CN211528715U - Landmine identification and detection system - Google Patents
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Abstract
The utility model discloses a landmine discernment detecting system comprises 1 ground control host computer, 1 low sky exploration leader and 6 low sky exploration assistant machines, and ground control host computer sets up the safe position outside the regional 200m of exploration, and low sky exploration leader, low sky exploration assistant machine formation low-flying in order to accomplish the suspected target detection task in the landmine of ground control host computer planning under the control of ground control host computer. The beneficial effects are that: the system adopts the low-altitude flight detector to perform non-contact and multi-coverage pulse electromagnetic induction and UWB radar synchronous detection on the suspected target area of the mine field, thereby overcoming the uncertainty of the traditional single-parameter detection, avoiding the influence of space-time difference on detection data, and simultaneously effectively improving the accuracy, reliability and safety of mine detection.
Description
Technical Field
The utility model relates to a detecting system, especially a landmine discernment detecting system for thunder field detection.
Background
Mines are explosive weapons that are generally deployed under or on the ground to form obstacles, deter hostile action, kill forces and destroy their technical equipment. Since world war II, a great deal of land mines buried underground by enemy and opponent bring great threat to civilians in peace period; although a great deal of manpower, material resources and financial resources are invested in various countries to clean the problems of mines left after a war, the effects are very little, and the mines hurt people and cause disastrous accidents. As can be seen from the data displayed in the mine sweeping database of the United nations, due to successive wars and war disorder, about 1 hundred million land mines in 64 countries are not eliminated, about 2.5 million casualties are generated each year, and the return of the citizens with the war to the home in the countries is seriously hindered; about one million landmines are put into use every year due to new local wars, and the landmines are seriously damaged. Therefore, the effective solution of the land mine detection problem has become a hot difficult problem of great concern in the international society, and particularly, the post-war mine clearance work puts higher demands on the mine detection technology, because the psychological bearing capacity of people on casualties of mine clearance operators is far lower than that in the war, and the casualties can not be missed and reported, and can not cause too many false alarms, so that the land mine detection plays an important role in both modern war and post-war mine clearance.
The traditional method for removing land mines is sniffing and manual probing by using military dogs, obviously, the former is unreliable, and the latter is extreme risk. Later, a plurality of more advanced mine detection and mine clearance technologies are researched, such as metal detectors, infrared imaging, X-ray detection, electric wave and ultrasonic wave detection and the like, but the methods respectively have some limitations and defects, such as detection of omission or false signals, low detection speed, small detection area, heavy equipment and the like. Taking a common metal detector as an example, the metal detector is considered as the only device for exploring a buried mine for a long time, has higher availability and precision, but has lower efficiency; a large amount of fragments of weapons and ammunition after explosion generally exist in a battlefield zone, and the metal fragments can trigger a metal detector to alarm, so that further manual investigation is needed, the false alarm rate of mine detection of the metal detector is high, and the mine removal speed is obviously reduced; another drawback of metal detectors is the inability to detect non-metallic mines, and the trend in the development of modern mines is to reduce the metal content of them as much as possible, especially for small anti-walkman mines, which are characterized by small volume and low metal content.
The mine exploring technology is greatly improved from world war II, the mine exploring technology is also developed from an individual mine exploring device to a vehicle-mounted and airborne mine exploring system, but the existing mine exploring equipment cannot meet the requirements of the existing mine exploring. Therefore, the development of novel mine detection technology and equipment by using modern high and new technology is a very interesting problem in many technical fields. In recent years, ultra-wideband ground penetrating radar is proposed as an effective way to solve the problem of mine penetration; unlike metal detectors, ground penetrating radars not only detect targets containing metal components, but also react to any discontinuity in dielectric constant within the radar footprint, so that mines made of any material other than the soil surrounding the mine may be detected with a sufficiently high signal-to-noise ratio. Meanwhile, due to the high-resolution characteristic of the ultra-wideband radar, target information contained in radar echo signals can be used for target classification, so that the false alarm probability can be effectively reduced. For a shallow-buried plastic mine, ground reflection clutter is usually much stronger than useful target signals, and the ground clutter overlaps with the target signals in the arrival time, so that the ground reflection clutter is difficult to detect by a ground penetrating radar, and the method is very critical for subsequent synthetic aperture radar imaging by filtering strong ground clutter from radar echo signals.
Aiming at the problems that the methods all adopt a single-parameter detection mode, and the detection result has uncertainty; meanwhile, as the process is carried out point by point, the singularity change of the detection data caused by space-time difference cannot be avoided; the patent (CN110554437A2019.12.10) discloses a thunder field multi-source information synchronous detection system composed of 1 detection control host and i detection extensions Si with flight function and multi-source information detection function, which has the beneficial effects of overcoming the uncertainty of traditional single-parameter detection, effectively avoiding the influence of space-time difference on detection data, and improving the accuracy and reliability of thunder field detection. However, the detection system disclosed in CN110554437A can only determine the mine field and the suspicious area thereof, and cannot determine the accurate position of the mine in the mine field, which is not favorable for the development of the mine removal work in the later period; therefore, it is of great significance to develop a detection system capable of determining the existence position of the mines in the mine field on the basis of CN 110554437A.
