CN213182005U - Ultra-wideband cooperative radar device - Google Patents
Ultra-wideband cooperative radar device Download PDFInfo
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- CN213182005U CN213182005U CN202021896617.3U CN202021896617U CN213182005U CN 213182005 U CN213182005 U CN 213182005U CN 202021896617 U CN202021896617 U CN 202021896617U CN 213182005 U CN213182005 U CN 213182005U
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Abstract
The utility model provides an ultra wide band radar installations in coordination, including first receiver, second receiver, third receiver, first antenna, second antenna, third antenna and crystal oscillator, crystal oscillator is all connected to first receiver, second receiver and third receiver, first receiver of first antenna connection, second receiver of second antenna connection, third receiver of third antenna connection. The distance between the first antenna and the second antenna and the third antenna is a first distance, and the length of the first distance is less than or equal to one half of the operating wavelength of the first antenna, the second antenna and the third antenna. The distance between the first antenna and the second antenna is a second distance, and the second distance is equal to the first distance. The technology can measure the relative direction angle of the target in a horizontal 0-360-degree omnidirectional manner and can measure the relative pitch angle of the target in a vertical 0-90-degree range.
Description
Technical Field
The utility model relates to a location navigation technology field especially relates to an ultra wide band is radar device in coordination.
Background
The traditional radar can only work in an outdoor open area generally, the electromagnetic wave reflection caused by a complex environment can cause serious interference to the precision of the traditional radar, and particularly, under an indoor environment, the signal reflection generates a large amount of multipath signals, and the traditional radar cannot work normally. The ultra-wideband radar has the greatest advantages of effectively resisting indoor multipath signals and accurately distinguishing direct signals, so that the relative distance and the relative direction angle can be correctly calculated.
The existing ultra-wideband radar technical scheme is mostly based on the design of two antennas and two receivers, can only measure the relative distance and the direction angle of a target in a forward 180-degree range, cannot realize 360-degree omnidirectional measurement, and also has the capability of measuring the pitch angle. When measuring the signal receiving phase, the scheme of sampling based on the time point of receiving the signal by each receiver is easy to be interfered by noise.
There is a need for an ultra-wideband cooperative radar apparatus that solves the above problems.
Disclosure of Invention
The utility model relates to a solve among the prior art ultra wide band radar technical scheme can only adjust the target measurement relative distance and the direction angle of the 180 degrees within ranges in place ahead well, can not realize 360 degrees omnidirectional survey, also do not have the problem of the ability of measuring the angle of pitch moreover, provide an ultra wide band radar installations in coordination, through the most adjacent radar installations of same sampling moment of average reception time point, solved above-mentioned problem.
The utility model provides an ultra wide band radar installations in coordination, including first receiver, second receiver, third receiver, first antenna, second antenna, third antenna and crystal oscillator, crystal oscillator is all connected to first receiver, second receiver and third receiver, first receiver of first antenna connection, second receiver of second antenna connection, third receiver of third antenna connection.
The three receivers use the same crystal oscillator as an internal clock and a phase-locked loop reference signal source, and the lengths of physical connecting lines from the crystal oscillator to the three receivers are equal, so that the synchronization of input signals of the crystal oscillator to the three receivers is ensured. The three internal clock modules generate three clock signals which are synchronized with negligible deviation from each other.
An ultra wide band radar installations in coordination, as preferred mode, first antenna and second antenna are first distance apart from the distance of third antenna, the length less than or equal to the half of the operating wavelength of first antenna, second antenna and third antenna of first distance.
An ultra wide band radar installations in coordination, as preferred mode, the distance between first antenna and the second antenna is the second distance, and the second distance equals with first distance.
The three-antenna array adopts a circular array, the antennas are equidistant, and the distance is smaller than the half wavelength of the carrier wave.
An ultra wide band radar installations in coordination, as preferred mode, first receiver includes first clock module, first phase-locked loop module and first demodulation module, crystal oscillator is connected to first clock module and first phase-locked loop module input, first demodulation module is connected to first clock module and first phase-locked loop module output, first antenna is connected to first demodulation module input, first phase-locked loop module is used for the carrier signal of output, first clock module is used for exporting clock signal, first demodulation module is used for sampling and demodulation first antenna received signal.
An ultra wide band radar installations in coordination, as preferred mode, the second receiver includes second clock module, second phase-locked loop module and second demodulation module, crystal oscillator is connected to second clock module and first phase-locked loop module input, second demodulation module is connected to second clock module and second phase-locked loop module output, the second antenna is connected to second demodulation module input, second phase-locked loop module is used for the carrier signal of output, the second clock module is used for exporting clock signal, second demodulation module is used for sampling and demodulating second antenna received signal.
An ultra wide band radar installations in coordination, as preferred mode, the third receiver includes third clock module, third phase-locked loop module and third demodulation module, crystal oscillator is connected to third clock module and third phase-locked loop module input, third demodulation module is connected to third clock module and third phase-locked loop module output, the third antenna is connected to third demodulation module input, third phase-locked loop module is used for the carrier signal of output, the third clock module is used for exporting clock signal, the third demodulation module is used for sampling and demodulating third antenna received signal.
