CN209525454U - 77G unmanned plane avoidance radar - Google Patents
77G unmanned plane avoidance radar Download PDFInfo
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- CN209525454U CN209525454U CN201920052354.9U CN201920052354U CN209525454U CN 209525454 U CN209525454 U CN 209525454U CN 201920052354 U CN201920052354 U CN 201920052354U CN 209525454 U CN209525454 U CN 209525454U
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Abstract
The utility model provides 77G unmanned plane avoidance radar, radar antenna array, ADC sampling module, dsp processor, master chip, communication interface modules are designed on pcb board, 50 cm*50 cm of pcb board size, radar antenna array receive Antenna Design using 2 hairs 4, and antenna gain is greater than 20 dBm；Radar radio-frequency front-end is connected by communication interface modules with host computer, allow to configure parameter, the parameter configuration includes configuration initial frequency, bandwidth, ADC frequency acquisition, and transmitting meets different distance precision, distance resolution, velocity resolution and the electromagnetic wave of angle-resolved requirement；It after the reflection of electromagnetic wave of transmitting, is received by 4 antennas, data is acquired by ADC, carry out data processing into dsp processor, relevant information is transferred to master chip and carries out decision-making treatment, transmits out finally by CAN or serial communication.
Description
Technical field
The invention belongs to unmanned plane avoidance technical field more particularly to radar avoidance, specifically a kind of 77G unmanned plane avoidance
Radar.
Background technique
Unmanned plane automatic obstacle-avoiding system can avoid the barrier in flight path in time, greatly reduce because of operation
It makes mistakes and the loss of bring items.Radar work is not influenced by ambient light, and night can also work normally, and radar avoidance is because of work
Make the advantage of principle, more general vision avoidance has higher adaptability and safety.
77G millimetre-wave radar key technology is monopolized by external company at present, and production domesticization is nearly at space state, state
Interior existing unmanned plane radar is mainly 24G radar, since 24G frequency radar bandwidth is too small, its distance and velocity resolution
It is not high, cause this frequency radar that can not identify the object of remote minor diameter, can not reach good on avoiding barrier
The bandwidth of effect, 24G radar can only accomplish 0.5-1GHz；The bandwidth b of 77G unmanned plane avoidance radar is 4GHz.Distance resolution
Calculation formula are as follows: r=c/2b, wherein c be the light velocity, b is bandwidth, by this formula it is understood that the bigger distance resolution of bandwidth
Higher, also only 77G unmanned plane avoidance radar can just play barrier avoiding function.
In the application of unmanned plane avoidance, to accomplish in complex environment, measure the barrier nearest from unmanned plane, realize
Difficulty is big, needs to curb the interference of other clutters, in addition to measure the information of the same barrier in real time, finally can be most
The object that 0.045 meter of minor diameter, which is measured, to be come.
Summary of the invention
Aiming at the problem that background technique proposes, it is an object of the present invention to provide a kind of 77G unmanned plane avoidance radars, realize
In complex environment, the barrier nearest from unmanned plane is measured, distinguish 0.045 meter of two articles of minimum spacing in real time and is measured relevant
The information of barrier.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of 77G unmanned plane avoidance radar, comprising: radar antenna array, radar radio-frequency front-end, ADC sampling module, DSP
Processor, ARM master chip, communication interface modules；The radar antenna array is connect with radar radio-frequency front-end, the radar radio frequency
Front end is connect with ADC sampling module, and the ADC sampling module is connect with dsp processor, handle after the ADC sampling module sampling
Data are exported to dsp processor, and the dsp processor is connect and two-way communication with ARM master chip, the ARM master chip and logical
Believe interface module connection and two-way communication；
Wherein: radar antenna array receives Antenna Design using 2 hairs 4, and antenna gain is greater than 20 dBm；Radar radio-frequency front-end is logical
It crosses communication interface modules to be connected with host computer, host computer is allowed to configure parameter, transmitting meets different distance precision, distance
The electromagnetic wave of resolution ratio, velocity resolution and angle-resolved requirement；After the reflection of electromagnetic wave of 2 transmitting antennas transmitting, by 4
Receiving antenna is received, and acquires data by ADC, carries out data processing into dsp processor, relevant information is transferred to ARM
Master chip carries out decision-making treatment, and the information of radar detection to barrier includes orientation, speed, distance, according to demand, finally by
The information of needs is transferred to host computer by communication interface modules (CAN or serial communication).