Disclosure of Invention
In order to overcome the technical problem, the utility model discloses a landmine discernment detecting system.
The technical scheme of the utility model is that: a kind of land mine discerns the detecting system, it is made up of 1 ground control host computer, 1 low-level exploration plane and 6 low-level exploration plane, the ground control host computer is set up in the safe position beyond 200m of detection area, the low-level exploration plane, low-level exploration plane form low-level flight under the control of the ground control host computer in order to finish the suspected target detection task of the land mine that the ground control host computer plans; in the detection process, the ground control host sends a flight and synchronous detection command to the low-altitude detection long plane according to the planned route of the landform of the suspected target area of the mine field and controls the low-altitude detection long plane to fly according to the planned route, and the low-altitude detection long plane executes the command of the low-altitude detection long plane and keeps flying along the position specified in the formation; control host machine for long low-altitude detection machine receiving groundAfter the synchronous sounding command(s) in question, it sends a time-stamped synchronous sounding command(s) to the low-level sounding bureaucratic machines, via the WSN formed in UWB with them, and then the low-level sounding bureaucratic machines pass 90oThe directional antenna emits pulse electromagnetic waves or UWB radar waves to the ground, and then the low-altitude sounding long plane and the low-altitude sounding assistant plane start to synchronously acquire echoes of the pulse electromagnetic waves or UWB radar waves at a specified time stamp together so as to realize pulse electromagnetic induction and UWB radar synchronous sounding; both low-altitude sounding long plane and low-altitude sounding wing plane adopt a beam angle of 90oThe flying height of the directional antenna is larger than the maximum height of the ground vegetation in the detection area and equal to the radius of the ground projection circle, the low-altitude detection long plane is positioned at the center of the ground projection circle, and 6 low-altitude detection wing planes are uniformly distributed on the circumference of the ground projection circle, so that the suspected targets of the mine field can be identified by pulse electromagnetic induction and UWB radar detection information of 1 low-altitude detection long plane and at least 2 low-altitude detection wing planes within the range of the ground projection circle, and the accuracy, reliability and safety of the mine detection are improved.
In the utility model, the ground control host computer comprises three parts, namely a portable military PC, an E50-TTL-500 module and an RTK-GPS base station module, the portable military PC is connected with the E50-TTL-500 module through an SCI1 interface and connected with the RTK-GPS base station module through an SCI2 interface, the E50-TTL-500 module is used for the low-altitude probing tractor to perform wireless communication so as to realize the flight control of a formation formed by the low-altitude probing tractor and the low-altitude probing assistant and send synchronous probing instructions to the low-altitude probing tractor, and the RTK-GPS base station module is used for forming an RTK positioning system with the low-altitude probing tractor and a GPS module in the low-altitude probing assistant so as to realize the accurate positioning of the low-altitude probing tractor and the low-altitude probing slave station; the portable military PC is used for air route planning of a detection area, RTK-GPS positioning control, formation flight control, synchronous detection control, detection data receiving and thunder field suspected target identification.
The utility model discloses in, the long machine of low latitude detection is an external 90oThe small unmanned aerial vehicle with directional antenna is composed of detection CPU, high-speed ADC, and control unit for controlling low altitude according to flight control command sent by ground control hostFlight controller for detecting flight process of long aircraft and monitoring flight process in real time, E50-TTL-500 module for communicating with ground control host, GPS slave station module for obtaining real-time position information, UWB module for forming WSN network with low-altitude detecting wing aircraft, UWB module for emitting pulse electromagnetic wave or UWB radar wave&Pulse electromagnetic wave transmitting module and external conditioning 90oThe signal receiving and conditioning module of the directional antenna for receiving the echo signal and the signal switch for changing the transmitting or receiving state; when the low-altitude detection aircraft receives a flight control command sent by the ground control host through the E50-TTL-500 module, the flight controller controls the small unmanned aerial vehicle to start flying according to the flight control command and sends a formation flight control command to each low-altitude detection aircraft through the detection CPU and the UWB module to realize the whole flight control of formation, if a synchronous detection command is received, the synchronous detection command is transmitted to the detection CPU through the flight controller, and the detection CPU sends the synchronous detection command with a time stamp to each low-altitude detection aircraft through the UWB module and simultaneously sends the synchronous detection command with the time stamp to each low-altitude detection aircraft through the UWB module&Pulse electromagnetic wave emission module, signal change-over switch, 90oThe directional antenna radiates pulsed electromagnetic waves or UWB radar waves, which then pass through 90oThe directional antenna, the signal switch, the signal receiving and conditioning module receive the echo signal and start to synchronously acquire the echo signal at a specified timestamp together with the low sounding bureaucratic; after each detection, the detection CPU of the long low-level detection plane preprocesses the detection information, reads the detection preprocessing result of each low-level detection plane, and sends the result to the ground control host through the flight controller and the E50-TTL-500 module.
