CN217787388U - Digital intelligent target processing equipment for marine radar - Google Patents

Digital intelligent target processing equipment for marine radar Download PDF

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CN217787388U
CN217787388U CN202220663904.2U CN202220663904U CN217787388U CN 217787388 U CN217787388 U CN 217787388U CN 202220663904 U CN202220663904 U CN 202220663904U CN 217787388 U CN217787388 U CN 217787388U
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target
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褚人乾
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Shanghai Yonzoe Electronic Technology Co ltd
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Abstract

The utility model discloses a digital intelligent target treatment facility of marine radar, include: the system comprises a marine radar, an AIS (automatic identification system), a compass, a navigator, an echo signal conditioning module, an ADC (analog to digital converter) module, a trigger pulse and azimuth signal receiving module, a radar signal processing module based on an FPGA (field programmable gate array), a DDR (double data rate) radar data cache module, a navigation signal receiving module, a radar target tracking and fusion function module, an MCU (microprogrammed control unit) memory and storage module, a radar control module, a network communication module, a display and setting module and a network communication module. The utility model discloses a target tracking of radar is the TT function to realized TT and AIS's target fusion function, complemented TT and AIS's advantage, made target track data reliable and more stable, the precision is higher, the information is more, and provided the target and kept away collision parameter output.

Description

Digital intelligent target processing equipment for marine radar
Technical Field
The utility model relates to a marine radar technical field, in particular to marine radar digital intelligent target treatment facility.
Background
The radar is eyes of a captain, when visibility is poor at night or in rainy and foggy conditions and the like, safe running of the ship depends on the ship radar or the navigation radar, and the ship radar has the main functions of obstacle avoidance and collision avoidance. Another important collision avoidance equipment on board is AIS (automatic identification of ships collision avoidance system). The AIS periodically transmits dynamic information such as the position, speed and bow of the ship and static data such as the name, size and purpose of the ship, and receives the information transmitted by other ships, so that ship collision is avoided. Unlike the AIS mode, the radar can actively discover ships, buoys, lighthouses, and also can discover objects such as reefs, bridges, cables, buildings, and water surface floats. For the ship, the AIS is passively received and is affected by the sender; radars are active and provide more comprehensive and reliable information. Only AIS and radar use simultaneously to fuse the processing to radar target and AIS target, form more stable target track, just can guarantee that the navigation is safer.
Unfortunately, many radars do not have ARPA functionality, radar Target Tracking (TT), nor do they have access to AIS signals. Even though the IMO radar of the latest system has the TT function, the AIS target can be displayed, the target fusion of the AIS and the TT only stays on the display, and the stable fusion target track output cannot be provided, and collision avoidance early warning can be given.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that do not have the TT function or can't fuse the target of AIS and TT and form the problem of stable integration target track output and provide one kind can fuse the target of AIS and TT and form the digital intelligent target treatment facility of marine radar of stable integration target track output to current marine radar.
