WO2020107138A1 - 一种微波雷达和无人飞行器 - Google Patents

一种微波雷达和无人飞行器 Download PDF

Info

Publication number
WO2020107138A1
WO2020107138A1 PCT/CN2018/117372 CN2018117372W WO2020107138A1 WO 2020107138 A1 WO2020107138 A1 WO 2020107138A1 CN 2018117372 W CN2018117372 W CN 2018117372W WO 2020107138 A1 WO2020107138 A1 WO 2020107138A1
Authority
WO
WIPO (PCT)
Prior art keywords
angle
detection
echo
detection target
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/117372
Other languages
English (en)
French (fr)
Inventor
黄宾
王俊喜
王春明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN201880040886.9A priority Critical patent/CN110892285A/zh
Priority to PCT/CN2018/117372 priority patent/WO2020107138A1/zh
Publication of WO2020107138A1 publication Critical patent/WO2020107138A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/36—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like adapted to receive antennas or radomes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Definitions

  • the present invention relates to the technical field of aircraft, and in particular, to a microwave radar and unmanned aerial vehicle.
  • the rotating frequency of the rotating radar should not be too high during use, otherwise the service life of the bearing will be shortened, and the vibration caused by the rotation will also affect the radar service life.
  • the problem caused by low rotation speed is that the radar's single pitch angle refresh rate is insufficient, which is common in rotating radars.
  • the rotating radar uses triangular wave frequency modulation continuous wave and OS-CFAR (Ordered Statistic Constant FALSE Alarm Rate, ordered statistical constant false alarm probability detection).
  • OS-CFAR Organic Statistic Constant FALSE Alarm Rate, ordered statistical constant false alarm probability detection
  • the solid line represents the transmitted signal
  • the dashed line represents the moving target echo signal
  • the dot-dash line represents the stationary target echo signal
  • T CPI represents the triangle wave period
  • f represents the frequency
  • B represents the bandwidth
  • f 0 represents the center frequency
  • t d represents the time difference between the transmitted signal and the echo signal
  • f B represents the difference frequency after the transmitted signal and the echo signal are mixed
  • the symmetrical triangular wave modulated FMCW (Frequency Modulated Continuous Wave) radar can measure speed and range simultaneously , It does not have the advantages of distance ambiguity and so on, commonly used triangle wave as the modulation waveform of anti-collision radar.
  • the main purpose of the OS-CFAR algorithm is to suppress the performance degradation caused by the shadowing effect. It retains the one-dimensional or two-dimensional sliding window results used by the average constant virtual probability detection.
  • the protection unit can also be used if necessary, but the latter is completely abandoned.
  • the data of the reference unit is averaged to directly estimate the interference power level. Instead, the OS CFAR sorts the data of the reference unit to form a new sequence in ascending order, and selects the value of the kth ordered statistic as the Estimation of interference power level, and set the threshold to the product of this value and a factor.
  • the above-mentioned related technologies have a relatively large probability of missed detection for weak target detection, and are unable to establish stable observations, which leads to the failure of track establishment and has a greater impact on the autonomous obstacle avoidance function of the UAV.
  • the present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.
  • the first aspect of the present invention is to propose a microwave radar.
  • the second aspect of the present invention is to propose an unmanned aerial vehicle.
  • the third aspect of the present invention is to propose a microwave radar signal processing method.
  • the fourth aspect of the present invention is to propose a control method for an unmanned aerial vehicle.
  • the fifth aspect of the present invention is to provide a computer storage medium.
  • a microwave radar including: an antenna device for transmitting microwave signals at different angles and/or receiving echo signals of microwave signals; and a radar controller, Connected with the antenna device, the radar controller is used to perform the following operations: acquire multiple echo signals; group the multiple echo signals according to the observation angle corresponding to the echo signals, where each angle group corresponds to a preset Observe the echo signals in the angle range; coherently accumulate the echo signals in each angle group to obtain the echo accumulation signal; according to the echo accumulation signal, calculate the relevant information of the detection target corresponding to the echo accumulation signal.
  • the invention adopts the grating scale configured by the radar controller to control the direction of the microwave signal emitted by the microwave radar.
  • the microwave radar can be configured to trigger a radio frequency board to transmit the grating scale.
  • the continuous M echo signals are grouped and coherently accumulated to improve the signal-to-noise ratio, thereby improving the detection probability of weak targets and improving the performance of microwave radar obstacle avoidance.
  • the antenna device continuously rotates about a rotation axis.
  • the antenna device continuously emits microwave signals while rotating.
  • the radar controller calculating the relevant information of the detection target corresponding to the echo accumulation signal according to the echo accumulation signal includes: removing the DC component in the echo accumulation signal; adopting a preset truncation function to remove the DC Perform truncation processing on the component-accumulated echo accumulation signal; perform fast Fourier on the truncated echo accumulation signal to obtain the spectral information of the fast Fourier-echo accumulation signal; according to the preset detection threshold, Perform constant false alarm processing on the spectrum information; obtain peak information according to the spectrum information processed by the constant false alarm; perform parabolic fitting processing based on the peak information; calculate the detection corresponding to the echo accumulation signal according to the peak information after the parabolic fitting processing Information about the goal.
  • the radar controller is also used to: fuse the relevant information of the detection target in multiple angle groups.
  • the radar controller fusing the relevant information of the detection targets in the multiple angle groups includes: determining whether the detection targets in the multiple angle groups are the same based on the relevant information of the detection targets in the multiple angle groups Detection target; if it is the same detection target, according to the detection energy of the detection target, the relevant information of the detection target with the largest detection energy is selected as the relevant information of the same detection target.
  • target detection and extraction is performed based on the intermediate frequency signal of the echo signal, including DC removal, windowing, FFT (Fast Fourier Transformation), CFAR (constant false alarm processing) detection, and parabola Fitting, etc., to obtain the target object information within the angle grouping.
  • the principle of fusion is based on the principle of no loss and any detection, and the merging is performed according to the index of the target (detection peak position). After merging, they are arranged as microwave radar according to the distance from near to far Target information. It should be noted that if the same target is detected at different observation angles, the energy is used as a basis for selection, and the one with the larger energy is selected as the detection result.
  • the radar controller is also used to determine the compensation frequency according to the moving speed of the microwave radar, and perform Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the radar controller is further configured to configure the number of acquired multiple echo signals and coherent accumulation parameters, where the coherent accumulation parameter is the number of echo signals in each angle group, and the acquired multiple echoes The number of signals is an integer multiple of the coherent accumulation parameter.