In the utility model, the low sounding wing plane is an external 90oA small unmanned aerial vehicle with directional antenna is composed of sounding CPU, high-speed ADC, flight controller for real-time monitoring the flight course of low-altitude sounding wing plane according to the formation flight control command sent by long low-altitude sounding plane, GPS slave station module for obtaining real-time position information, UWB module for forming WSN network with low-altitude sounding wing plane and other low-altitude sounding wing planes, and external 90-degree regulating UWB moduleoThe signal receiving and conditioning module for receiving the echo signal by the directional antenna; when in low altitudeThe sounding bureaucratic aircraft receives the formation flight control command sent by the low-altitude sounding long aircraft through the UWB module, transmits the command to the flight controller and controls the small unmanned aerial vehicle to start flying, and if the command is received as a synchronous sounding command with a time stamp, the command passes through 90 under the control of the sounding CPUoAnd the directional antenna and the signal receiving and conditioning module receive the echo signals and start to synchronously acquire the echo signals at a specified time stamp.
In the utility model, the 90oThe directional antenna is designed into a planar traveling wave antenna with a gradient slot line structure and a size of 85mm × 100mm according to a proportion conversion principle, although the size of the antenna is not a theoretical infinite mode, the gradient structure of the directional antenna enables the current at the tail end of the antenna to be small, the influence on the radiation of the antenna is small, and the antenna has an end-fire characteristic, a wide bandwidth, linear polarization, high gain and 90 mmoDirectional radiation.
The utility model has the advantages that: the system adopts the low-altitude flight detector to perform non-contact and multi-coverage pulse electromagnetic induction and UWB radar synchronous detection on the suspected target area of the mine field, thereby overcoming the uncertainty of the traditional single-parameter detection, avoiding the influence of space-time difference on detection data, and simultaneously effectively improving the accuracy, reliability and safety of mine detection.
Drawings
FIG. 1 is a structural diagram of the landmine identification and detection system of the present invention;
FIG. 2 is a schematic diagram of the effective detection range of the present invention;
fig. 3 is a block diagram of the ground control host according to the embodiment of the present invention;
FIG. 4 is a block diagram of the low altitude detection long machine of the present invention;
figure 5 is a block diagram of the architecture of an embodiment of a low sounding wing plane of the present invention;
fig. 6 shows the utility model 90oThe directional antenna embodiment is shown schematically.
Detailed Description
The technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiment of the present invention; it is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to the drawings, fig. 1 is the structure diagram of the landmine identification and detection system of the present invention, and fig. 2 is the schematic diagram of the effective detection range of the present invention. The land mine identification detection system consists of 1 ground control host, 1 low-altitude detection long plane and 6 low-altitude detection wing planes, wherein the ground control host is arranged at a safe position outside a detection area of 200m, and the low-altitude detection long plane and the low-altitude detection wing planes form a formation and fly at low altitude under the control of the ground control host so as to complete a suspected target detection task of a land mine planned by the ground control host; in the detection process, the ground control host sends a flight and synchronous detection command to the low-altitude detection long plane according to the planned route of the landform of the suspected target area of the mine field and controls the low-altitude detection long plane to fly according to the planned route, and the low-altitude detection long plane executes the command of the low-altitude detection long plane and keeps flying along the position specified in the formation; the low-level sounding benches, after receiving the synchronous sounding commands from the ground control host, send time-stamped synchronous sounding commands to the low-level sounding benches via the WSN formed in UWB with the low-level sounding benches, and then the low-level sounding benches send 90 synchronous sounding commands to the low-level sounding benchesoThe directional antenna emits pulse electromagnetic waves or UWB radar waves to the ground, and then the low-altitude sounding long plane and the low-altitude sounding assistant plane start to synchronously acquire echoes of the pulse electromagnetic waves or UWB radar waves at a specified time stamp together so as to realize pulse electromagnetic induction and UWB radar synchronous sounding; both low-altitude sounding long plane and low-altitude sounding wing plane adopt a beam angle of 90oThe flying height of the directional antenna is greater than the maximum height of the earth surface vegetation in the detection area and equal to the radius of the ground projection circle, the low-altitude detection long plane is positioned at the center of the ground projection circle, and 6 low-altitude detection wing planes are uniformly distributed on the circumference of the ground projection circle, so as to ensure that pulse electromagnetic induction and UWB radar detection information of 1 low-altitude detection long plane and at least 2 low-altitude detection wing planes can be used for radar in the range of the ground projection circleAnd the suspected targets in the field are identified, so that the accuracy, reliability and safety of land mine detection are improved. For a suspected land mine area in a mine field, the detection scheme shown in fig. 1 is adopted to detect and identify land mines, and a ground control host controls 1 low-level sounding long plane arranged in a transmitting state and 6 low-level sounding operators arranged in a receiving state to form a ring-shaped marshalling to synchronously detect pulsed electromagnetic waves and UWB radar waves in the suspected land mine area. Since the antenna beam angle in fig. 1 is 90 °, the transmitter has a flight heighth= radius of transmitting beam on ground projection circler. Assuming that the detection ground is a plane, 6 receivers are uniformly distributed at the heighthRadius, radiusrThe transmitter is located at the center of the circle, and the distance between every two receivers and transmitters isrThen, the effective projection range of the transmitter (the area of the solid circle) and the effective reception range of the receiver (the area of the dashed circle) are as shown in fig. 2. The ground control host controls 7 detection aircrafts to perform pulse electromagnetic induction and UWB radar wave synchronous detection on a suspected land mine area, performs multi-source information fusion, land mine feature recognition and synchronous three-dimensional inversion operation on detection data, and can meet the technical requirement that the detection probability of land mine targets such as anti-tankrey and anti-marching mine is more than or equal to 95%.
