Further, the step S1 includes:
calculating scanning parameters of the millimeter wave radar in a horizontal analysis mode, a vertical analysis mode and a fixed-point scanning mode respectively;
and calculating scanning parameters of the laser radar.
Further, the scanning parameters of the millimeter wave radar include: horizontal angle range, pitch angle range, and scan speed;
the scanning parameters of the laser radar comprise: scan mode, horizontal angle range, scan interval angle, integration time.
Further, the step S2 includes:
based on scanning parameters of the millimeter wave radar in each mode, respectively calculating scanning time of the millimeter wave radar in each mode;
and calculating the scanning time of the laser radar based on the scanning parameters of the laser radar.
Further, step S3 includes:
step S31: calculating the total scanning time of the millimeter wave radar and generating a millimeter wave radar scanning strategy;
step S32: calculating the total scanning time of the laser radar and generating a laser radar scanning strategy;
step S33: performing time size synchronization, and updating a millimeter wave radar scanning strategy and a laser radar scanning strategy;
step S34: and generating a radar collaborative scanning strategy based on the updated millimeter wave radar scanning strategy and the updated laser radar scanning strategy.
Further, the step S31 includes:
in a vertical analysis mode, the millimeter wave radar at least needs to set n elevation angles with different heights, and generates a scanning scheduling task RPin corresponding to the elevation angles; wherein n is more than or equal to 2;
in a horizontal analysis mode, the millimeter wave radar at least needs m scanning schedules of different angles, and generates a scanning scheduling task RHIM corresponding to the angle; wherein m is more than or equal to 2;
generating a scanning scheduling task THI by the millimeter wave radar in a fixed-point scanning mode;
the total scan time of the millimeter wave radar is calculated by the following formula:
C_T=RPI_T×n+RHI_T×m+THI_T+SPARE1
wherein:
C_T is the total scanning time of the millimeter wave radar;
RPI_T is the scanning time of the millimeter wave radar in the vertical analysis mode;
rhi_t is the scan time of the millimeter wave radar in horizontal profiling mode;
THI_T is the scanning time of the millimeter wave radar in the fixed-point scanning mode;
SPARE1 is reserved for resetting the millimeter wave radar and analyzing a program;
generating a millimeter wave radar scanning strategy based on the scanning scheduling task RPin, the scanning scheduling task RHIM, the scanning scheduling task THI and the reserved time SPARE1;
the step S32 includes:
the total scan time of the lidar is calculated by the following formula:
L1=L_T+SPARE2
wherein:
l1 is the total scanning time of the laser radar;
L_T is the scanning time of the laser radar;
SPARE2 is reserved for laser radar reset and program analysis;
and generating a laser radar scanning strategy based on the total scanning time and the reserved time SPARE2 of the laser radar.
Further, the step S33 includes:
step S331: taking a laser radar as a reference, and calculating the total cooperative observation time in consideration of time alignment;
step S332: based on the updating principle, the millimeter wave radar scanning strategy and the laser radar scanning strategy are updated.
Further, the step S331 includes:
taking the larger value of C_Tand L1 as the initial collaborative observation total time T1 Initially, the method comprises ；
For initial collaborative observation total time T1 Initially, the method comprises Performing upward rounding on the y time length to obtain a total collaborative observation time T1, wherein the total collaborative observation time T1 is one period;
the updating rule in step S332 includes:
for laser radar: on the premise of fixed total cooperative observation time T1, adjusting reserved time SPARE2 to enable L1+SPARE2=T1;
for millimeter wave radar: on the premise of fixed collaborative observation total time T1, preferentially increasing the scanning times x of the millimeter wave radar in the vertical analysis mode, and if the increased residual time is smaller than RPI_T, increasing the residual time to THI_T to enable RPI_T× (n+x) +RHI_T×m+THI_T+ (T1-C_T-RPI_T×x) =T1.
Further, the step S5 includes:
fusing every two radial data generated by the millimeter wave radar in the vertical analysis mode with one radial data generated by the laser radar to obtain a two-source data fusion product in one period;
and merging the two-source data fusion product in one period, the file generated by the millimeter wave radar in the horizontal analysis mode and the file generated by the millimeter wave radar in the fixed-point scanning mode into a multi-source data fusion product.