  • the radar controller configures the number of acquired multiple echo signals and coherent accumulation parameters, and the ratio of the number of acquired multiple echo signals to the coherent accumulation parameters is the angle grouping of the echo signals. Number, multiple echo signals within an angle group are coherently accumulated to increase the probability of weak target detection.
  • it further includes: an angle sensor communicatively connected to the radar controller.
  • the angle sensor is used to detect the observation angle of the microwave signal and the echo signal.
  • the angle sensor includes a grating angle sensor.
  • the radar controller is further used to modify the observation angle acquired by the angle sensor according to the attitude information of the vehicle, where the vehicle is used to carry the microwave radar.
  • the vehicle is an unmanned aerial vehicle, or a ground vehicle.
  • the radar controller is also used to adjust the zero-scale position of the angle sensor using attitude information.
  • the attitude information includes pitch angle information
  • the zero-scale position of the angle sensor is set parallel to the translation axis of the vehicle.
  • the rotation axis of the antenna device is set perpendicular to the translation axis of the carrier.
  • the unmanned aerial vehicle may be tilted during the flight, and the attitude information is used to compensate the zero-degree scale position of the angle sensor, thereby improving the accuracy of target detection.
  • the relevant information of the detection target includes one or a combination of the following: the distance between the microwave radar and the detection target, the angle between the microwave radar and the detection target, the number of detection targets, the position of the detection target, and the return energy .
  • the radar controller fuse the relevant information of the detected targets in multiple angle groups, including: establishing fusion variables; for any angle group, determine whether the number of detected targets in the angle group is greater than zero, when When the number of detection targets in the angle group is less than or equal to zero, the next angle group is entered.
  • the number of detection targets in the angle group is greater than zero, it is determined whether the number of detection targets in the fusion variable is zero; when the number of detection targets in the fusion variable is zero Copy the relevant information of the detection target in the angle group to the fusion variable, and enter the next angle group, when the number of detection targets in the fusion variable is not zero, the relevant information of the detection target in the angle group and the detection in the fusion variable The target information is merged until the number of detected targets in the fusion variable is greater than the preset number threshold.
  • the radar controller merges the relevant information of the detection target in the angle group with the detection target information in the fusion variable, which specifically includes: according to the distance between the microwave radar and the detection target, the detection in the angle group The relevant information of the target is merged with the detected target information in the fusion variable.
  • an unmanned aerial vehicle including: a rack; a microwave radar, mounted on the rack, the microwave radar includes: an antenna device for emitting microwave signals at different angles, and/or Receive an echo signal of a microwave signal; and a radar controller, which is in communication with the antenna device, the radar controller acquires multiple echo signals, and angle grouping the multiple echo signals according to the observation angle corresponding to the echo signal, wherein, Each angle group corresponds to the echo signal of the preset observation angle range.
  • the echo signals in each angle group are coherently accumulated to obtain the echo accumulation signal. According to the echo accumulation signal, the corresponding to the echo accumulation signal is calculated. Information about the detection target.
  • the invention adopts the grating scale configured by the radar controller to control the direction of the microwave signal emitted by the microwave radar.
  • the microwave radar can be configured to trigger a radio frequency board to transmit the grating scale.
  • the antenna device of the microwave radar continuously emits M triangular waves and receives the detection target After the returned M echo signals, the continuous M echo signals are grouped and coherently accumulated to improve the signal-to-noise ratio, thereby improving the detection probability of weak targets and improving the performance of microwave radar obstacle avoidance.
  • the antenna device continuously rotates about a rotation axis.
  • the antenna device continuously emits microwave signals while rotating.
  • the radar controller calculating the relevant information of the detection target corresponding to the echo accumulation signal according to the echo accumulation signal includes: removing the DC component in the echo accumulation signal; adopting a preset truncation function to remove the DC Perform truncation processing on the component-accumulated echo accumulation signal; perform fast Fourier on the truncated echo accumulation signal to obtain the spectral information of the fast Fourier-echo accumulation signal; according to the preset detection threshold, Perform constant false alarm processing on the spectrum information; obtain peak information according to the spectrum information processed by the constant false alarm; perform parabolic fitting processing based on the peak information; calculate the detection corresponding to the echo accumulation signal according to the peak information after the parabolic fitting processing Information about the goal.
  • the radar controller is also used to: fuse the relevant information of the detection target in multiple angle groups.
  • the radar controller fusing the relevant information of the detection targets in the multiple angle groups includes: determining whether the detection targets in the multiple angle groups are the same based on the relevant information of the detection targets in the multiple angle groups Detection target; if it is the same detection target, according to the detection energy of the detection target, the relevant information of the detection target with the largest detection energy is selected as the relevant information of the same detection target.
  • target detection and extraction is performed based on the intermediate frequency signal of the echo signal, including DC removal, windowing, FFT (fast Fourier transform), CFAR (constant false alarm processing) detection, and parabola fitting, etc.
  • all the results are fused.
  • the principle of fusion is based on the principle of no loss and any detection, and the merging is performed according to the index of the target (detection peak position). After merging, they are arranged as microwave radar according to the distance from near to far Target information. It should be noted that if the same target is detected at different observation angles, the energy is used as a basis for selection, and the one with the larger energy is selected as the detection result.
  • the radar controller is also used to determine the compensation frequency according to the moving speed of the microwave radar, and perform Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the radar controller is further configured to configure the number of acquired multiple echo signals and coherent accumulation parameters, where the coherent accumulation parameter is the number of echo signals in each angle group, and the acquired multiple echoes The number of signals is an integer multiple of the coherent accumulation parameter.
  • the radar controller configures the number of acquired multiple echo signals and coherent accumulation parameters, and the ratio of the number of acquired multiple echo signals to the coherent accumulation parameters is the angle grouping of the echo signals. Number, multiple echo signals within an angle group are coherently accumulated to increase the probability of weak target detection.
  • it further includes: an angle sensor communicatively connected to the radar controller.
  • the angle sensor is used to detect the observation angle of the microwave signal and the echo signal.
  • the angle sensor includes a grating angle sensor.
  • the radar controller is further used to modify the observation angle acquired by the angle sensor according to the attitude information of the vehicle, where the vehicle is used to carry the microwave radar.
  • the vehicle is an unmanned aerial vehicle, or a ground vehicle.
  • the radar controller is also used to adjust the zero-scale position of the angle sensor using attitude information.
  • the attitude information includes pitch angle information
  • the zero-scale position of the angle sensor is set parallel to the translation axis of the vehicle.
  • the rotation axis of the antenna device is set perpendicular to the translation axis of the carrier.
  • the unmanned aerial vehicle may be tilted during the flight, and the attitude information is used to compensate the zero-degree scale position of the angle sensor, thereby improving the accuracy of target detection.