In order to achieve the above object, the present invention provides a digital intelligent target processing device for marine radar, comprising:
the radar comprises a marine radar, a radar control unit and a control unit, wherein the marine radar outputs an echo baseband Video signal Video, a Trigger pulse signal Trigger, an azimuth zero pulse signal ARP and an azimuth counting pulse signal ACP;
an AIS device that outputs a vessel AIS signal;
the compass instrument outputs a compass signal;
a navigator, said navigator outputting position/speed/time navigator data signals;
the echo signal conditioning module is used for carrying out routing, filtering, amplifying and offsetting on an echo Video baseband Video signal input by the marine radar, and sending an analog signal with proper bandwidth and amplitude to the ADC module for quantization and collection;
the ADC analog-to-digital conversion module is used for digitally converting the analog signal with proper bandwidth and amplitude output by the echo signal conditioning module into a digital radar echo signal and outputting the digital radar echo signal;
the system comprises a Trigger pulse and azimuth signal receiving module, a radar control module and a data processing module, wherein the Trigger pulse and azimuth signal receiving module converts Trigger, ARP and ACP output by a marine radar into radar Trigger pulses and azimuth synchronous signals and outputs the radar Trigger pulses and azimuth synchronous signals;
the FPGA-based radar signal processing module receives a digital radar echo signal output by the ADC module and a radar trigger pulse and an azimuth synchronous signal output by the trigger pulse and azimuth signal receiving module, and high signal-to-noise ratio radar PPI scanning video data is formed and output through radar signal processing; the radar signal processing module based on the FPGA sets the echo signal conditioning module;
the DDR radar data cache module is in communication connection with the FPGA-based radar signal processing module and is used for storing and calling PPI (pulse-to-noise ratio) scanning video data of the high signal-to-noise ratio radar of the FPGA-based radar signal processing module;
the navigation signal receiving module is used for receiving the compass signal output by the compass, the position/speed/time navigator data signal output by the navigator and the ship AIS signal output by the AIS device, converting the ship AIS signal into a TTL signal and outputting the TTL signal;
the radar target tracking and fusion function module receives TTL signals output by the navigation signal receiving module through a UART asynchronous serial port on the radar target tracking and fusion function module and receives PPI (pulse-to-noise ratio) scanning video data of a high signal-to-noise ratio radar output by the FPGA-based radar signal processing module through a PCI-E (peripheral component interconnect-express) interface on the radar target tracking and fusion function module; the radar target tracking and fusion function module fuses the received TTL signal and PPI scanning video data of the high signal-to-clutter ratio radar to form radar echo data to be output, meanwhile, target detection, capturing and tracking are carried out according to the radar echo data to form TT track data, AIS target tracks are fused, and the track data and collision avoidance parameters can be output;
the MCU memory and storage module is in communication connection with the radar target tracking and fusion function module through a DDR interface and a FLASH interface and is a medium for code operation, calculation and digital storage of the radar target tracking and fusion function module;
the radar control module analyzes, decomposes and converts the received network control configuration parameters and local equipment setting parameters, transmits the parameters to the radar target tracking and fusion function module, controls the echo signal conditioning module to set conditioning parameters, sets the state and configuration parameters of the FPGA-based radar signal processing module, and transmits the parameters to the FPGA-based radar signal processing module through a PCI-E interface on the radar target tracking and fusion function module;
the network communication module is in communication connection with the radar control module and transmits the network control configuration parameters to the radar control module; the remote control center is connected with the remote control center to realize interaction of control, configuration, state, echo data and target track data;
and the display and setting module is in communication connection with the radar control module and is used for displaying the target track data output by the radar target tracking and fusion function module, setting local equipment parameters and transmitting the local equipment parameters to the radar control module.
In a preferred embodiment of the present invention, the network communication module interacts with the remote control center through a 10M/100M/1000M adaptive ethernet network with control, configuration, status, echo data and target track data.
In a preferred embodiment of the present invention, the FPGA-based radar signal processing module is XC6SLX150 of Xilinx.
In a preferred embodiment of the present invention, the radar target tracking and fusion function module is an ARM Cortex a72 processor, and the model is RK3399.
In a preferred embodiment of the present invention, the echo signal conditioning module is composed of an LC filter, an AD8056 operational amplifier, and a radio frequency switch ADG 604.
In a preferred embodiment of the present invention, the ADC analog-to-digital conversion module is LTC2208.
In a preferred embodiment of the present invention, the trigger pulse and azimuth signal receiving module employs a PC400 optocoupler and an MC14504 level shifter.
In a preferred embodiment of the present invention, the DDR radar data cache module employs MT47H128M16RT.
In a preferred embodiment of the present invention, the navigation signal receiving module employs an optical coupler receiving device PC400.
In a preferred embodiment of the present invention, the MCU memory and storage module is a DDR memory bank H5TC4G63 and an eMMC memory bank KLM8G1.
In a preferred embodiment of the present invention, the radar control module is implemented by a RK3399 processor.