Compared with the prior art, the invention has the beneficial effects that:
a multi-radar cooperative control scanning scheduling method based on sea fog observation comprises the following steps: step S1: calculating radar scanning parameters; step S2: calculating radar scanning time based on the radar scanning parameters; step S3: generating a radar collaborative scanning strategy according to radar scanning characteristics and radar scanning time; step S4: executing a collaborative scanning task according to a radar collaborative scanning strategy; step S5: generating a multi-source data fusion product based on a scanning result of the collaborative scanning task; the method integrates millimeter wave radar and laser radar comprehensively, realizes collaborative observation, time synchronization and data fusion, obtains a multi-source data fusion product, and is a necessary condition for subsequent sea fog data identification and analysis.
Drawings
FIG. 1 is a flow chart of a multi-radar cooperative control scanning scheduling method based on sea fog observation;
FIG. 2 is a schematic diagram of pitch angle of a millimeter wave radar in RPI scan mode;
FIG. 3 is a graph of maximum detection distance versus prf and scan speed;
FIG. 4 is a schematic diagram of a cooperative scanning strategy for a laser radar with an interval angle of 2℃and an integration time of 5 s;
fig. 5 is a schematic diagram of a cooperative scanning strategy when the laser radar is selected to have an interval angle of 2 degrees and an integration time of 9 s.
Detailed Description
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The features and capabilities of the present invention are described in further detail below in connection with examples.
Example 1
Referring to fig. 1, a multi-radar cooperative control scanning scheduling method based on sea fog observation includes:
step S1: calculating radar scanning parameters;
step S2: calculating radar scanning time based on the radar scanning parameters;
step S3: generating a radar collaborative scanning strategy according to radar scanning characteristics and radar scanning time;
step S4: executing a collaborative scanning task according to a radar collaborative scanning strategy; namely, according to a cooperative scanning strategy, a scanning command is sent to the millimeter wave radar and the laser radar, and a cooperative scanning task is executed;
step S5: and generating a multi-source data fusion product based on the scanning result of the collaborative scanning task.
In this embodiment, specifically, the radar includes: millimeter wave radar and lidar;
the millimeter wave radar includes the following scanning modes:
a horizontal parsing mode, a vertical parsing mode, and a fixed point scanning mode;
it should be noted that, because the method is used for measuring sea fog, the arrangement of the sea fog near the ground can certainly involve a land area, so the arrangement of the radar horizontal scanning angle should avoid the land area as much as possible, and the radar horizontal scanning angle is generally obtained by actual measurement according to the arrangement address of equipment, and the horizontal scanning start-stop angles are assumed to be AZ1 and AZ2 respectively;
in order to obtain the area, height, horizontal and vertical distribution conditions of a sea fog region, the millimeter wave radar needs to set a scanning mode to be a mode of combined identification of RPI (horizontal analysis mode) +RHI (vertical analysis mode) +THI (fixed point scanning mode), the area range of the fog region is obtained by scanning in the RPI scanning mode, the fog height and horizontal straight line distribution information is obtained by scanning in the RHI scanning mode, and the situation of vertical distribution when sea fog reaches the top end of the radar can be obtained by scanning in the THI scanning mode;
and because the laser radar scans for a long time, the laser radar does not participate in the observation of sea fog height and horizontal and vertical distribution information, and only needs scanning in the horizontal direction.
In this embodiment, specifically, the step S1 includes:
calculating scanning parameters of the millimeter wave radar in a horizontal analysis mode, a vertical analysis mode and a fixed-point scanning mode respectively; preferably, the scanning parameters of the millimeter wave radar include: horizontal angle range, pitch angle range, and scan speed;
calculating scanning parameters of the laser radar; preferably, the scanning parameters of the laser radar include: scan mode, horizontal angle range, scan interval angle, integration time.