  • the relevant information of the detection target includes one or a combination of the following: the distance between the microwave radar and the detection target, the angle between the microwave radar and the detection target, the number of detection targets, the position of the detection target, and the return energy .
  • the radar controller fuse the relevant information of the detected targets in multiple angle groups, including: establishing fusion variables; for any angle group, determine whether the number of detected targets in the angle group is greater than zero, when When the number of detection targets in the angle group is less than or equal to zero, the next angle group is entered.
  • the number of detection targets in the angle group is greater than zero, it is determined whether the number of detection targets in the fusion variable is zero; when the number of detection targets in the fusion variable is zero Copy the relevant information of the detection target in the angle group to the fusion variable, and enter the next angle group, when the number of detection targets in the fusion variable is not zero, the relevant information of the detection target in the angle group and the detection in the fusion variable The target information is merged until the number of detected targets in the fusion variable is greater than the preset number threshold.
  • the radar controller merges the relevant information of the detection target in the angle group with the detection target information in the fusion variable, which specifically includes: according to the distance between the microwave radar and the detection target, the detection in the angle group The relevant information of the target is merged with the detected target information in the fusion variable.
  • it further includes: an aircraft controller, configured to control the trajectory of the unmanned aerial vehicle according to the relevant information of the fused detection target.
  • the aircraft controller controls the trajectory of the unmanned aerial vehicle according to the information about the fused detection target, for example, controls the unmanned aerial vehicle to stop flying or bypass the target before detecting the target.
  • a microwave radar signal processing method including: controlling the antenna device of the microwave radar to transmit microwave signals at different angles, and/or receiving the echo signals of the microwave signals; acquiring multiple echoes Wave signal, according to the observation angle corresponding to the echo signal, angle grouping multiple echo signals, wherein each angle group corresponds to the echo signal of the preset observation angle range; echo signals in each angle group , Perform coherent accumulation to obtain the echo accumulation signal; according to the echo accumulation signal, calculate the relevant information of the detection target corresponding to the echo accumulation signal.
  • the invention uses the configured grating scale to control the direction of the microwave signal emitted by the microwave radar.
  • the microwave radar can be configured to trigger a radio frequency board to transmit the grating scale.
  • the antenna device of the microwave radar continuously emits M triangle waves and receives the M returned by the detection target After each echo signal, the continuous M echo signals are grouped and coherently accumulated to improve the signal-to-noise ratio, thereby improving the detection probability of weak targets and improving the performance of microwave radar obstacle avoidance.
  • the method further includes: controlling the antenna device to continuously rotate around a rotation axis.
  • the method further includes: controlling the antenna device to continuously transmit microwave signals while rotating.
  • the step of calculating the relevant information of the detection target corresponding to the echo accumulation signal according to the echo accumulation signal includes: removing the DC component in the echo accumulation signal; using a preset truncation function to remove the DC component Perform truncation processing on the accumulated echo signal; perform fast Fourier on the accumulated echo signal after truncation processing to obtain the spectrum information of the accumulated echo signal after fast Fourier; according to the preset detection threshold, the spectrum
  • the information is processed by constant false alarm; the peak information is obtained according to the spectrum information processed by the constant false alarm; the parabolic fitting process is performed according to the peak information; the detection target corresponding to the echo accumulation signal is calculated according to the peak information after the parabolic fitting process Related information.
  • the method further includes: fusing relevant information of the detection target in multiple angle groups.
  • the step of fusing the relevant information of the detection targets in the multiple angle groups includes: determining whether the detection targets in the multiple angle groups are the same detection based on the relevant information of the detection targets in the multiple angle groups Target; if it is the same detection target, then select the relevant information of the detection target with the largest detection energy according to the detection energy of the detection target as the related information of the same detection target.
  • target detection and extraction is performed based on the intermediate frequency signal of the echo signal, including DC removal, windowing, FFT (fast Fourier transform), CFAR (constant false alarm processing) detection, and parabola fitting, etc.
  • the method further includes: determining a compensation frequency according to the moving speed of the microwave radar, and performing Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the method further includes: configuring the number of acquired multiple echo signals and coherent accumulation parameters, where the coherent accumulation parameter is the number of echo signals in each angle group and the number of acquired multiple echo signals It is an integer multiple of the coherent accumulation parameter.
  • the number of acquired multiple echo signals and coherent accumulation parameters are configured, and the ratio of the number of acquired multiple echo signals to the coherent accumulation parameters is the number of angle groupings of the echo signals. Multiple echo signals within an angle group are coherently accumulated to increase the probability of weak target detection.
  • the method further includes: controlling an angle sensor of the microwave radar to detect the observation angle of the microwave signal and the echo signal.
  • the angle sensor includes a grating angle sensor.
  • the method further includes: modifying the observation angle acquired by the angle sensor according to the attitude information of the vehicle, wherein the vehicle is used to carry the microwave radar.
  • the vehicle is an unmanned aerial vehicle, or a ground vehicle.
  • the method further includes: adjusting the zero-scale position of the angle sensor by using posture information.
  • the attitude information includes pitch angle information
  • the zero-scale position of the angle sensor is set parallel to the translation axis of the vehicle.
  • the unmanned aerial vehicle will be tilted during the flight, and the attitude information is used to compensate the zero-scale position of the angle sensor, thereby improving the accuracy of target detection.
  • the rotation axis of the antenna device is set perpendicular to the translation axis of the carrier.
  • the relevant information of the detection target includes one or a combination of the following: the distance between the microwave radar and the detection target, the angle between the microwave radar and the detection target, the number of detection targets, the position of the detection target, and the return energy .
  • the step of fusing the relevant information of the detection targets in multiple angle groups includes: establishing a fusion variable; for any angle group, determining whether the number of detection targets in the angle group is greater than zero, when the angle group When the number of detection targets is less than or equal to zero, enter the next angle grouping.
  • the number of detection targets in the angle group is greater than zero, determine whether the number of detection targets in the fusion variable is zero; when the number of detection targets in the fusion variable is zero, group the angle The relevant information of the detection target in the copy is copied to the fusion variable, and the next angle grouping is entered.
  • the relevant information of the detection target in the angle grouping is carried out with the detection target information in the fusion variable Merge until the number of detection targets in the fusion variable is greater than the preset number threshold.
  • the step of combining the relevant information of the detection target in the angle group with the detection target information in the fusion variable includes: according to the distance between the microwave radar and the detection target, the detection target in the angle group is related The information is merged with the detection target information in the fusion variable.