Further, the 77G unmanned plane avoidance radar, the dsp processor carry out data processing, comprising: successively adopt
With distance dimension FFT, speed dimension FFT, the estimation of CFAR detection CFAR, DOA azimuth, track algorithm；
The first step first does distance dimension FFT operation, in the echo of radar, samples 256 points, and corresponding bandwidth is 4GHz,
Assuming that sampled point is, pass through FFT transformN number of distance unit is obtained, is then existed
Transformation resultsIn the position of maximum point is found in N number of distance unit, can be estimated by the position
The distance of barrier；
Second step does speed dimension FFT operation, finishes distance dimension FFT for the first step and obtains N number of distance dimension unit, passes through
The FFT transform of speed dimension, N number of doppler cells are obtained, then in transformation resultsIn
The position for finding maximum point, the speed of barrier can be estimated by the position；
Third step is CFAR detection CFAR, and CFAR detection CFAR is exactly the threshold that a backward energy is arranged, filtering
Clutter obtains N number of target data；
4th step, then do azimuth dimension FFT operation, i.e., the azimuth DOA is estimated, for what is obtained after third step CFAR detection
N number of target, passes through FFT transform, then in transformation resultsMiddle searching maximum
The position of point, the azimuth of barrier can be estimated by the position；
Track algorithm is done in final step, realizes tracking, if unmanned plane speed is V, the one frame data time of reception is T, nobody
Machine is S with a distance from barrier, and distance next time is S1, it is possible to which the distance prejudged next time is S1=S-V*T；
Tie up FFT by above-mentioned distance, speed ties up FFT, azimuth dimension FFT and tracking anticipation algorithm learn barrier away from
From, the position that occurs of speed, orientation and barrier next time, can be measured in complex environment in this way the barrier of needs away from
From, speed, azimuth information, can also track the distance that occurs next time to barrier of anticipation, the lasting target for measuring needs.
Further, the 77G unmanned plane avoidance radar, the host computer configure parameter, comprising: configuration starting
Frequency, bandwidth, ADC frequency acquisition.
Further, the 77G unmanned plane avoidance radar, in 76G-77G, 77G-81G band operation, maximum bandwidth 4G,
Minimum range resolution ratio 0.045m, maximum equivalent isotropically radiated power ERIP are 22dbm, and horizontal beam is ± 60 °, vertical ±
15 °, maximum validity test distance can distinguish the two articles of minimum spacing 0.045m and measure, range accuracy is up to 120m
0.09m, power consumption < 2.5W.
Further, the 77G unmanned plane avoidance radar, the radar antenna array, radar radio-frequency front-end, ADC sampling
Module, dsp processor, ARM master chip, communication interface modules are arranged on one piece of pcb board, the 50 cm * 50 of pcb board size
cm。
Further, the 77G unmanned plane avoidance radar, at radar sealing install a waterproof material water proof ring into
Row waterproof, waterproofing grade IP67.
Further, the 77G unmanned plane avoidance radar, communication interface modules include serial communication and CAN communication, are led to
It crosses serial communication and CAN communication is connect with host computer, realize online upgrading function.
Further, the installation method of the 77G unmanned plane avoidance radar, the 77G unmanned plane avoidance radar are mounted on
Immediately ahead of unmanned plane, installation site: there cannot be any shelter in radar horizon ± 60 °, vertical ± 15 ° of beam areas；Installation
Direction: being arranged radiating groove on the 77G unmanned plane avoidance radar outer casing base, the dual-mode antenna of the radar is located at pedestal heat dissipation
(position that the radar antenna array of the i.e. described 77G unmanned plane avoidance radar is located at pcb board corresponds to the position of pedestal radiating groove at slot
Set), top is arranged grey antenna house and protects the dual-mode antenna, and when installation, radiating groove is upward, grey antenna house installs outwardly；
Setting angle: the antenna surface of radar installation is directed toward immediately ahead of unmanned plane, vertical-horizontal installation, when radar is equipped with angle tilt
When, it will cause main lobe beam deviation, influence radar effect, so angular error is less than ± 3 °.