In a preferred embodiment of the present invention, the network communication module is composed of a RK3399 processor and an ethernet PHY chip DP 838454.
In a preferred embodiment of the present invention, the display and setting module is composed of RK3399 driving character type LCD and receiving key input.
The working principle of the utility model is as follows: the equipment collects signals of navigation equipment such as marine radar, AIS, compass and navigator, does not influence normal work of radar and other equipment on the ship, and analyzes radar data and the navigation equipment through the radar signal processing module based on the FPGA and the radar target tracking and fusion function module. The FPGA-based radar signal processing module mainly completes various radar signal processing including radar clutter suppression, and radar echo data subjected to range scale quantization is obtained and output.
The radar target tracking and fusion function module analyzes signals of navigation equipment, and meanwhile, automatic tracking of radar targets is realized, and digital transformation and upgrading of traditional radars are realized; and finally, the radar target tracking and fusion function module carries out data communication with a remote control center through network communication, and transmits radar echo data, target track data, navigation equipment data, working states and parameters and the like to other equipment through Ethernet or through satellite communication such as shipborne VSAT and the like.
The utility model has the advantages of it is following:
(1) On the premise of not changing the existing radar and navigation equipment on the ship, the digital upgrading and transformation of the radar are realized, the construction cost of ship information management is reduced, and the navigation safety is improved.
(2) The radar echo acquisition is realized, clutter suppression of radar waves, rain and snow, interference and the like is realized, and scale quantization is realized according to the measuring range. The remote PPI scanning display of radar data can be realized through the Ethernet, and the monitoring capability of remote radar situation perception and management is realized.
(3) The TT ability of the traditional radar is realized, the navigation is safer, and the target sensing ability is more intelligent and automatic.
(4) The target fusion function of the TT and the AIS is realized, the advantages of the TT and the AIS are complemented, and more target information can be sent out.
(5) By the target time synchronization, the track association and the track tracking of the TT and the AIS, the target track data with higher frequency, higher precision and more stability is realized,
(6) The target tracks of TT, AIS and TT + AIS are subjected to intelligent collision avoidance parameter calculation, key collision avoidance parameters of CPA, TCPA and the like of the targets are obtained according to the bow, the course, the navigational speed, the position, the time and the like of the ship (OS), and the possible collision can be early warned, so that the navigation safety and supervision management are greatly provided.
(7) Through network communication of a TCP/IP protocol, equipment interconnection and remote control management can be realized, and ship monitoring management becomes more effective. The ship position, speed, track, navigation, environment and the like can be effectively managed according to conditions, remote intelligent early warning, data storage, query playback and the like are realized, and the ship position, speed, track, navigation, environment and the like have great significance for management such as law enforcement evidence collection, advance reminding, after investigation and the like.
(8) The embedded architecture of FPGA + ARM is adopted, and the embedded architecture has the outstanding advantages of good real-time performance, low power consumption, reliability, stability and the like. The FPGA processes radar signals with high real-time requirements, and the ARM processor realizes complex functions of control, target tracking fusion and the like.
(9) The system has good expandability, can increase data acquisition of marine meteorology and the like on board, can expand intelligent identification functions of target characteristics, behavior analysis and the like, can construct a multi-terminal networking monitoring system, and is particularly suitable for use environments of military and civil integration.
Drawings
Fig. 1 is the schematic diagram of the digital intelligent target processing device for the marine radar of the utility model.
Detailed Description
The invention is further described below with reference to the accompanying drawings and the detailed description.
Referring to fig. 1, the digital intelligent target processing device for the ship radar shown in the figure comprises a ship radar 10, an AIS device 20, a compass 30 and a navigator 40, which utilize existing equipment on the ship. The radar navigation system further comprises an echo signal conditioning module 50, an ADC (analog to digital converter) module 60, a trigger pulse and azimuth signal receiving module 70, an FPGA (field programmable gate array) -based radar signal processing module 80, a DDR (double data rate) radar data cache module 90, a navigation signal receiving module 100, a radar control module 110, a network communication module 120 and a display and setting module 130.