In the process of detecting the suspected target of the mine field, the ground control host firstly performs route planning of the suspected target detection of the mine field according to actual conditions such as the landform, the ground vegetation coverage and the like of a suspected area of the mine field determined after the detection of the detection system disclosed by CN110554437A, and then performs self-detection on the system; the self-checking content comprises: the ground control host self-checking, the low-level detecting long plane self-checking, the low-level detecting wing plane self-checking, the wireless communication self-checking between the ground control host and the low-level detecting long plane, the WSN networking self-checking of the low-level detecting long plane and each low-level detecting wing plane, and the like, and subsequent mine field suspected target detection can be carried out after the self-checking is completely normal. After the system finishes route planning and self-checking, the ground control host sends a flight command to the low-altitude detection long plane according to the planned route, the low-altitude detection long plane sends an entering formation command to each low-altitude detection wing plane through the WSN after receiving the flight command, and each low-altitude detection wing plane reaches the medium formation rule of the formationAfter the fixed position, the low-altitude sounding fans enter the central position of the formation and send formation flying commands to the low-altitude sounding fans, and then the whole formation is controlled to fly according to the planned route and the position information is fed back to the ground control host computer in real time. When the formation of exploration aircrafts arrives at the suspected target area of the mine field and then hovers, the ground control host sends synchronous exploration commands to the low-altitude exploration fans, the low-altitude exploration fans send synchronous exploration commands with time stamps to the low-altitude exploration fans through the WSN formed in a UWB mode between the low-altitude exploration fans and the low-altitude exploration fans after receiving the synchronous exploration commands of the ground control host, and the former time stamp defined in the exploration commands is sent by the low-altitude exploration fans through 90oThe directional antenna transmits pulse electromagnetic waves to the ground, and then the low-altitude sounding long plane and the low-altitude sounding wing plane synchronously acquire echo signals of the pulse electromagnetic waves; after the pulse electromagnetic induction detection is completed, the later time stamp specified in the detection command by the low-altitude detection long machine passes through 90oA directional antenna emits UWB radar waves to the ground, and then a low-altitude sounding long plane and a low-altitude sounding wing plane synchronously acquire echo signals of the UWB radar waves; and circulating the steps until the detection is finished, and controlling the whole formation to continuously fly and detect according to the planned route so as to realize pulse electromagnetic induction and UWB radar time-sharing synchronous detection of the planned route. In the figure 1, both the long and the bureau of low altitude exploration adopt a beam angle of 90oOf the directional antenna of (2), then its flying heighthRadius of circle projected on groundrAre equal. Flying heighthThe setting is selected according to the maximum height of the earth surface vegetation in the detection area, the safety of the detection aircraft in the detection process is difficult to guarantee if the height is too low, and 90 is caused by too highoThe projection circle of the directional antenna on the ground is large, so that the detection and identification accuracy of the suspected target is influenced. A captain plane and a bureaucratic plane are tactical formations in an air war. A wing plane is an airplane which carries out tasks with a leader in formation flight, and the wing plane should be kept at a specified position in the formation, observe the air situation and execute commands of the leader. Generally, air war is marshalled, for example, by "two-wing marshalling", which is generally divided into "long wings and" wing wings ". The main machines are the main machines and the assistant machines are the assistant machines. The role of the assistant plane is to help the long plane to complete various tasks. In thatIn fig. 1, the long low-level sounding aircraft is located at the center of the ground projection circle, 6 low-level sounding wing aircraft are uniformly distributed on the circumference of the ground projection circle, and the flying formation is a regular hexagonal shape 90 of whichoThe ground projection of directional antenna transmission and reception is shown in fig. 2. The ground projection transmitted and received by the low-level sounding slat plane is shown as a solid circle in the figure, and the ground projection received by each low-level sounding slat plane is shown as a dashed circle in the figure; as can be seen from fig. 2, within the range of the ground projection circle, there are pulse electromagnetic induction and UWB radar synchronous detection information received by 1 low-altitude detection long plane and at least 2 low-altitude detection wing planes, and the accuracy and reliability of the detection of the mine field suspected target can be effectively improved by analyzing and identifying the mine field suspected target based on the multi-source information.