  • a method for controlling an unmanned aerial vehicle including: controlling an antenna device of a microwave radar of the unmanned aerial vehicle to transmit microwave signals at different angles, and/or receiving echo signals of microwave signals; Obtain multiple echo signals, and group the multiple echo signals according to the observation angle corresponding to the echo signal, where each angle group corresponds to the echo signal of the preset observation angle range; group each angle Echo signals are coherently accumulated to obtain an echo accumulation signal; according to the echo accumulation signal, the relevant information of the detection target corresponding to the echo accumulation signal is calculated.
  • the invention uses the configured grating scale to control the direction of the microwave signal emitted by the microwave radar.
  • the microwave radar can be configured to trigger a radio frequency board to transmit the grating scale.
  • the antenna device of the microwave radar continuously emits M triangle waves and receives the M returned by the detection target After each echo signal, the continuous M echo signals are grouped and coherently accumulated to improve the signal-to-noise ratio, thereby improving the detection probability of weak targets and improving the performance of microwave radar obstacle avoidance.
  • the antenna device is controlled to rotate continuously about a rotation axis.
  • the method further includes: controlling the antenna device to continuously transmit microwave signals while rotating.
  • the step of calculating the relevant information of the detection target corresponding to the echo accumulation signal according to the echo accumulation signal includes: removing the DC component in the echo accumulation signal; using a preset truncation function to remove the DC component Perform truncation processing on the accumulated echo signal; perform fast Fourier on the accumulated echo signal after truncation processing to obtain the spectrum information of the accumulated echo signal after fast Fourier; according to the preset detection threshold, the spectrum
  • the information is processed by constant false alarm; the peak information is obtained according to the spectrum information processed by the constant false alarm; the parabolic fitting process is performed according to the peak information; the detection target corresponding to the echo accumulation signal is calculated according to the peak information after the parabolic fitting process Related information.
  • the method further includes: fusing relevant information of the detection target in multiple angle groups.
  • the step of fusing the relevant information of the detection targets in the multiple angle groups includes: determining whether the detection targets in the multiple angle groups are the same detection based on the relevant information of the detection targets in the multiple angle groups Target; if it is the same detection target, then select the relevant information of the detection target with the largest detection energy according to the detection energy of the detection target as the related information of the same detection target.
  • target detection and extraction is performed based on the intermediate frequency signal of the echo signal, including DC removal, windowing, FFT (fast Fourier transform), CFAR (constant false alarm processing) detection, and parabola fitting, etc.
  • the principle of fusion is based on the principle of no loss and any detection, and the merging is performed according to the index of the target (detection peak position). After merging, they are arranged as microwave radar according to the distance from near to far. Target information. It should be noted that if the same target is detected at different observation angles, the energy is used as a basis for selection, and the one with the larger energy is selected as the detection result.
  • the method further includes: determining a compensation frequency according to the moving speed of the microwave radar, and performing Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the method further includes: configuring the number of acquired multiple echo signals and coherent accumulation parameters, where the coherent accumulation parameter is the number of echo signals in each angle group and the number of acquired multiple echo signals It is an integer multiple of the coherent accumulation parameter.
  • the number of acquired multiple echo signals and coherent accumulation parameters are configured, and the ratio of the number of acquired multiple echo signals to the coherent accumulation parameters is the number of angle groupings of the echo signals. Multiple echo signals within an angle group are coherently accumulated to increase the probability of weak target detection.
  • the angle sensor controlling the microwave radar detects the observation angle of the microwave signal and the echo signal.
  • the angle sensor includes a grating angle sensor.
  • the method further includes: modifying the observation angle acquired by the angle sensor according to the attitude information of the vehicle, wherein the vehicle is used to carry the microwave radar.
  • the vehicle is an unmanned aerial vehicle, or a ground vehicle.
  • the method further includes: adjusting the zero-scale position of the angle sensor by using posture information.
  • the attitude information includes pitch angle information
  • the zero-scale position of the angle sensor is set parallel to the translation axis of the vehicle.
  • the rotation axis of the antenna device is set perpendicular to the translation axis of the carrier.
  • the unmanned aerial vehicle will be tilted during the flight, and the attitude information is used to compensate the zero-scale position of the angle sensor, thereby improving the accuracy of target detection.
  • the relevant information of the detection target includes one or a combination of the following: the distance between the microwave radar and the detection target, the angle between the microwave radar and the detection target, the number of detection targets, the position of the detection target, and the return energy .
  • the step of fusing the relevant information of the detection targets in multiple angle groups includes: establishing a fusion variable; for any angle group, determining whether the number of detection targets in the angle group is greater than zero, when the angle group When the number of detection targets is less than or equal to zero, enter the next angle grouping.
  • the number of detection targets in the angle group is greater than zero, determine whether the number of detection targets in the fusion variable is zero; when the number of detection targets in the fusion variable is zero, group the angle The relevant information of the detection target in the copy is copied to the fusion variable, and the next angle grouping is entered.
  • the relevant information of the detection target in the angle grouping is carried out with the detection target information in the fusion variable Merge until the number of detection targets in the fusion variable is greater than the preset number threshold.
  • the step of combining the relevant information of the detection target in the angle group with the detection target information in the fusion variable includes: according to the distance between the microwave radar and the detection target, the detection target in the angle group is related The information is merged with the detection target information in the fusion variable.
  • the method further includes: controlling the trajectory of the unmanned aerial vehicle according to the related information of the fused detection target.
  • the aircraft controller controls the trajectory of the unmanned aerial vehicle according to the relevant information of the fused detection target, for example, controls the unmanned aerial vehicle to stop flying in front of the target or bypass the detection target.
  • a computer storage medium in which program instructions are stored in the computer storage medium, and the program instructions are used to implement: an antenna device for controlling a microwave radar transmits microwave signals at different angles, and/or receives microwaves The echo signal of the signal; obtain multiple echo signals, and group the multiple echo signals according to the observation angle corresponding to the echo signal, wherein each angle group corresponds to the echo signal of the preset observation angle range; The echo signals in each angle group are coherently accumulated to obtain an echo accumulation signal; according to the echo accumulation signal, the relevant information of the detection target corresponding to the echo accumulation signal is calculated.
  • the invention uses the configured grating scale to control the direction of the microwave signal emitted by the microwave radar.
  • the microwave radar can be configured to trigger a radio frequency board to transmit the grating scale.
  • the antenna device of the microwave radar continuously emits M triangle waves and receives the M returned by the detection target. After each echo signal, the continuous M echo signals are grouped and coherently accumulated to improve the signal-to-noise ratio, thereby improving the detection probability of weak targets and improving the performance of microwave radar obstacle avoidance.
  • the program instructions are also used to realize: controlling the antenna device to continuously rotate around a rotation axis.