The marine radar 10 outputs an echo baseband Video signal Video, a Trigger pulse signal Trigger, an azimuth zero pulse signal ARP and an azimuth counting pulse signal ACP, the AIS device 20 outputs a ship AIS signal, the compass instrument 30 outputs a compass signal, and the navigator 40 outputs a position/speed/time navigator data signal;
the echo signal conditioning module 50 is composed of an LC filter, an AD8056 operational amplifier, and a radio frequency switch ADG604, and the echo signal conditioning module 50 performs conditioning such as routing, filtering, amplifying, and offsetting on a Video signal input by the marine radar 10, and sends an analog signal with appropriate bandwidth and amplitude to the ADC analog-to-digital conversion module 30 for quantization and acquisition. Meanwhile, the echo signal conditioning module 50 is controlled by the radar control module 110, and sets conditioning parameters according to network remote control.
The ADC analog-to-digital conversion module 60 is a model LTC2208, and digitizes and converts the analog signal with appropriate bandwidth and amplitude output by the echo signal conditioning module 50 into a digitized radar echo signal, and outputs the digitized radar echo signal to the FPGA-based radar signal processing module 80; the sampling clock of the ADC analog-to-digital conversion module 30 is provided by the radar signal processing module 80 based on the FPGA, and the sampling rate is selected to be 100MHz, so as to satisfy the Nyquist criterion of the radar signal bandwidth; the conversion precision of the ADC analog-to-digital conversion module 60 is 14bits, so that a sufficient dynamic range is ensured.
Because the radar works in a mode of synchronous processing of the trigger pulse, the trigger pulse and azimuth signal receiving module 70 adopts a PC400 or MC14504 level conversion chip, and converts a time sequence signal output by the marine radar 10 into a radar trigger pulse and an azimuth synchronous signal, and outputs the radar trigger pulse and the azimuth synchronous signal to the radar signal processing module 80 based on the FPGA for time sequence synchronization. Different radar parameters are different and are converted through the signal processing of the radar signal processing module 80 based on the FPGA.
The FPGA-based radar signal processing module 80 adopts XC6SLX150, which receives the digitized radar echo signal output from the ADC digital-to-analog conversion module 60 and the radar trigger pulse and azimuth synchronization signal output from the trigger pulse and azimuth signal receiving module 70, and after signal processing, forms and outputs high signal-to-noise ratio radar PPI scanned video data; the FPGA-based radar signal processing module 80 sets the echo signal conditioning module. The radar signal processing module 80 based on the FPGA is responsible for radar signal processing, effectively inhibits radar receiving clutter, improves the signal-to-clutter ratio and enhances the detection capability. And according to the setting of the measuring range, the scale quantization is carried out on the pulse echo, the data quantity of radar processing and buffering is reduced, and PPI (flat panel display) radar scanning data is formed. The FPGA-based radar signal processing module 80 employs DDR high-speed radar data cache, and can perform high-speed, high-capacity throughput of radar data.
In radar signal processing, need large capacity, high speed data cache for carry out processing such as relevant, the utility model discloses a DDR radar data cache module 90's model is MT47H128M16RT, by FPGA control and visit, its and radar signal processing module 80 communication connection based on FPGA, to radar PPI scanning video data based on FPGA's radar signal processing module 80 save and be called.
Radar TT needs a bow, namely a compass signal, and also needs navigator data; AIS signals are required for AIS + TT fusion. The utility model discloses a navigation signal receiving module 100 adopts opto-coupler receiver PC400 to receive compass signal, the navigator 40 output position/speed/time navigator data signal of compass appearance 30 output, AIS device 20 output boats and ships AIS signal and convert TTL signal and output.
The utility model discloses a characteristics are with the target fusion of TT and AIS, complement the advantage of TT and AIS, can send out more target information, and target track data is reliable and stable more. Therefore, the utility model discloses still include a radar target tracking and fuse functional module 140 and MCU memory and storage module 150. The radar target tracking and fusion function module 140 adopts an ARM Cortex a72 processor RK3399, and the MCU memory and storage module 150 adopts a DDR memory bank H5TC4G63 and an eMMC memory bank KLM8G1, respectively.