The three phase-locked loop modules generate three carrier signals, and the three carrier signals have different differences relative to the phase of the original crystal oscillator signal, and the differences need to be eliminated through correction.
The utility model discloses beneficial effect as follows:
(1) the three-antenna three-receiver ultra-wideband radar system can work in an indoor complex environment, integrates ranging and angle measurement into a device for detection, can measure the relative distance, the relative direction angle and the relative pitch angle of a target by using only one base station, and calculates the relative coordinate of the target;
(2) the ultra-wideband radar device can omni-directionally measure the relative direction angle of a target at 0-360 degrees horizontally and measure the relative pitch angle of the target at 0-90 degrees vertically;
(3) the ultra-wideband radar device structure realizes that a carrier phase resolving method can be adopted, the same sampling moment nearest to an average receiving time point is adopted for calculation, and the interference caused by sampling noise is reduced.
Drawings
FIG. 1 is a schematic diagram of an ultra-wideband cooperative radar apparatus;
FIG. 2 is a schematic diagram of a first receiver of an ultra-wideband cooperative radar apparatus;
FIG. 3 is a schematic diagram of a second receiver of an UWB cooperative radar apparatus;
FIG. 4 is a schematic diagram of a third receiver of an UWB cooperative radar apparatus;
fig. 5 is a three-antenna direction-finding schematic diagram of an ultra-wideband cooperative radar device.
Reference numerals:
1. a first receiver; 11. a first clock module; 12. a first phase-locked loop module; 13. a first demodulation module; 2. a second receiver; 21. a second clock module; 22. a second phase-locked loop module; 23. a second demodulation module; 3. a third receiver; 31. a third clock module; 32. a third phase-locked loop module; 33. a third demodulation module; 4. a first antenna; 5. a second antenna; 6. a third antenna; 7. and (5) crystal oscillation.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Example 1
As shown in fig. 1, an ultra-wideband cooperative radar apparatus includes a first receiver 1, a second receiver 2, a third receiver 3, a first antenna 4, a second antenna 5, a third antenna 6, and a crystal oscillator 7, where the first receiver 1, the second receiver 2, and the third receiver 3 are all connected to the crystal oscillator 7, the first antenna 4 is connected to the first receiver 1, the second antenna 5 is connected to the second receiver 2, and the third antenna 6 is connected to the third receiver 3. The first antenna 4 and the second antenna 5 are separated from the third antenna 6 by a first distance, and the length of the first distance is less than or equal to one half of the operating wavelength of the first antenna 4, the second antenna 5 and the third antenna 6. The distance between the first antenna 4 and the second antenna 5 is a second distance, which is equal to the first distance.
The three receivers are ultra-wideband signal receivers, and can independently receive and demodulate the ultra-wideband signals and correctly extract the position of the First Path signal (FP, First Path).
As shown in fig. 2, the first receiver 1 includes a first clock module 11, a first phase-locked loop module 12, and a first demodulation module 13, where input ends of the first clock module 11 and the first phase-locked loop module are connected to the crystal oscillator 7, output ends of the first clock module 11 and the first phase-locked loop module 12 are connected to the first demodulation module 13, an input end of the first demodulation module 13 is connected to the first antenna 4, the first phase-locked loop module 12 is configured to output a carrier signal, the first clock module 11 is configured to output a clock signal, and the first demodulation module 13 is configured to sample and demodulate a signal received by the first antenna 4.
As shown in fig. 3, the second receiver 2 includes a second clock module 21, a second phase-locked loop module 22, and a second demodulation module 23, where input ends of the second clock module 21 and the first phase-locked loop module are connected to the crystal oscillator 7, output ends of the second clock module 21 and the second phase-locked loop module 22 are connected to the second demodulation module 23, an input end of the second demodulation module 23 is connected to the second antenna 5, the second phase-locked loop module 22 is configured to output a carrier signal, the second clock module 21 is configured to output a clock signal, and the second demodulation module 23 is configured to sample and demodulate a signal received by the second antenna 5.
As shown in fig. 4, the third receiver 3 includes a third clock module 31, a third phase-locked loop module 32, and a third demodulation module 33, where input ends of the third clock module 31 and the first phase-locked loop module are connected to the crystal oscillator 7, output ends of the third clock module 31 and the third phase-locked loop module 32 are connected to the third demodulation module 33, an input end of the third demodulation module 33 is connected to the third antenna 6, the third phase-locked loop module 32 is configured to output a carrier signal, the third clock module 31 is configured to output a clock signal, and the third demodulation module 33 is configured to sample and demodulate a signal received by the third antenna 6.
The three-antenna array adopts a circular array, the antennas are equidistant, the distance is d, and the distance is smaller than the half wavelength of the carrier wave.
As shown in fig. 5, let the direction angle of the incoming wave signal be θ, the pitch angle be β, the zero-degree direction reference be a dashed arrow in the figure, and the incoming wave be a solid arrow, where the direction angle is based on the zero-degree direction in the figure, and the pitch angle is based on the antenna array plane.