  • the program instructions are also used to realize that the antenna device is controlled to continuously emit microwave signals while rotating.
  • the program instructions implement calculation of the relevant information of the detection target corresponding to the echo accumulation signal according to the echo accumulation signal, which specifically includes: removing the DC component in the echo accumulation signal; using a preset truncation function, After the DC component is removed, the echo accumulation signal is truncated; the truncated echo accumulation signal is subjected to fast Fourier to obtain the spectrum information of the fast Fourier echo accumulation signal; according to the preset detection threshold , Perform constant false alarm processing on the spectrum information; obtain peak information according to the spectrum information processed by the constant false alarm; perform parabolic fitting processing based on the peak information; calculate the corresponding to the echo accumulation signal according to the peak information after the parabolic fitting processing Information about the detection target.
  • the program instructions are also used to realize: fuse the relevant information of the detection target in multiple angle groups.
  • the program instructions realize the fusion of the related information of the detection targets in the multiple angle groups, specifically including: determining whether the detection targets in the multiple angle groups are based on the related information of the detection targets in the multiple angle groups It is the same detection target; if it is the same detection target, the relevant information of the detection target with the largest detection energy is selected as the relevant information of the same detection target according to the detection energy of the detection target.
  • target detection and extraction is performed based on the intermediate frequency signal of the echo signal, including DC removal, windowing, FFT (fast Fourier transform), CFAR (constant false alarm processing) detection, and parabola fitting, etc.
  • the program instructions are also used to realize: determining the compensation frequency according to the moving speed of the microwave radar, and performing Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the program instructions are also used to implement: configuring the number of acquired multiple echo signals and coherent accumulation parameters, where the coherent accumulation parameter is the number of echo signals in each angle group, and the acquired multiple echoes
  • the number of wave signals is an integer multiple of the coherent accumulation parameter.
  • the number of acquired multiple echo signals and coherent accumulation parameters are configured, and the ratio of the number of acquired multiple echo signals to the coherent accumulation parameters is the number of angle groupings of the echo signals. Multiple echo signals within an angle group are coherently accumulated to increase the probability of weak target detection.
  • the program instructions are also used to realize: controlling the angle sensor of the microwave radar to detect the observation angle of the microwave signal and the echo signal.
  • the angle sensor includes a grating angle sensor.
  • the program instructions are also used to implement: modify the observation angle acquired by the angle sensor according to the attitude information of the vehicle, where the vehicle is used to carry the microwave radar.
  • the vehicle is an unmanned aerial vehicle, or a ground vehicle.
  • the program instructions are also used to implement: adjust the zero-degree scale position of the angle sensor using attitude information.
  • the attitude information includes pitch angle information
  • the zero-scale position of the angle sensor is set parallel to the translation axis of the vehicle.
  • the rotation axis of the antenna device is set perpendicular to the translation axis of the carrier.
  • the unmanned aerial vehicle will be tilted during the flight, and the attitude information is used to compensate the zero-scale position of the angle sensor, thereby improving the accuracy of target detection.
  • the relevant information of the detection target includes one or a combination of the following: the distance between the microwave radar and the detection target, the angle between the microwave radar and the detection target, the number of detection targets, the position of the detection target, and the return energy .
  • the program instructions realize the fusion of the relevant information of the detection targets in multiple angle groups, which specifically includes: establishing a fusion variable; for any angle group, determining whether the number of detection targets in the angle group is greater than zero, when When the number of detection targets in the angle group is less than or equal to zero, the next angle group is entered.
  • the number of detection targets in the angle group is greater than zero, it is determined whether the number of detection targets in the fusion variable is zero; when the number of detection targets in the fusion variable is zero Copy the relevant information of the detection target in the angle group to the fusion variable, and enter the next angle group, when the number of detection targets in the fusion variable is not zero, the relevant information of the detection target in the angle group and the detection in the fusion variable The target information is merged until the number of detected targets in the fusion variable is greater than the preset number threshold.
  • the program instructions combine the information about the detection target in the angle group with the detection target information in the fusion variable, which specifically includes: grouping the detection in the angle group according to the distance between the microwave radar and the detection target The relevant information of the target is merged with the detected target information in the fusion variable.
  • FIG. 1 shows a schematic diagram of a triangular wave modulation waveform in the related art
  • FIG. 2 shows a schematic block diagram of a microwave radar according to an embodiment of the invention
  • FIG. 3 shows a flowchart of a multi-angle measurement method according to a specific embodiment of the present invention
  • FIG. 4 shows a flowchart of a multi-angle measurement result fusion method according to a specific embodiment of the present invention
  • FIG. 5 shows a schematic block diagram of an unmanned aerial vehicle according to an embodiment of the invention
  • FIG. 6 shows a schematic diagram of an unmanned aerial vehicle according to an embodiment of the present invention
  • FIG. 7 shows a flowchart of a microwave radar signal processing method according to an embodiment of the present invention.
  • FIG. 8 shows a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 2 shows a schematic block diagram of a microwave radar 20 according to an embodiment of the present invention.
  • the microwave radar 20 includes:
  • the antenna device 202 is used to transmit microwave signals at different angles and/or receive echo signals of the microwave signals;
  • the radar controller 204 is in communication with the antenna device 202.
  • the radar controller 204 is used to perform the following operations: acquire multiple echo signals; group the multiple echo signals according to the observation angle corresponding to the echo signals, wherein, Each angle group corresponds to the echo signal of the preset observation angle range; the echo signals in each angle group are coherently accumulated to obtain the echo accumulation signal; according to the echo accumulation signal, the echo corresponding to the echo accumulation signal is calculated Information about the detection target.
  • the invention uses the grating scale configured by the radar controller 204 to control the direction of the microwave signal emitted by the microwave radar.
  • the microwave radar 20 can be configured to trigger a radio frequency board to transmit the grating scale, and the antenna device 202 of the microwave radar 20 continuously emits M triangular waves. After receiving the M echo signals returned by the detection target, the continuous M echo signals are grouped and coherently accumulated to improve the signal-to-noise ratio, thereby improving the detection probability of weak targets and improving the performance of microwave radar obstacle avoidance.
  • the microwave radar 20 may be installed on an unmanned aerial vehicle, and the radar controller 204 may include one or more microprocessors.
  • the microwave radar 20 may also include a signal transmitter, a signal receiver, a filter, a mixer, and the like.
  • the antenna device 202 continuously rotates about a rotation axis.
  • the antenna device 202 continuously emits microwave signals while rotating.