The radar target tracking and fusion function module 140 performs target capture and tracking on a radar echo based on a target of the ARM processor to form a radar tracking target, i.e., a TT target.
The marine radar 10 can actively find objects such as ships, navigation marks, water surface floating objects and the like, and the modern marine radar 10 has an intelligent collision avoidance function, which is also called as an Automatic Radar Plotter (ARPA) function or a Target Tracking (TT), on the basis of digitization and computer technology development. TT is influenced by clutter, interference, shielding and the like, false alarm and missed alarm exist, and the measurement accuracy error is large. The AIS (automatic ship collision avoidance instrument) senses surrounding ships by sending ship navigation information and ship data at regular time and receiving other ships, and is high in AIS precision, stable, reliable and diffraction, but depends on target active emission. Therefore, the utility model discloses a radar target tracking fuses TT and AIS with fusion function module 140, has the advantage of getting strong points and making up for the weak points. The TT and AIS fusion mainly comprises time synchronization, track initiation and track correlation processing technologies, and fused target track information is transmitted outwards through a network communication module.
The radar target tracking and fusion function module 140 receives TTL signals output from the navigation signal receiving module 100 through the UART asynchronous serial port thereon and receives PPI scanning video data of the high signal-to-noise ratio radar output from the FPGA-based radar signal processing module 80 through the PCI-E interface thereon.
The radar target tracking and fusion function module 140 fuses the received TTL signal and the high signal-to-noise ratio radar PPI scanned video data to form a radar echo data network output, and meanwhile, performs target detection, capture and tracking according to the radar echo data to form TT track data, and fuses the AIS target track, and may perform network output on the track data and the collision avoidance parameters.
The MCU internal storage and storage module 150 is a code running, calculating and digital storage medium of the radar target tracking and fusion function module 140, and constitutes a working system of the radar target tracking and fusion function module 140 through a special DDR interface and a FLASH interface.
The radar control module 110 is implemented by RK3399, and is responsible for functions such as status display and key setting of devices, and the radar control module 110 is connected to the network communication module 120 at the same time to obtain network control parameter configuration and local device parameter setting. The radar control module 110 analyzes, decomposes, and converts the local setting parameters and the remote network control parameters, and transmits the relevant parameters to the radar target tracking and fusion function module 140, or transmits the status and configuration parameters of the FPGA-based radar signal processing module 80 to the FPGA-based radar signal processing module 80 through the PCI-E interface.
The network communication module 120 consists of RK3399 and DP838454, is in communication connection with the radar control module 110, and transmits network control parameter configuration to the radar control module 110; and is connected with a remote control center 200 through a network switch 160, a satellite antenna 170, a network 180 and a network communication module 190, so as to realize the interaction of control, configuration, state, echo data and target track data. The network 180 may choose to support an adaptive Ethernet network of 10M/100M/1000M.
The display and setting module 130 drives the simple character type LCD to display and receive key input by RK3399, is in communication connection with the radar control module 110, and is configured to display the working state output by the radar target tracking and fusion function module 140, set the local device parameters, and transmit the local device parameters to the radar control module 140.