Fig. 3 is a block diagram of the ground control host according to the present invention. The ground control host consists of a portable military PC, an E50-TTL-500 module and an RTK-GPS base station module, wherein the portable military PC is connected with the E50-TTL-500 module through an SCI1 interface and connected with the RTK-GPS base station module through an SCI2 interface, the E50-TTL-500 module is used for carrying out wireless communication on the low-altitude sounding leader to realize the flight control of a formation formed by the low-altitude sounding leader and send a synchronous sounding instruction to the low-altitude sounding leader, and the RTK-GPS base station module is used for forming an RTK positioning system with the low-altitude sounding leader and a GPS slave station module in the low-altitude sounding leader to realize the accurate positioning of the low-altitude sounding leader and the low-altitude sounding leader; the portable military PC is used for air route planning of a detection area, RTK-GPS positioning control, formation flight control, synchronous detection control, detection data receiving and thunder field suspected target identification. After the detection is finished, under the control of the control software of the ground control host, the data obtained by the detection and pretreatment of the low-altitude detection leader and the low-altitude detection leader are subjected to three-dimensional inversion operation, the results are stored, and the information obtained by the detection of a plurality of aircrafts is fused by the control software to obtain the detection and identification results of the suspected targets in the mine field and generate a report. The E50-TTL-500 module is adopted for wireless communication between the ground control host and the low-altitude detection long machine. E50-TTL-500 is a 500mW wireless transmission module, works in a frequency band of 148-173.5MHz, and uses a serial port to receive and transmit data, so that the threshold of wireless application is reduced; the power density is concentrated, the transmission distance is long, and the anti-interference capability is strong. The module has a software FEC algorithm, the coding efficiency is high, the error correction capability is strong, under the condition of burst interference, the interfered data packet can be actively corrected, and the reliability and the transmission distance are greatly improved (under the condition of no FEC, the data packet can only be discarded). The module has data encryption and compression functions, data transmitted in the air has randomness, data interception is made to lose significance through a strict encryption and decryption algorithm, and the data compression function has the probability of reducing transmission time and interference probability and improving reliability and transmission efficiency. The module has four working modes which can be freely switched during operation, the working modes are determined by the input states of the pins M1 and M0, and the consumed current is only dozens of microamperes in the power saving mode, so that the module is very suitable for ultra-low power consumption application. The power supply voltage of the module is 2.3V-5.5V direct current, and the current supply capacity of the power supply is required to be not less than 700 mA. When the module transmits, the current may suddenly change, which may cause the power supply to generate large ripples. At this time, the external circuit of the user must have a ripple suppression capability. Particular attention is needed when using low quiescent current, low dropout LDOs. Because the conventional LDO has poor ripple rejection capability. The situation is much more optimistic when using a common linear regulator, or a regulator with a large quiescent current, or DC-DC. The power supply problem is addressed here specifically, in hopes that the user will draw sufficient attention. Good power quality is the premise of stable operation of the wireless module, and effectively improves the transmission distance and receiving sensitivity of the module and prolongs the service life of the module
Fig. 4 is a block diagram of the embodiment of the long low-altitude detection machine of the present invention. The low-altitude detection long machine is an external 90oA small unmanned aerial vehicle with directional antenna is composed of detecting CPU, high-speed ADC, flight controller for real-time monitoring the flight of long low-altitude detecting aircraft according to the flight control command from ground control host, E50-TTL-500 module for communication with ground control host, GPS slave module for obtaining real-time position information, UWB module for forming WSN network with low-altitude detecting aircraft, and UWB module for emitting pulse electromagnetic wave or UWB radar waveUWB of&Pulse electromagnetic wave transmitting module and external conditioning 90oThe signal receiving and conditioning module of the directional antenna for receiving the echo signal and the signal switch for changing the transmitting or receiving state; when the low-altitude detection aircraft receives a flight control command sent by the ground control host through the E50-TTL-500 module, the flight controller controls the small unmanned aerial vehicle to start flying according to the flight control command and sends a formation flight control command to each low-altitude detection aircraft through the detection CPU and the UWB module to realize the whole flight control of formation, if a synchronous detection command is received, the synchronous detection command is transmitted to the detection CPU through the flight controller, and the detection CPU sends the synchronous detection command with a time stamp to each low-altitude detection aircraft through the UWB module and simultaneously sends the synchronous detection command with the time stamp to each low-altitude detection aircraft through the UWB module&Pulse electromagnetic wave emission module, signal change-over switch, 90oThe directional antenna radiates pulsed electromagnetic waves or UWB radar waves, which then pass through 90oThe directional antenna, the signal switch, the signal receiving and conditioning module receive the echo signal and start to synchronously acquire the echo signal at a specified timestamp together with the low sounding bureaucratic; after each detection, the detection CPU of the long low-level detection plane preprocesses the detection information, reads the detection preprocessing result of each low-level detection plane, and sends the result to the ground control host through the flight controller and the E50-TTL-500 module.