In the present embodiment, the calculation of the angle of the millimeter wave radar in the RPI scan mode is specifically as follows:
the RPI scanning mode is a horizontal fan scanning mode;
the millimeter wave radar starts from a horizontal scanning initial angle AZ1 at a fixed elevation angle, and ends from a horizontal scanning cut-off angle AZ2 according to a certain scanning speed SPD1;
because the distribution range of the sea fog is wider, in order to acquire sea fog data to the maximum extent, the maximum detectable distance of the millimeter wave radar is required to be kept above 15-20 km;
according to sea fog characteristics and detection performance of the millimeter wave radar, a pitching angle range required by fan scanning of the millimeter wave radar in an RPI scanning mode can be calculated through a specific formula;
referring to fig. 2, it is assumed that according to the detection distance calculation of 20km, in order to enable the scanning angle to be observed in both the low fog area and the high fog area, the pitching angle range of the millimeter wave radar in the RPI scanning mode needs to be set to be 0.29-2 degrees, in order to prevent the beam width detection area of the millimeter wave radar from reaching the sea surface, the pitching angle range needs to be properly increased to be 0.7-2 degrees, and in order to facilitate the subsequent data fusion and recognition analysis, the integral angle between 0.7-2 degrees needs to be selected in comprehensive consideration;
the specific calculation formula is as follows:
wherein:
is the fog height;
the maximum detection distance of the radar;
the common sea fog is generally 100m to 700 m in height, the radar detection distance is 20km, the minimum pitching angle is 0.29 degrees, and the maximum pitching angle is 2 degrees after the radar detection distance is substituted into a formula;
in the present embodiment, the calculation of the angle of the millimeter wave radar in the RHI scanning mode is specifically as follows:
the millimeter wave radar has a blind area of 400m in the horizontal direction of the near end, so that the pitching angle is 0-60 degrees according to the detection distance calculation of 400m in order to obtain complete sea fog vertical analysis information;
the specific calculation formula is as follows:
wherein:
is of fog height>Is a radar near-end horizontal blind area;
the RHI scanning mode corresponds to azimuth angles, normally, a non-shielding open area is selected, 1 to a plurality of fixed values are set according to actual measurement of on-site layout radar, and two azimuth angles of 45 degrees and 120 degrees are selected to serve as horizontal scanning angles in the RHI scanning mode.
In the present embodiment, the calculation of the angle with respect to the millimeter wave radar in the THI scanning mode is specifically as follows:
in sea fog observation, in order to better confirm whether or not a millimeter wave radar observation target is sea fog, it is necessary to fixedly set the THI scanning mode to the vertical opposite direction, perform interval scanning for a certain period of time with the azimuth angle set to 0 ° and the pitch angle set to 90 °.
In the present embodiment, the calculation about the scanning speed of the millimeter wave radar in the RPI scanning mode is specifically as follows:
the millimeter wave radar dual-frequency processing can improve the detection range and meet the requirements for Doppler speed detection, so that the processing mode is dual-frequency (DPRF) processing;
assume that the dual frequency follows a 2:3 pattern (low repetition frequency: high repetition frequency), the detection distanceFor 20km calculation, the low pulse repetition frequency prf1 can be obtained according to the actual detection distance calculation formula:
here blind is the far-end pulse dead zone, and assuming that the pulse width is set as shown in fig. 3, blind=10.8 km is obtained, which is obtained according to the formula:
prf1=3246Hz
for ease of calculation, prf1 is rounded down by a multiple of 500, and the ratio of high-repetition prf2 to low-repetition prf1 is 3:2, finally obtaining:
prf1=3000Hz，prf2=4500Hz，maxr=22.5km
to satisfy the accumulation time sufficiency, the fixed FFT accumulation point number is 256 points, the spectrum is averaged 4 times, and according to the above empirical parameters, a single radial time formula:
the scan rate is:
the millimeter wave radar scan rate can only be a multiple of 0.5, so the final calculated scan rate needs to be aligned at 0.5 °/s, i.e. rounded down at 0.5:
wherein prf1 is low-repetition frequency, prf2 is high-repetition frequency, acc1 is low-repetition frequency FFT point number, acc2 is high-repetition frequency FFT point number, favgno is a coherent accumulation number, and ang is radial angle resolution;
similarly, the scan rate in the RHI scan mode may also be obtained according to the above formula, except that RPI scan mode ang is typically taken to be 1 °, and ang in the RHI scan mode is typically taken to be 0.15 °.
Therefore, assuming that the detection distance is 20km, the scanning rate in the RPI scanning mode is 1.5 DEG/s and the scanning rate in the RHI scanning mode is 0.5 DEG/s.
Scanning parameters of the millimeter wave radar in the respective scanning modes are as exemplified in table 1.