Further, the working method of the 77G unmanned plane avoidance radar, the 77G unmanned plane avoidance radar use 2
Antenna is emitted, and is adjusted the distance precision, distance resolution, velocity resolution and angle-resolved requirement according to radar, is carried out
Radar front end parameter configuration, after the electromagnetic wave of transmitting encounters barrier reflection, 4 receiving antennas receive electromagnetic wave respectively, and ADC is adopted
Collection data are sent to dsp processor processing, and the dsp processor carries out data processing；
The data processing successively includes: using distance dimension FFT, speed dimension FFT, CFAR detection CFAR, DOA azimuth
Estimation, track algorithm, the first step sample 256 points, corresponding bandwidth is 4GHz, in this 256 points in the echo of radar
In, distance dimension FFT operation is first done, point of maximum intensity is calculated, the distance of barrier is estimated；Second step ties up FFT pairs by speed
The distance dimension unit for the target that the first step is found out is accumulated, and the speed of barrier is estimated；Third step does CFAR detection
CFAR, CFAR detection CFAR are exactly the threshold that a backward energy is arranged, and filter clutter, obtain N number of target data；4th
Step, the azimuth DOA estimation, for the N number of target obtained after third step CFAR detection, does azimuth dimension FFT operation, estimates barrier
The azimuth for hindering object finds out the orientation of detection target；Final step does track algorithm and realizes tracking, if unmanned plane speed is V,
Receiving the frame data time is T, and unmanned plane is S with a distance from barrier, and distance next time is S1, it is possible to be prejudged next
Secondary distance is S1=S-V*T；Obtain the speed, distance, angle, echo-peak, location information of barrier；
Lasting detection, tracking target, are transferred to master chip for relevant information and carry out decision-making treatment, finally by CAN or
Serial communication transmits out.
The beneficial effect comprise that achieving the effect that a filtering clutter by CFAR detection CFAR；Unmanned plane
In flight course, can detect outside maximum 120 meters of front barrier relevant information (position of barrier, the speed of barrier,
The echo-peak of barrier)；And the object of two articles minimum spacing 0.045m can be distinguished and them can be measured, when unmanned plane avoidance
After detections of radar to barrier, by track algorithm tenacious tracking, it will not lose；Radar pcb board size 50cm*50cm, volume
Small, radar plate weight 100g, weight is light, is easily installed；Installation method is simple；Pass through the upper computer software of independent development, weight
Newly downloaded firmware realizes online upgrading, simple and convenient, facilitates product renewing iteration.
Detailed description of the invention
A kind of structural schematic diagram of 77G unmanned plane avoidance radar of Fig. 1；
A kind of 1 workflow schematic diagram of 77G unmanned plane avoidance radar embodiment of Fig. 2.
Specific embodiment
With reference to the accompanying drawing, the present invention is further illustrated, in order to those skilled in the art understand that the present invention.
A kind of 77G unmanned plane avoidance radar is as shown in Fig. 1, before designing radar antenna array, radar radio frequency on pcb board
End, ADC sampling module, dsp processor, ARM master chip, communication interface modules, pcb board size 50cm*50cm, radar antenna battle array
Column receive Antenna Design using 2 hairs 4, and antenna gain is greater than 20 dBm；Radar radio-frequency front-end passes through communication interface modules and host computer
It is connected, allows to configure parameter, the parameter configuration includes configuration initial frequency, and bandwidth, ADC frequency acquisition, transmitting is completely
Sufficient different distance precision, distance resolution, velocity resolution and the electromagnetic wave of angle-resolved requirement；The reflection of electromagnetic wave of transmitting
Afterwards, it is received by 4 antennas, data is acquired by ADC, carried out data processing into dsp processor, relevant information is transferred to
Master chip carries out decision-making treatment, transmits out finally by CAN or serial communication.
The course of work of radar is adjusted the distance essence according to radar as shown in Fig. 2, in use, first emitted using 2 antennas
Degree, distance resolution, velocity resolution and angle-resolved requirement carry out radar front end parameter configuration, the electromagnetic wave of transmitting
After encountering barrier reflection, 4 receiving antennas receive electromagnetic wave respectively, and ADC acquisition data are sent to dsp processor processing, institute
It states dsp processor and carries out data processing, comprising: FFT- > CFAR detection CFAR- > side DOA is tieed up using distance dimension FFT- > speed
Parallactic angle estimation -> track algorithm.