  • the radar controller 204 calculates the relevant information of the detection target corresponding to the echo accumulation signal according to the echo accumulation signal includes: removing the DC component in the echo accumulation signal; adopting a preset truncation function to remove The echo accumulation signal after the DC component is truncated; the fast-Fourier is performed on the truncated echo accumulation signal to obtain the spectral information of the fast-Fourier echo accumulation signal; according to the preset detection threshold, Perform constant false alarm processing on the spectrum information; obtain peak information according to the spectrum information processed by the constant false alarm; perform parabolic fitting processing based on the peak information; calculate the corresponding to the echo accumulation signal according to the peak information after the parabolic fitting processing Information about the detection target.
  • the radar controller 204 is also used to: fuse the relevant information of the detection target in multiple angle groups.
  • the radar controller 204 fusing the relevant information of the detected targets in the multiple angle groups includes: determining whether the detected targets in the multiple angle groups are based on the relevant information of the detected targets in the multiple angle groups The same detection target; if it is the same detection target, according to the detection energy of the detection target, the relevant information of the detection target with the largest detection energy is selected as the relevant information of the same detection target.
  • target detection and extraction is performed based on the intermediate frequency signal of the echo signal, including DC removal, windowing, FFT (Fast Fourier Transformation), CFAR (constant false alarm processing) detection, and parabola Fitting, etc., to obtain the target object information within the angle grouping.
  • the principle of fusion is based on the principle of no loss and any detection, and the merging is performed according to the index of the target (detection peak position). After merging, they are arranged as microwave radar according to the distance from near to far. Target information. It should be noted that if the same target is detected at different observation angles, the energy is used as a basis for selection, and the one with the larger energy is selected as the detection result.
  • the radar controller 204 is also used to determine the compensation frequency according to the moving speed of the microwave radar, and perform Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the invention adopts a grating scale to control the microwave signal direction of the microwave radar, and can be configured with a grating scale that triggers the radio frequency board to emit triangular waves, continuously emits M triangular waves, and after receiving M echoes, coherent M continuous echo signals Accumulate and compensate Doppler shift to improve the signal-to-noise ratio.
  • the specific methods are as follows:
  • the microwave radar emits a pulse and a part of the energy is emitted by the target.
  • the signal is measured.
  • the measured signal contains a complex echo of amplitude e j ⁇ and additive noise w.
  • Sexual noise w is a random process sample of power ⁇ 2 .
  • the SNR of a single pulse is defined as:
  • ⁇ 1 is SNR
  • a 2 is signal energy
  • ⁇ 2 is noise power
  • z represents the echo accumulation signal
  • A represents the amplitude of the frequency
  • ⁇ represents the phase of the frequency
  • N represents the coherent accumulation parameter (number of measurements).
  • the energy of the accumulated signal component is N 2 A 2. If the noise samples w(n) are independent of each other and the mean is 0, the power of the noise component is the power sum of the independent noise samples. Further assume that the power of each noise sample is the same as ⁇ 2 , then the total noise power is N ⁇ 2 , and the accumulated SNR becomes:
  • Coherent accumulation of N measurements can increase SNR by a factor of N. This increase is called accumulation gain. As expected, increasing SNR can improve the performance of radar detection and parameter estimation.
  • the signal components are added in phase, that is, coherently added. Because the amplitude of the accumulated signal component is increased by N times, the signal energy is increased by N 2 times, and the phase of the noise signal is randomly changed, so it is called power addition. It is the consistency of the signal phase that makes the signal power increase faster than the noise power during the accumulation process.
  • the signal must be pre-processed to ensure that the phase of the signal component is consistent in order to obtain coherent accumulation gain. If the target is moving, a Doppler frequency will appear in the measurement result of the signal component, as follows:
  • f is the Doppler normalized frequency.
  • the power of the signal depends on the specific value of the Doppler shift. Except for a few extremely lucky cases, the signal power will be less than N 2 A 2 . However, if the Doppler frequency shift is known in advance, the phase change of the signal components can be compensated before summing:
  • phase calibration makes the phases of the signal components the same, the signal components can be added coherently, the phase of the noise component is still random, so that the accumulated signal power becomes N 2 A 2 again , and the accumulated noise power is still For N ⁇ 2 , the coherent accumulation gain N is obtained.
  • the radar controller 204 is further configured to configure the number of acquired multiple echo signals and coherent accumulation parameters, where the coherent accumulation parameter is the number of echo signals in each angle group, and the acquired multiple echo signals The number of wave signals is an integer multiple of the coherent accumulation parameter.
  • the radar controller 204 configures the number of acquired multiple echo signals and coherent accumulation parameters, and the ratio of the number of acquired multiple echo signals to the coherent accumulation parameters is the angle grouping of the echo signals
  • the number of groups is to coherently accumulate multiple echo signals within an angle group to increase the probability of weak target detection.
  • an angle sensor 206 in communication with the radar controller 204 is further included.
  • the angle sensor 206 is used to detect the observation angle of the microwave signal and the echo signal.
  • the angle sensor 206 includes a grating angle sensor.
  • the radar controller 204 is also used to modify the observation angle acquired by the angle sensor according to the attitude information of the vehicle, where the vehicle is used to carry the microwave radar.
  • the vehicle is an unmanned aerial vehicle, or a ground vehicle.
  • the radar controller 204 is also used to adjust the zero-scale position of the angle sensor using attitude information.
  • the attitude information includes pitch angle information
  • the zero-scale position of the angle sensor is set parallel to the translation axis of the vehicle.
  • the rotation axis of the antenna device is set perpendicular to the translation axis of the carrier.
  • the unmanned aerial vehicle may be tilted during the flight, and the attitude information is used to compensate the zero-degree scale position of the angle sensor, thereby improving the accuracy of target detection.
  • the relevant information of the detection target includes one or a combination of the following: the distance between the microwave radar and the detection target, the angle between the microwave radar and the detection target, the number of detection targets, the position of the detection target, and the return energy .
  • the radar controller 204 fuses related information of detected targets in multiple angle groups, specifically including: establishing fusion variables; for any angle group, determining whether the number of detected targets in the angle group is greater than zero, When the number of detection targets in the angle group is less than or equal to zero, enter the next angle group.
  • the number of detection targets in the angle group determines whether the number of detection targets in the fusion variable is zero; when the number of detection targets in the fusion variable is zero Copy the relevant information of the detection target in the angle group to the fusion variable, and enter the next angle group, when the number of detection targets in the fusion variable is not zero, the relevant information of the detection target in the angle group and the fusion variable
  • the detection target information is merged until the number of detection targets in the fusion variable is greater than the preset number threshold.
  • the radar controller 204 merges the relevant information of the detection target in the angle group with the detection target information in the fusion variable, which specifically includes: grouping the angle in the angle group according to the distance between the microwave radar and the detection target The related information of the detection target is combined with the detection target information in the fusion variable.