The method used in this example is as follows:
s1, the DS-TWR ranging process is started between the label and the base station, and the label firstly sends a Poll message.
S2, three receivers of the base station receive the Poll message simultaneously, the three receivers respectively calculate that the arrival time of the first path FP of the message is T1/T2/T3, the average receiving time is T (T1+ T2+ T3)/3, then the nearest baseband signal sampling point is calculated, and the sampling time of the baseband sampling point is set as: t1, t2, t3 …, then the closest sample point satisfies:
argminx((|T-tx|)
s3, the three receivers respectively read the complex responses of the nearest baseband signal sampling points: xn + iyn, n is 1 ~ 3. Calculating the phase angle
S4, the three receivers respectively read the phase values of the respective clock phase-locked loops: psi1，ψ2，ψ3. And correcting the phase value calculated in step 3.
And S5, calculating pairwise difference values of the three phase values.
S6, calculating the incoming wave direction angle
S7, calculating the incoming wave pitch angle
And S8, the base station replies a Resp message.
S9, the label receives the Resp message replied by the base station and sends a Final message.
S10, the base station receives the Final message and repeats the steps 2-7. And calculating to obtain a second group of direction angles and pitch angles. And simultaneously, the base station completes the ranging process to obtain the distance R between the base station and the label.
S11 and base stationAnd estimating the relative position of the label by using the distance R obtained by measurement and the two groups of direction angles and pitch angles. Setting the three-dimensional coordinates of the base station as (X, Y, Z), the measured distance as R, and the two groups of direction angles and pitch angles as theta respectively1β1,θ2β2Taking the mean value
The target three-dimensional coordinates are (x, y, z), where:
the above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (6)
1. An ultra-wideband cooperative radar apparatus, comprising: the antenna comprises a first receiver (1), a second receiver (2), a third receiver (3), a first antenna (4), a second antenna (5), a third antenna (6) and a crystal oscillator (7), wherein the first receiver (1), the second receiver (2) and the third receiver (3) are connected with the crystal oscillator (7), the first antenna (4) is connected with the first receiver (1), the second antenna (5) is connected with the second receiver (2), and the third antenna (6) is connected with the third receiver (3).
2. The ultra-wideband cooperative radar apparatus according to claim 1, wherein: the distance between the first antenna (4) and the second antenna (5) and the third antenna (6) is a first distance, and the length of the first distance is less than or equal to one half of the operating wavelength of the first antenna (4), the second antenna (5) and the third antenna (6).
3. The ultra-wideband cooperative radar apparatus according to claim 2, wherein: the distance between the first antenna (4) and the second antenna (5) is a second distance, and the second distance is equal to the first distance.
4. The ultra-wideband cooperative radar apparatus according to claim 1, wherein: the first receiver (1) comprises a first clock module (11), a first phase-locked loop module (12) and a first demodulation module (13), wherein the input end of the first clock module (11) and the input end of the first phase-locked loop module are connected with the crystal oscillator (7), the output end of the first clock module (11) and the output end of the first phase-locked loop module (12) are connected with the first demodulation module (13), the input end of the first demodulation module (13) is connected with the first antenna (4), the first phase-locked loop module (12) is used for outputting a carrier signal, the first clock module (11) is used for outputting a clock signal, and the first demodulation module (13) is used for sampling and demodulating a signal received by the first antenna (4).
5. The ultra-wideband cooperative radar apparatus according to claim 1, wherein: the second receiver (2) comprises a second clock module (21), a second phase-locked loop module (22) and a second demodulation module (23), the second clock module (21) is connected with an input end of the first phase-locked loop module to the crystal oscillator (7), the second clock module (21) is connected with an output end of the second phase-locked loop module (22) to the second demodulation module (23), an input end of the second demodulation module (23) is connected with the second antenna (5), the second phase-locked loop module (22) is used for outputting a carrier signal, the second clock module (21) is used for outputting a clock signal, and the second demodulation module (23) is used for sampling and demodulating a received signal of the second antenna (5).
6. The ultra-wideband cooperative radar apparatus according to claim 1, wherein: third receiver (3) includes third clock module (31), third phase-locked loop module (32) and third demodulation module (33), third clock module (31) with the phase-locked loop module input is connected crystal oscillator (7), third clock module (31) with third phase-locked loop module (32) output is connected third demodulation module (33), third demodulation module (33) input is connected third antenna (6), third phase-locked loop module (32) are used for the carrier signal of output, third clock module (31) are used for exporting clock signal, third demodulation module (33) are used for right third antenna (6) received signal samples and demodulates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021896617.3U CN213182005U (en) | 2020-09-03 | 2020-09-03 | Ultra-wideband cooperative radar device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021896617.3U CN213182005U (en) | 2020-09-03 | 2020-09-03 | Ultra-wideband cooperative radar device |
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| CN213182005U true CN213182005U (en) | 2021-05-11 |
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| CN202021896617.3U Active CN213182005U (en) | 2020-09-03 | 2020-09-03 | Ultra-wideband cooperative radar device |
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