Table 1 table of scanning parameters of millimeter wave radar in each scanning mode
In this embodiment, the scan parameter calculation of the laser radar is specifically as follows:
different from millimeter wave radar, the laser radar scanning mode scans a fixed time according to each point position, then performs scanning of the next point position, wherein the fixed time is called integral time (INTE), and the angle of each point position interval is called scanning interval angle (SAZ);
for the purposes of shorter sea fog generation and disappearance time, the integration time of the laser radar should be as short as possible, and the longer the point position scanning time or the more the point number is, the more the sensitivity of fog detection can be improved, so that the integration time and the interval angle need a proper interval.
The general interval angle is 0.5-3 degrees, and the integration time is 3-15 s.
When the laser radar switches at each scanning point, a switching waiting time exists, and the time is generally 3s.
To sum up, a laser radar scan parameter is selected as shown in table 2:
table 2 scanning parameter table of lidar
In this embodiment, specifically, the step S2 includes:
based on scanning parameters of the millimeter wave radar in each mode, respectively calculating scanning time of the millimeter wave radar in each mode;
and calculating the scanning time of the laser radar based on the scanning parameters of the laser radar.
In the present embodiment, the scanning time with respect to the lidar is calculated as follows:
the laser radar scans, namely a starting azimuth angle (AZ 1), an ending azimuth angle (AZ 2), an integration time (INTE) and an interval angle (SAZ), and the number of scanning points DOT is obtained as follows:
DOT=(AZ2-AZ1)/SAZ)
the scanning time is as follows:
L_T=DOT*INTE+DOT*3
in the present embodiment, the scanning time with respect to the millimeter wave radar in each mode is calculated as follows:
under the RPI scanning mode, the millimeter wave radar can obtain the scanning time of a starting azimuth angle (AZ 1), an ending azimuth angle (AZ 2) and a scanning speed (SPD 1) as follows: rpi_t= (AZ 2-AZ 1)/SPD 1;
the millimeter wave radar RHI scanning mode, the initial elevation angle (EL 1), the end elevation angle (EL 2) and the scanning speed (SPD 2) can be obtained, and the scanning time is as follows:
RHI_T=(EL2-EL1)/SPD2
scanning time of millimeter wave radar in THI scanning mode:
THI_T>=4min
the THI_T needs to be reversely deduced according to the final total cycle time of the scanning strategy (namely the total cooperative observation time T1), but the scanning time of the THI is at least not less than 4min for the purpose of accurately identifying the sea fog subsequently.
In summary, millimeter wave radar and lidar scanning times are as exemplified in table 3.
TABLE 3 millimeter wave radar and lidar scanning timetable
In this embodiment, it should be specifically described that, since the process from appearance to disappearance of the sea fog is relatively short, a set of sea fog product data of full period is generated, the scanning process of the radar needs to be executed in the shortest time possible, and the single scanning time of the laser radar is much longer than the single scanning time of the millimeter wave radar, so that a suitable radar collaborative observation scanning strategy needs to be calculated and set with the laser radar as a reference; specifically, the step S3 includes:
step S31: calculating the total scanning time of the millimeter wave radar and generating a millimeter wave radar scanning strategy;
step S32: calculating the total scanning time of the laser radar and generating a laser radar scanning strategy;
step S33: performing time size synchronization, and updating a millimeter wave radar scanning strategy and a laser radar scanning strategy;
step S34: and generating a radar collaborative scanning strategy based on the updated millimeter wave radar scanning strategy and the updated laser radar scanning strategy.