  • FIG. 3 shows a flowchart of a multi-angle measurement method according to a specific embodiment of the present invention. Among them, the method includes:
  • Step 304 Use the flight control attitude data to compensate the grating scale and collect M echo signals
  • Step 306 Coherently accumulate N consecutive signals from the M echo signals and compensate the Doppler phase shift caused by the unmanned aerial vehicle movement;
  • Step 308 Perform target detection processing on the intermediate frequency data obtained after coherent accumulation (including acquiring distance, angle, energy, target position, and number);
  • Step 310 it is judged whether the detection of Y angles is completed, if it goes to step 312, if it returns to step 308;
  • step 312 multiple observation angle fusion processes are performed.
  • FIG. 4 shows a flowchart of a multi-angle measurement result fusion method in a specific embodiment of the present invention. Among them, the method includes:
  • the target set includes all target indexes obtained at the i-th angle and the information of the target.
  • the information of the target includes distance, angle, energy, target position, number of targets, etc.;
  • Step 404 create a new merged process variable tgts_temp
  • Step 408 determine whether i>Y, if not, go to step 410, if yes, go to step 420;
  • Step 410 determine whether the target number in tgts[i] is greater than 0, if it enters step 412, if not, return to step 406;
  • Step 412 determine whether the target number in tgts_temp is 0, if it goes to step 414, if it goes to step 416;
  • Step 414 copy tgts[i] to tgts_temp, and return to step 406;
  • step 416 it is determined whether the target number of the merger is greater than the preset number, for example, the preset number is 16, if not, go to step 418, if it goes to step 420;
  • Step 418 perform data merging on tgts[i] and tgts_temp, and return to step 406;
  • Step 420 output the result data.
  • FIG. 5 shows a schematic block diagram of an unmanned aerial vehicle 50 according to an embodiment of the present invention.
  • the UAV 50 includes:
  • the microwave radar 504 is installed on the rack 502.
  • the microwave radar 504 includes:
  • the antenna device 542 is used to transmit microwave signals at different angles and/or receive the echo signals of the microwave signals; and the radar controller 544 is in communication with the antenna device 542, and the radar controller 544 acquires multiple echo signals according to the echo Observation angle corresponding to the wave signal, angle grouping multiple echo signals, where each angle grouping corresponds to the echo signal of the preset observation angle range, and the echo signals in each angle grouping are obtained by coherent accumulation
  • the echo accumulation signal calculates the relevant information of the detection target corresponding to the echo accumulation signal based on the echo accumulation signal.
  • the invention uses the grating scale configured by the radar controller 544 to control the direction of the microwave signal emitted by the microwave radar 504.
  • the microwave radar 504 can be configured to trigger a radio frequency board to transmit the grating scale, and the antenna device 542 of the microwave radar 504 continuously emits M triangular waves After receiving the M echo signals returned by the detection target, the continuous M echo signals are grouped and coherently accumulated to improve the signal-to-noise ratio, thereby improving the detection probability of weak targets and improving the performance of microwave radar obstacle avoidance.
  • the radar controller 544 may include one or more microprocessors.
  • the microwave radar 504 may also include a signal transmitter, a signal receiver, a filter, a mixer, and so on.
  • the antenna device 542 continuously rotates about a rotation axis.
  • the rotating radar microwave radar
  • the rotating radar has a rotation axis around which the antenna device 542 continuously rotates.
  • the antenna device 542 continuously emits microwave signals while rotating.
  • the radar controller 544 calculating the relevant information of the detection target corresponding to the echo accumulation signal according to the echo accumulation signal includes: removing the DC component in the echo accumulation signal; using a preset truncation function to remove The echo accumulation signal after the DC component is truncated; the fast-Fourier is performed on the truncated echo accumulation signal to obtain the spectral information of the fast-Fourier echo accumulation signal; according to the preset detection threshold, Perform constant false alarm processing on the spectrum information; obtain peak information according to the spectrum information processed by the constant false alarm; perform parabolic fitting processing based on the peak information; calculate the corresponding to the echo accumulation signal according to the peak information after the parabolic fitting processing Information about the detection target.
  • the radar controller is also used to: fuse the relevant information of the detection target in multiple angle groups.
  • the radar controller 544 fusing the relevant information of the detected targets in the multiple angle groups includes: determining whether the detected targets in the multiple angle groups are based on the relevant information of the detected targets in the multiple angle groups The same detection target; if it is the same detection target, according to the detection energy of the detection target, the relevant information of the detection target with the largest detection energy is selected as the relevant information of the same detection target.
  • target detection and extraction is performed based on the intermediate frequency signal of the echo signal, including DC removal, windowing, FFT (fast Fourier transform), CFAR (constant false alarm processing) detection, and parabola fitting, etc.
  • the principle of fusion is based on the principle of no loss and any detection, and the merging is performed according to the index of the target (detection peak position). After merging, they are arranged as microwave radar according to the distance from near to far. Target information. It should be noted that if the same target is detected at different observation angles, the energy is used as a basis for selection, and the one with the larger energy is selected as the detection result.
  • the radar controller 544 is further used to determine the compensation frequency according to the moving speed of the microwave radar, and perform Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the invention adopts a grating scale to control the microwave signal direction of the microwave radar, and can be configured with a grating scale that triggers the radio frequency board to emit triangular waves, continuously emits M triangular waves, and after receiving M echoes, coherent M continuous echo signals Accumulate and compensate Doppler shift to improve the signal-to-noise ratio.
  • the specific methods are as follows:
  • the microwave radar emits a pulse and a part of the energy is emitted by the target.
  • the signal is measured.
  • the measured signal contains a complex echo of amplitude e j ⁇ and additive noise w.
  • Sexual noise w is a random process sample of power ⁇ 2 .
  • the SNR of a single pulse is defined as:
  • ⁇ 1 is SNR
  • a 2 is signal energy
  • ⁇ 2 is noise power
  • z represents the echo accumulation signal
  • A represents the amplitude of the frequency
  • ⁇ represents the phase of the frequency
  • N represents the coherent accumulation parameter (number of measurements).
  • the energy of the accumulated signal component is N 2 A 2. If the noise samples w(n) are independent of each other and the mean is 0, the power of the noise component is the power sum of the independent noise samples. Further assume that the power of each noise sample is the same as ⁇ 2 , then the total noise power is N ⁇ 2 , and the accumulated SNR becomes:
  • Coherent accumulation of N measurements can increase SNR by a factor of N. This increase is called accumulation gain. As expected, increasing SNR can improve the performance of radar detection and parameter estimation.