Claims (4)

1. A marine radar digitization intelligent target processing device, comprising:
the radar comprises a marine radar, a radar control unit and a control unit, wherein the marine radar outputs an echo baseband Video signal Video, a Trigger pulse signal Trigger, an azimuth zero pulse signal ARP and an azimuth counting pulse signal ACP;
an AIS device that outputs a vessel AIS signal;
the compass instrument outputs a compass signal;
a navigator outputting position/speed/time navigator data signals;
the echo signal conditioning module is used for carrying out routing, filtering, amplifying and offsetting on a Video signal input by the marine radar, and sending an analog signal with proper bandwidth and amplitude to the ADC module for quantization and acquisition;
the ADC analog-to-digital conversion module is used for digitally converting the analog signal with proper bandwidth and amplitude output by the echo signal conditioning module into a digital radar echo signal and outputting the digital radar echo signal;
the system comprises a Trigger pulse and azimuth signal receiving module, a radar control module and a data processing module, wherein the Trigger pulse and azimuth signal receiving module converts Trigger, ARP and ACP output by a marine radar into radar Trigger pulses and azimuth synchronous signals and outputs the radar Trigger pulses and azimuth synchronous signals;
the FPGA-based radar signal processing module receives a digital radar echo signal output by the ADC module and a radar trigger pulse and an azimuth synchronous signal output by the trigger pulse and azimuth signal receiving module, and high signal-to-noise ratio radar PPI scanning video data is formed and output after processing; the radar signal processing module based on the FPGA sets the echo signal conditioning module;
the DDR radar data cache module is in communication connection with the FPGA-based radar signal processing module and is used for storing and calling radar PPI scanning video data of the FPGA-based radar signal processing module;
the navigation signal receiving module is used for receiving the compass signal output by the compass, the position/speed/time navigator data signal output by the navigator and the ship AIS signal output by the AIS device, converting the ship AIS signal into a TTL signal and outputting the TTL signal;
the radar target tracking and fusion function module receives TTL signals output by the navigation signal receiving module through a UART asynchronous serial port on the radar target tracking and fusion function module and receives PPI (pulse-to-noise ratio) scanning video data of a high signal-to-noise ratio radar output by the FPGA-based radar signal processing module through a PCI-E (peripheral component interconnect-express) interface on the radar target tracking and fusion function module; the radar target tracking and fusion function module fuses the received TTL signal and PPI scanning video data of the high signal-to-noise ratio radar to form radar echo data to be output, meanwhile, target detection, capturing and tracking are carried out according to the radar echo data to form TT track data, TT and AIS are fused to form a target track, and the track data and collision avoidance parameters can be output;
the MCU memory and storage module is in communication connection with the radar target tracking and fusion function module through a DDR interface and a FLASH interface and is a medium for code operation, calculation and digital storage of the radar target tracking and fusion function module;
the radar control module analyzes, decomposes and converts the received network control parameter configuration and local equipment parameter setting, transmits the analyzed, decomposed and converted network control parameter configuration and local equipment parameter configuration to the radar target tracking and fusion function module, controls the echo signal conditioning module to set conditioning parameters, simultaneously sets the state and configuration parameters of the FPGA-based radar signal processing module, and transmits the set conditioning parameters to the FPGA-based radar signal processing module through a PCI-E interface on the radar target tracking and fusion function module;
the network communication module is in communication connection with the radar control module and transmits network control parameter configuration to the radar control module; the remote control center is connected with the remote control center to realize interactive transmission of control, configuration, state, echo data and target track data;
the display and setting module is in communication connection with the radar control module and is used for displaying the working state of the radar control module, setting local equipment parameters and transmitting the local equipment parameters to the radar control module;
and the network communication module carries out interactive transmission of control, configuration, state, echo data and target track data with the remote control center through a 10M/100M/1000M self-adaptive Ethernet.
2. The marine radar digitization intelligent target processing device of claim 1, wherein the FPGA-based radar signal processing module employs XC6SLX150.
3. The marine radar digitization intelligent target processing device of claim 1, wherein the radar target tracking and fusion function module uses a RK3399 ARM Cortex a72 processor.
4. The marine radar digitization intelligent target processing device of claim 1, wherein the MCU memory and storage module employs DDR memory bank H5TC4G63 and eMMC memory bank KLM8G1.
CN202220663904.2U 2022-03-24 2022-03-24 Digital intelligent target processing equipment for marine radar Active CN217787388U (en)

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CN202220663904.2U CN217787388U (en) 2022-03-24 2022-03-24 Digital intelligent target processing equipment for marine radar

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Application Number Priority Date Filing Date Title
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