In this embodiment, specifically, the step S31 includes:
in a vertical analysis mode, the millimeter wave radar at least needs to set n elevation angles with different heights, and generates a scanning scheduling task RPin corresponding to the elevation angles; wherein n is more than or equal to 2; preferably, the millimeter wave radar needs to set at least two elevation angles in RPI scan mode: low elevation and high elevation;
the low elevation angle can observe a larger sea area, and has the defect of being easily interfered by non-meteorological echoes such as ships, sea waves and the like near the sea surface; the high elevation angle can eliminate interference echo near the sea surface, but the observation area is partially lost; the data of the two elevation angles are fused and analyzed to obtain data with more observation areas and interference elimination; assuming that the low elevation scanning scheduling task is RPI1 and the high elevation scanning scheduling task is RPI2;
in a horizontal analysis mode, the millimeter wave radar at least needs m scanning schedules of different angles, and generates a scanning scheduling task RHIM corresponding to the angle; wherein m is more than or equal to 2; preferably, in the RHI scanning mode, at least two scanning schedules are required, assuming that the 120 ° scanning schedule task is RHI120 and the 45 ° scanning schedule task is RHI45;
generating a scanning scheduling task THI by the millimeter wave radar in a fixed-point scanning mode;
the millimeter wave radar scanning strategy task queue is: rpi1+rpi2+rhi45+rhi120+thi combinations;
the total scan time of the millimeter wave radar is calculated by the following formula:
C_T=RPI_T×n+RHI_T×m+THI_T+SPARE1
wherein:
C_T is the total scanning time of the millimeter wave radar;
RPI_T is the scanning time of the millimeter wave radar in the vertical analysis mode;
rhi_t is the scan time of the millimeter wave radar in horizontal profiling mode;
THI_T is the scanning time of the millimeter wave radar in the fixed-point scanning mode;
SPARE1 is reserved for resetting the millimeter wave radar and analyzing a program;
the method comprises the following steps: c_t=rpi_t×2+rhi_t×2+thi_t+spare1;
generating a millimeter wave radar scanning strategy based on the scanning scheduling task RPin, the scanning scheduling task RHIM, the scanning scheduling task THI and the reserved time SPARE1;
the step S32 includes:
the total scan time of the lidar is calculated by the following formula:
L1=L_T+SPARE2
wherein:
l1 is the total scanning time of the laser radar;
L_T is the scanning time of the laser radar;
SPARE2 is reserved for laser radar reset and program analysis;
generating a laser radar scanning strategy based on the total scanning time and the reserved time SPARE2 of the laser radar;
preferably, in this step, the SPARE1 and SPARE2 can be uniformly set for 2min;
that is, in the present embodiment, it is possible to obtain: l1=16.67 min, c_t=15 min.
In this embodiment, specifically, the step S33 includes:
step S331: taking a laser radar as a reference, and calculating the total cooperative observation time in consideration of time alignment; it should be noted that, considering that the laser radar scanning time is longer than the millimeter wave radar, the total cooperative observation time should be based on the laser radar;
step S332: based on the updating principle, the millimeter wave radar scanning strategy and the laser radar scanning strategy are updated.
In this embodiment, specifically, the step S331 includes:
taking the larger value of C_Tand L1 as the initial collaborative observation total time T1 Initially, the method comprises (i.e., replace the value of L1 with this value); in this embodiment, 16.67 is taken as the initial collaborative observation total time T1 Initially, the method comprises ；
For initial collaborative observation total time T1 Initially, the method comprises Performing upward rounding on the y time length to obtain a total collaborative observation time T1, wherein the total collaborative observation time T1 is one period; preferably, in this embodiment, a rounding up is done for 5 minutes; the final total co-observation time T1 is calculated as follows:
T1=ceil(T1 initially, the method comprises /5)+5
Wherein:
ceil () is a rounding function;
that is, in the present embodiment, t1=20 min;
the updating principle in step S332 is mainly based on that in order to prevent the millimeter wave radar from having too long idle time, the millimeter wave radar scanning strategy needs to be updated, the scanning time of the millimeter wave is synchronized with the laser radar as much as possible, and more sea fog information can be acquired in the RPI scanning mode, so that in one period, the RPI scanning needs to be executed as much as possible; specifically, the updating rule in step S332 includes:
for laser radar: on the premise of fixed total cooperative observation time T1, adjusting reserved time SPARE2 to enable L1+SPARE2=T1;
for millimeter wave radar: on the premise of fixed collaborative observation total time T1, preferentially increasing the scanning times x of the millimeter wave radar in the vertical analysis mode, and if the increased residual time is smaller than RPI_T, increasing the residual time to THI_T to enable RPI_T× (n+x) +RHI_T×m+THI_T+ (T1-C_T-RPI_T×x) =T1.
In THIs embodiment, i.e., (t1_c_t)/(rpi_t×2) =n, a new THI scan time can be obtained as follows:
THI_T new type =thi_t+ ((T1-c_t) -floor (N) ×rpi_t×2); floor () is a downward rounding function;
because in the present embodiment, n=1, i.e., x=2; it should be noted that, the millimeter wave radar scans in the vertical analysis mode in pairs, i.e. the millimeter wave radar scans back and forth 2 times in the vertical analysis mode in a complete scanning process;
finally, the new millimeter wave radar scanning time is obtained as follows: c1 =2×rpi_t×2+rhi_t×2+thi_t+spare=20 min;
the scanning strategy is as follows: (n+1) × (rpi1+rpi2) +rhi45+rhi120+thi;
in the scanning strategy, in order to observe the beginning and ending characteristics of sea fog in the whole period, the RPI scanning should exist as much as possible in the whole period, and if the RPI scanning is less, the RPI scanning should be located at the head and tail ends as much as possible.