A kind of specific way is first to do distance dimension FFT operation to sample 256 points in the echo of radar, corresponding
Bandwidth is 4GHz, in this 256 points, by FFT operation, the echo of the barrier at same distance is added up and obtains target
Doppler frequency calculates point of maximum intensity, it can be deduced that the distance of barrier；Then, distance dimension FFT is finished for the first step to obtain
The distance unit arrived ties up FFT by speed and carries out the distance that FFT operation calculates object correlation to the target found out, and second
Step obtains the FFT operation that distance unit carries out speed dimension for the first step；Third step does CFAR detection CFAR, constant false alarm inspection
Surveying CFAR is exactly the threshold that a backward energy is arranged, and filters clutter, obtains qualified number of targets；4th step, the orientation DOA
Angle estimation, obtains number of targets for third step, does orientation FFT operation, finds out the orientation of detection target；Final step tracks
Algorithm realizes tracking, if unmanned plane speed is V, the one frame data time of reception is T, and unmanned plane is S with a distance from barrier, next
Secondary distance is S1, it is possible to which the distance prejudged next time is S1=S-V*T；It obtains the speed of barrier, distance, angle, return
Crest value, location information；The barrier that needs can be measured in complex environment in this way, can also trace into target, lasting survey
To the target of needs, relevant information is transferred to ARM master chip and carries out decision-making treatment, is passed finally by CAN or serial communication
Output comes.
The specific practice of FFT operation is: by taking distance ties up FFT operation as an example, in the echo of radar, 256 points are sampled, it is right
The bandwidth answered is 4GHz, it is assumed that sampled point is,.Pass through FFT transform, then exist
Transformation resultsThe middle position for finding maximum point, the distance of barrier can be estimated by the position。
Above embodiments are merely to illustrate a specific embodiment of the invention, rather than for limiting the present invention, the present invention
Range claimed is subject to described in claims.
Claims (7)
1. a kind of 77G unmanned plane avoidance radar characterized by comprising radar antenna array, radar radio-frequency front-end, ADC sampling
Module, dsp processor, ARM master chip, communication interface modules；The radar antenna array is connect with radar radio-frequency front-end, described
Radar radio-frequency front-end is connect with ADC sampling module, and the ADC sampling module is connect with dsp processor, the ADC sampling module
Data are exported to dsp processor after sampling, the dsp processor is connect with ARM master chip and two-way communication, the ARM master
Chip is connect with communication interface modules and two-way communication；
Wherein: radar antenna array receives Antenna Design using 2 hairs 4, and antenna gain is greater than 20 dBm；Radar radio-frequency front-end passes through logical
Letter interface module is connected with host computer, and host computer is allowed to configure parameter, and transmitting meets different distance precision, Range resolution
The electromagnetic wave of rate, velocity resolution and angle-resolved requirement；After the reflection of electromagnetic wave of transmitting, received by 4 antennas, by
ADC acquires data, carries out data processing into dsp processor, and relevant information is transferred to ARM master chip and carries out decision-making treatment,
According to demand, the information of needs is transferred to host computer finally by communication interface modules.
2. 77G unmanned plane avoidance radar according to claim 1, which is characterized in that the host computer configures parameter,
It include: configuration initial frequency, bandwidth, ADC frequency acquisition.
3. 77G unmanned plane avoidance radar according to claim 1, which is characterized in that radar works in 76G-77G or 77G-
81G frequency range, maximum bandwidth 4G, minimum range resolution ratio 0.045m, maximum equivalent isotropically radiated power ERIP are 22dbm, function
Consumption < 2.5W.
4. 77G unmanned plane avoidance radar according to claim 1, which is characterized in that the radar antenna array, radar radio frequency
Front end, ADC sampling module, dsp processor, ARM master chip, communication interface modules are arranged on one piece of pcb board, the pcb board
50 cm * of size, 50 cm.
5. 77G unmanned plane avoidance radar according to claim 1, which is characterized in that install a waterproof at radar sealing
The water proof ring of material carries out waterproof, waterproofing grade IP67.
6. 77G unmanned plane avoidance radar according to claim 1, which is characterized in that communication interface modules includes serial communication
And CAN communication, it is connect by serial communication and CAN communication with host computer, realizes online upgrading function.
7. 77G unmanned plane avoidance radar according to claim 1, which is characterized in that the 77G unmanned plane avoidance radar installation
Immediately ahead of unmanned plane, radiating groove, the dual-mode antenna position of the radar are set on the 77G unmanned plane avoidance radar outer casing base
At pedestal radiating groove, top is arranged antenna house and protects the dual-mode antenna, and when installation, radiating groove is upward, antenna house pacifies outwardly
Dress, radar setting angle error are less than ± 3 °.
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| CN109633651A (en) * | 2019-01-14 | 2019-04-16 | 长沙莫之比智能科技有限公司 | 77G unmanned plane avoidance radar |
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