Fig. 5 is a block diagram of the architecture of an embodiment of a low sounding wing plane of the present invention. A low sounding bureaucratic aircraft is an external one 90oA small unmanned aerial vehicle with directional antenna is composed of sounding CPU, high-speed ADC, flight controller for real-time monitoring the flight course of low-altitude sounding wing plane according to the formation flight control command sent by long low-altitude sounding plane, GPS slave station module for obtaining real-time position information, UWB module for forming WSN network with low-altitude sounding wing plane and other low-altitude sounding wing planes, and external 90-degree regulating UWB moduleoThe signal receiving and conditioning module for receiving the echo signal by the directional antenna; when the low-level sounding bureaucratic aircraft receives the formation flight control command sent by the low-level sounding bureau aircraft through the UWB module, the command is transmitted to the flight controller of the low-level sounding bureau aircraft and controls the small-sized unmanned aerial vehicle to start flying, if a synchronous sounding command with a time stamp is received, the command is detectedThrough 90 under the control of the CPUoAnd the directional antenna and the signal receiving and conditioning module receive the echo signals and start to synchronously acquire the echo signals at a specified time stamp.
The core chip of UWB module in low-level exploration leader and low-level exploration leader is DW1000, during exploration DW1000 can realize WSN networking function with leader or leader with UWB module through antenna connected with it; when a suspected target of a lightning field is detected, non-cooperative positioning of the suspected target can be realized through the positioning function of the DW 1000. The DW1000 is a wireless transceiver chip which is introduced by Decawave corporation of ireland and conforms to the UWB protocol, and the DW1000 is an integrated monolithic Ultra Wide Band (UWB) transceiver which is completely compatible with the ieee802.15.4-2011 protocol and can provide real-time positioning with an accuracy of up to 10 cm by a two-way ranging method or an algorithm using time difference of arrival. It also supports maximum communication rates of up to 6.8 Mbps. The chip has the following characteristics: 1) the system conforms to the IEEE802.15.4-2011 UWB protocol; 2) from 3.5GHz to 6.5GHz, up to 6 channels are provided for use; 3) the output power may be configured by programming; 4) meets the requirements related to FCC & ETSI; 5) supporting a wide range of working voltage of 2.8-3.6V; 6) and the power consumption is low. Sleep mode current bit 1u A, current only 50n A in deep sleep mode; 7) providing three communication rates of 110kbps, 850kbps and 6.8 Mbps; 8) for high data throughput applications, a maximum packet length of up to 1023 bytes is provided; 9) support for TWR ranging and TDOA ranging; 10) communicating with a main control chip through an SPI interface; 11) small volume, chip volume 6mm, QFN48 package; 12) only few components are required at the periphery of the chip. The building blocks of any node in the WSN are physical layer (PHY) links. The DW1000 PHY has the capability to provide communication and accurate ranging functions even in situations where a line-of-sight (LOS) radio path may not be present. These capabilities enable the WSN of DW1000 to operate in harsh radio propagation channels where nonlinear line of sight (NLOS) conditions and many radio reflections exist, such as building interiors, shipping container yards, and factories with metallic objects. The advantages of using UWB PHY technology in harsh radio environments have become apparent, and the UWB radio propagation of DW1000 is robust to multipath fading.