In this embodiment, the laser radar is assumed to select an interval angle of 2 ° and an integration time of 5s, so that a collaborative scanning strategy in the next period can be generated as shown in fig. 4.
In this embodiment, assuming that the laser radar uses an interval angle of 2 ° and an integration time of 9s, a collaborative scanning strategy in the next period can be generated according to the above steps as shown in fig. 5.
In this embodiment, specifically, the step S5 includes:
fusing every two radial data generated by the millimeter wave radar in the vertical analysis mode with one radial data generated by the laser radar to obtain a two-source data fusion product in one period;
the method comprises the steps of merging a two-source data fusion product in one period, a file generated by a millimeter wave radar in a horizontal analysis mode and a file generated by the millimeter wave radar in a fixed-point scanning mode into a multi-source data fusion product;
the millimeter wave radar generates data according to RHI, RPI, THI scanning mode, and the data generated by the millimeter wave radar in RPI scanning mode is required to be fused with the data generated by the laser radar in one scanning;
assuming an RPI scan radial angle ang of 1 °, a lidar separation angle of 2 °, the final RPI data file has 220 radial and the lidar has 110 radial;
in this embodiment, the method adopted is: each two radial files of the RPI are fused with radial data of the laser radar;
fusing adjacent two radial RPI1 data:
U1={RPI1 11 ,RPI1 12 ,……,RPI1 1N ,RPI1 21 ,RPI1 22 ,……,RPI1 2N }
re-fusion RPI2 data:
U2={RPI2 11 ,RPI2 12 ,……,RPI2 1N ,RPI2 21 ,RPI2 22 ,……,RPI2 2N }
then fusing laser radar data to obtain radial fused data U= { U1, U2, D1} (D1 is corresponding radial data);
finally obtaining a two-source data fusion product with one period:
Orpi={U1,U2,U3,……,Ui}(i=1…110)
the fusion process is as follows:
table 4 data fusion process table
And finally, fusing all data in one period into a multi-source data fusion product:
O={Orpi,Orhi,Othi}
o is a multi-source data fusion product;
orhi and Othi are data generated by the millimeter wave radar in accordance with the RHI and THI scan modes.
The multi-source data fusion product can be used as an input file for a subsequent sea fog recognition and analysis algorithm.
The foregoing examples merely represent specific embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that, for those skilled in the art, several variations and modifications can be made without departing from the technical solution of the present application, which fall within the protection scope of the present application.
This background section is provided to generally present the context of the present invention and the work of the presently named inventors, to the extent it is described in this background section, as well as the description of the present section as not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present invention.
Claims (10)
1. A multi-radar cooperative control scanning scheduling method based on sea fog observation is characterized by comprising the following steps:
step S1: calculating radar scanning parameters;
step S2: calculating radar scanning time based on the radar scanning parameters;
step S3: generating a radar collaborative scanning strategy according to radar scanning characteristics and radar scanning time;
step S4: executing a collaborative scanning task according to a radar collaborative scanning strategy;
step S5: and generating a multi-source data fusion product based on the scanning result of the collaborative scanning task.
2. The sea fog observation-based multi-radar cooperative control scanning scheduling method according to claim 1, wherein the radar comprises: millimeter wave radar and lidar;
the millimeter wave radar includes the following scanning modes:
horizontal parsing mode, vertical parsing mode, fixed point scanning mode.
3. The method for multi-radar cooperative control scanning and scheduling based on sea fog observation according to claim 2, wherein the step S1 comprises:
calculating scanning parameters of the millimeter wave radar in a horizontal analysis mode, a vertical analysis mode and a fixed-point scanning mode respectively;
and calculating scanning parameters of the laser radar.
4. The sea fog observation-based multi-radar cooperative control scanning scheduling method according to claim 3, wherein the scanning parameters of the millimeter wave radar comprise: horizontal angle range, pitch angle range, and scan speed;
the scanning parameters of the laser radar comprise: scan mode, horizontal angle range, scan interval angle, integration time.