Fig. 6 shows the utility model 90oThe directional antenna embodiment is shown schematically. An antenna is a device for transmitting or receiving electromagnetic waves and is an essential component of any radio system. In other words, the transmitting antenna converts the guided electromagnetic waves in the transmission line into "free space" waves, as opposed to the receiving antenna. Information can then be transmitted between different locations without any connecting devices, and the frequencies of the electromagnetic waves that can be used to transmit information constitute the electromagnetic spectrum. One of the largest natural resources of humans is the electromagnetic spectrum, and antennas play an important role in the utilization of this resource. 90oThe directional antenna is designed into a planar traveling wave antenna with a gradient slot line structure and a size of 85mm × 100mm according to a proportion conversion principle, although the size of the antenna is not a theoretical infinite mode, the gradient structure of the directional antenna enables the current at the tail end of the antenna to be small, the influence on the radiation of the antenna is small, and the antenna has an end-fire characteristic, a wide bandwidth, linear polarization, high gain and 90 mmoDirectional radiation. The scaling principle can be defined as follows: the antenna structure is according to a certain parameterNChanging without changing its own structure, and in its frequency range the antenna is in frequencyfSum frequencyN×fThe other characteristics of the antenna such as the electrical characteristic and the antenna characteristic parameter areNBeing a logarithmic periodic function, the antenna possesses the scaling principle. When in useNIndicating a frequency around 1fSum frequencyN×fThe electrical characteristics of the electrode hardly change, in fact, when onlyNAnd 1 are not orders of magnitude apart, frequencyfSum frequencyN×fThe electrical characteristics of the electrodes do not change much. Therefore, the antenna structure satisfies the scaling principle, the antenna has the non-frequency-variation characteristic, and the characteristic also determines that the antenna with the structure satisfying the scaling principle can have the broadband characteristic.
The beneficial effects of the utility model reside in that: the utility model discloses detection system adopts low-altitude flight detector to carry out non-contact, the pulse electromagnetic induction that covers more, UWB radar synchronous detection to the suspected target area in thunder field, has both overcome the uncertainty that traditional single parameter surveyed, has avoided the space-time difference to the influence of surveying data, effectively improves accuracy, reliability and the security that the land mine surveyed simultaneously.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A kind of land mine discerns the detecting system, it is made up of 1 ground control host computer, 1 low-level exploration plane and 6 low-level exploration plane, the ground control host computer is set up in the safe position beyond 200m of detection area, the low-level exploration plane, low-level exploration plane form low-level flight under the control of the ground control host computer in order to finish the suspected target detection task of the land mine that the ground control host computer plans; the method is characterized in that: in the detection process, the ground control host sends a flight and synchronous detection instruction to the low-altitude detection leader according to a planned route of the landform of the suspected target area of the mine field and controls the low-altitude detection leader to fly according to the planned route, and the low-altitude detection leader executes the command of the low-altitude detection leader and keeps flying along the position specified in the formation; the low-level sounding benches, after receiving the synchronous sounding commands from the ground control host, send time-stamped synchronous sounding commands to the low-level sounding benches via the WSN formed in UWB with the low-level sounding benches, and then the low-level sounding benches send 90 synchronous sounding commands to the low-level sounding benchesoThe directional antenna emits pulse electromagnetic waves or UWB radar waves to the ground, and then the low-altitude sounding long plane and the low-altitude sounding assistant plane start to synchronously acquire echoes of the pulse electromagnetic waves or UWB radar waves at a specified time stamp together so as to realize pulse electromagnetic induction and UWB radar synchronous sounding; both low-altitude sounding long plane and low-altitude sounding wing plane adopt a beam angle of 90oThe flying height of the directional antenna is greater than the maximum height of the ground vegetation in the detection area and equal to the radius of the ground projection circle, the low-altitude detection long plane is positioned at the center of the ground projection circle, and 6 low-altitude detection wing planes are uniformly distributed on the circumference of the ground projection circle so as to ensure that 1 low-altitude detection long plane and 1 low-altitude detection long plane can be used within the range of the ground projection circlePulse electromagnetic induction of at least 2 low-altitude sounding wings and UWB radar detection information are used for identifying suspected targets in a mine field, so that accuracy, reliability and safety of mine detection are improved.
2. A mine identification detection system according to claim 1 wherein: the ground control host consists of a portable military PC, an E50-TTL-500 module and an RTK-GPS base station module, wherein the portable military PC is connected with the E50-TTL-500 module through an SCI1 interface and is connected with the RTK-GPS base station module through an SCI2 interface, the E50-TTL-500 module is used for carrying out wireless communication on the low-altitude sounding operators so as to realize the flight control of a formation formed by the low-altitude sounding operators and send synchronous sounding instructions to the low-altitude sounding operators, and the RTK-GPS base station module is used for forming an RTK positioning system with the low-altitude sounding operators and a GPS slave station module in the low-altitude sounding operators so as to realize the accurate positioning of the low-altitude sounding operators and the low-altitude sounding operators; the portable military PC is used for air route planning of a detection area, RTK-GPS positioning control, formation flight control, synchronous detection control, detection data receiving and thunder field suspected target identification.
3. A mine identification detection system according to claim 1 wherein: the low-altitude detection long machine is an external 90oA small unmanned aerial vehicle with directional antenna is composed of detecting CPU, high-speed ADC, flight controller for real-time monitoring the flight of long low-altitude detecting aircraft according to the flight control command from ground control host, E50-TTL-500 module for communication with ground control host, GPS slave module for obtaining real-time position information, UWB module for forming WSN network with low-altitude detecting aircraft, and UWB module for emitting pulse electromagnetic wave or UWB radar wave&Pulse electromagnetic wave transmitting module and external conditioning 90oThe signal receiving and conditioning module of the directional antenna for receiving the echo signal and the signal switch for changing the transmitting or receiving state; after the low-altitude detection long machine receives a flight control instruction sent by the ground control host machine through the E50-TTL-500 module, the flight controller controls the low-altitude detection long machine according to the flight control instructionThe small unmanned aerial vehicle starts flying and sends formation flying control command to each low-altitude sounding wing through its sounding CPU and UWB module to realize the whole flying control of formation, if it receives synchronous sounding command, it transmits it to the sounding CPU through the flying controller, the sounding CPU sends synchronous sounding command with time stamp to each low-altitude sounding wing through UWB module and simultaneously through UWB module&Pulse electromagnetic wave emission module, signal change-over switch, 90oThe directional antenna radiates pulsed electromagnetic waves or UWB radar waves, which then pass through 90oThe directional antenna, the signal switch, the signal receiving and conditioning module receive the echo signal and start to synchronously acquire the echo signal at a specified timestamp together with the low sounding bureaucratic; after each detection, the detection CPU of the long low-level detection plane preprocesses the detection information, reads the detection preprocessing result of each low-level detection plane, and sends the result to the ground control host through the flight controller and the E50-TTL-500 module.
4. A mine identification detection system according to claim 1 wherein: the low sounding bureaucratic aircraft is an external aircraft 90oA small unmanned aerial vehicle with directional antenna is composed of sounding CPU, high-speed ADC, flight controller for real-time monitoring the flight course of low-altitude sounding wing plane according to the formation flight control command sent by long low-altitude sounding plane, GPS slave station module for obtaining real-time position information, UWB module for forming WSN network with low-altitude sounding wing plane and other low-altitude sounding wing planes, and external 90-degree regulating UWB moduleoThe signal receiving and conditioning module for receiving the echo signal by the directional antenna; when the low-level sounding bureaucratic aircraft receives the formation flight control command sent by the low-level sounding bureau aircraft through the UWB module, the command is transmitted to the flight controller and controls the small unmanned aerial vehicle to start flying, if a synchronous sounding command with a time stamp is received, the command is controlled by the sounding CPU to pass through 90oAnd the directional antenna and the signal receiving and conditioning module receive the echo signals and start to synchronously acquire the echo signals at a specified time stamp.
5. The mine identification detection train of claim 1The system is characterized in that: the 90oThe directional antenna is designed into a planar traveling wave antenna with a gradient slot line structure and a size of 85mm × 100mm according to a proportion conversion principle, although the size of the antenna is not a theoretical infinite mode, the gradient structure of the directional antenna enables the current at the tail end of the antenna to be small, the influence on the radiation of the antenna is small, and the antenna has an end-fire characteristic, a wide bandwidth, linear polarization, high gain and 90 mmoDirectional radiation.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111412788A (en) * | 2020-03-26 | 2020-07-14 | 湖南科技大学 | Suspected target detection system of thunder field |
| CN112462447A (en) * | 2020-10-20 | 2021-03-09 | 中科巨匠人工智能技术(广州)有限公司 | Active fault fusion detection system |
| CN112666214A (en) * | 2020-12-24 | 2021-04-16 | 上海大学 | Infrared overtime-phase mine detection system and method based on computer vision |
| CN112946766A (en) * | 2021-01-26 | 2021-06-11 | 汕头大学 | Group intelligence-based land mine detection method and system |
| CN113433521A (en) * | 2021-05-29 | 2021-09-24 | 湖南科技大学 | Frequency spectrum refining method for synchronous detection of lightning field target |
| CN114739234A (en) * | 2022-04-13 | 2022-07-12 | 厦门大学 | Electromagnetic acoustic radar-based land mine detection method and system |
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2020
- 2020-03-26 CN CN202020398447.XU patent/CN211528715U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111412788A (en) * | 2020-03-26 | 2020-07-14 | 湖南科技大学 | Suspected target detection system of thunder field |
| CN112462447A (en) * | 2020-10-20 | 2021-03-09 | 中科巨匠人工智能技术(广州)有限公司 | Active fault fusion detection system |
| CN112666214A (en) * | 2020-12-24 | 2021-04-16 | 上海大学 | Infrared overtime-phase mine detection system and method based on computer vision |
| CN112946766A (en) * | 2021-01-26 | 2021-06-11 | 汕头大学 | Group intelligence-based land mine detection method and system |
| CN113433521A (en) * | 2021-05-29 | 2021-09-24 | 湖南科技大学 | Frequency spectrum refining method for synchronous detection of lightning field target |
| CN114739234A (en) * | 2022-04-13 | 2022-07-12 | 厦门大学 | Electromagnetic acoustic radar-based land mine detection method and system |
| CN114739234B (en) * | 2022-04-13 | 2024-03-19 | 厦门大学 | Land mine detection method and system based on electromagnetic sodar |
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