5. The method for multi-radar cooperative control scanning and scheduling based on sea fog observation according to claim 3, wherein the step S2 comprises:
based on scanning parameters of the millimeter wave radar in each mode, respectively calculating scanning time of the millimeter wave radar in each mode;
and calculating the scanning time of the laser radar based on the scanning parameters of the laser radar.
6. The method for multi-radar cooperative control scanning and scheduling based on sea fog observation according to claim 5, wherein step S3 comprises:
step S31: calculating the total scanning time of the millimeter wave radar and generating a millimeter wave radar scanning strategy;
step S32: calculating the total scanning time of the laser radar and generating a laser radar scanning strategy;
step S33: performing time size synchronization, and updating a millimeter wave radar scanning strategy and a laser radar scanning strategy;
step S34: and generating a radar collaborative scanning strategy based on the updated millimeter wave radar scanning strategy and the updated laser radar scanning strategy.
7. The method for multi-radar cooperative control scanning and scheduling based on sea fog observation according to claim 6, wherein the step S31 comprises:
in a vertical analysis mode, the millimeter wave radar at least needs to set n elevation angles with different heights, and generates a scanning scheduling task RPin corresponding to the elevation angles; wherein n is more than or equal to 2i, i is more than or equal to 1;
in a horizontal analysis mode, the millimeter wave radar at least needs m scanning schedules of different angles, and generates a scanning scheduling task RHIM corresponding to the angle; wherein m is greater than or equal to 2j, j is greater than or equal to 1;
generating a scanning scheduling task THI by the millimeter wave radar in a fixed-point scanning mode;
the total scan time of the millimeter wave radar is calculated by the following formula:
C_T=RPI_T×n+RHI_T×m+THI_T+SPARE1
wherein:
C_T is the total scanning time of the millimeter wave radar;
RPI_T is the scanning time of the millimeter wave radar in the vertical analysis mode;
rhi_t is the scan time of the millimeter wave radar in horizontal profiling mode;
THI_T is the scanning time of the millimeter wave radar in the fixed-point scanning mode;
SPARE1 is reserved for resetting the millimeter wave radar and analyzing a program;
generating a millimeter wave radar scanning strategy based on the scanning scheduling task RPin, the scanning scheduling task RHIM, the scanning scheduling task THI and the reserved time SPARE1;
the step S32 includes:
the total scan time of the lidar is calculated by the following formula:
L1=L_T+SPARE2
wherein:
l1 is the total scanning time of the laser radar;
L_T is the scanning time of the laser radar;
SPARE2 is reserved for laser radar reset and program analysis;
and generating a laser radar scanning strategy based on the total scanning time and the reserved time SPARE2 of the laser radar.
8. The method for multi-radar collaborative control scanning and scheduling based on sea fog observation according to claim 7, wherein the step S33 comprises:
step S331: taking a laser radar as a reference, and calculating the total cooperative observation time in consideration of time alignment;
step S332: based on the updating principle, the millimeter wave radar scanning strategy and the laser radar scanning strategy are updated.
9. The method for multi-radar cooperative control scanning and scheduling based on sea fog observation according to claim 8, wherein the step S331 comprises:
taking the larger value of C_Tand L1 as the initial collaborative observation total time T1 Initially, the method comprises ；
For initial collaborative observation total time T1 Initially, the method comprises Performing upward rounding on the y time length to obtain a total collaborative observation time T1, wherein the total collaborative observation time T1 is one period;
the updating rule in step S332 includes:
for laser radar: on the premise of fixed total cooperative observation time T1, adjusting reserved time SPARE2 to enable L1+SPARE2=T1;
for millimeter wave radar: on the premise of fixed collaborative observation total time T1, preferentially increasing the scanning times x of the millimeter wave radar in the vertical analysis mode, and if the increased residual time is smaller than RPI_T, increasing the residual time to THI_T to enable RPI_T× (n+x) +RHI_T×m+THI_T+ (T1-C_T-RPI_T×x) =T1.
10. The method for multi-radar cooperative control scanning and scheduling based on sea fog observation according to claim 9, wherein the step S5 comprises:
fusing every two radial data generated by the millimeter wave radar in the vertical analysis mode with one radial data generated by the laser radar to obtain a two-source data fusion product in one period;
and merging the two-source data fusion product in one period, the file generated by the millimeter wave radar in the horizontal analysis mode and the file generated by the millimeter wave radar in the fixed-point scanning mode into a multi-source data fusion product.
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