  • the signal components are added in phase, that is, coherently added. Because the amplitude of the accumulated signal component is increased by N times, the signal energy is increased by N 2 times, and the phase of the noise signal is randomly changed, so it is called power addition. It is the consistency of the signal phase that makes the signal power increase faster than the noise power during the accumulation process.
  • the signal must be pre-processed to ensure that the phase of the signal component is consistent in order to obtain coherent accumulation gain. If the target is moving, a Doppler frequency will appear in the measurement result of the signal component, as follows:
  • f is the Doppler normalized frequency.
  • the power of the signal depends on the specific value of the Doppler shift. Except for a few extremely lucky cases, the signal power will be less than N 2 A 2 . However, if the Doppler frequency shift is known in advance, the phase change of the signal components can be compensated before summing:
  • the phase calibration makes the phases of the signal components the same, the signal components can be added coherently, and the phase of the noise component is still random, so that the accumulated signal power becomes N 2 A 2 , and the accumulated noise power is still For N ⁇ 2 , the coherent accumulation gain N is obtained.
  • the radar controller 544 is further configured to configure the number of acquired multiple echo signals and coherent accumulation parameters, where the coherent accumulation parameter is the number of echo signals in each angle group, and the acquired multiple echo signals The number of wave signals is an integer multiple of the coherent accumulation parameter.
  • the radar controller configures the number of acquired multiple echo signals and coherent accumulation parameters, and the ratio of the number of acquired multiple echo signals to the coherent accumulation parameters is the angle grouping of the echo signals. Number, multiple echo signals within an angle group are coherently accumulated to increase the probability of weak target detection.
  • an angle sensor 546 in communication with the radar controller 544 is further included.
  • the angle sensor 546 is used to detect the observation angle of the microwave signal and the echo signal.
  • the angle sensor 546 includes a grating angle sensor.
  • the radar controller 544 is further configured to correct the observation angle acquired by the angle sensor according to the attitude information of the vehicle, where the vehicle is used to carry the microwave radar.
  • the vehicle is an unmanned aerial vehicle, or a ground vehicle.
  • the radar controller 544 is also used to adjust the zero-scale position of the angle sensor using attitude information.
  • the attitude information includes pitch angle information
  • the zero-scale position of the angle sensor is set parallel to the translation axis of the vehicle (as shown in FIG. 6 in the translation axis of the UAV).
  • the rotation axis of the antenna device 542 is perpendicular to the translation axis of the carrier.
  • the unmanned aerial vehicle 50 may incline during flight, and the attitude information is used to compensate the zero-degree scale position of the angle sensor, thereby improving the accuracy of target detection.
  • the relevant information of the detection target includes one or a combination of the following: the distance between the microwave radar and the detection target, the angle between the microwave radar and the detection target, the number of detection targets, the position of the detection target, and the return energy .
  • the radar controller 544 fuses the relevant information of the detected targets in multiple angle groups, specifically including: establishing a fusion variable; for any angle group, determining whether the number of detected targets in the angle group is greater than zero, When the number of detection targets in the angle group is less than or equal to zero, enter the next angle group.
  • the number of detection targets in the angle group determines whether the number of detection targets in the fusion variable is zero; when the number of detection targets in the fusion variable is zero Copy the relevant information of the detection target in the angle group to the fusion variable, and enter the next angle group, when the number of detection targets in the fusion variable is not zero, the relevant information of the detection target in the angle group and the fusion variable
  • the detection target information is merged until the number of detection targets in the fusion variable is greater than the preset number threshold.
  • the radar controller 544 merges the relevant information of the detection target in the angle group with the detection target information in the fusion variable, which specifically includes: grouping the angle in the angle group according to the distance between the microwave radar and the detection target The related information of the detection target is combined with the detection target information in the fusion variable.
  • FIG. 3 shows a flowchart of a multi-angle measurement method according to a specific embodiment of the present invention. Among them, the method includes:
  • step 304 the flight control attitude data is used to compensate the grating scale, and M echo signals are collected;
  • Step 306 Coherently accumulate N consecutive signals from the M echo signals and compensate the Doppler phase shift caused by the unmanned aerial vehicle movement;
  • Step 308 Perform target detection processing on the intermediate frequency data obtained after coherent accumulation (including acquiring distance, angle, energy, target position, and number);
  • Step 310 it is judged whether the detection of Y angles is completed, if it goes to step 312, if it returns to step 308;
  • step 312 multiple observation angle fusion processes are performed.
  • FIG. 4 shows a flowchart of a multi-angle measurement result fusion method in a specific embodiment of the present invention. Among them, the method includes:
  • the target set includes all target indexes obtained at the i-th angle and the information of the target.
  • the information of the target includes distance, angle, energy, target position, number of targets, etc.;
  • Step 404 create a new merged process variable tgts_temp
  • Step 408 determine whether i>Y, if not, go to step 410, if yes, go to step 420;
  • Step 410 determine whether the target number in tgts[i] is greater than 0, if it enters step 412, if not, return to step 406;
  • Step 412 determine whether the target number in tgts_temp is 0, if it goes to step 414, if it goes to step 416;
  • Step 414 copy tgts[i] to tgts_temp, and return to step 406;
  • step 416 it is determined whether the target number of the merger is greater than the preset number, for example, the preset number is 16, if not, go to step 418, if it goes to step 420;
  • Step 418 perform data merging on tgts[i] and tgts_temp, and return to step 406;
  • Step 420 output the result data.
  • the unmanned aerial vehicle 50 further includes: an aircraft controller 506 for controlling the trajectory of the unmanned aerial vehicle according to the relevant information of the fused detection target.
  • the aircraft controller 506 controls the trajectory of the unmanned aerial vehicle based on the fused detection target related information, for example, controls the unmanned aerial vehicle to stop flying in front of the target or bypass the detection target.
  • FIG. 7 shows a flowchart of a microwave radar signal processing method according to an embodiment of the present invention.
  • the signal processing method includes:
  • Step 702 Control the antenna device of the microwave radar to transmit microwave signals at different angles, and/or receive the echo signals of the microwave signals;
  • Step 704 Acquire multiple echo signals, and group the multiple echo signals according to the observation angle corresponding to the echo signal, where each angle group corresponds to the echo signal of the preset observation angle range;
  • Step 706 Perform a coherent accumulation on the echo signals in each angle group to obtain an echo accumulation signal
  • step 708 according to the echo accumulation signal, relevant information of the detection target corresponding to the echo accumulation signal is calculated.
  • the invention uses the configured grating scale to control the direction of the microwave signal emitted by the microwave radar.
  • the microwave radar can be configured to trigger a radio frequency board to transmit the grating scale.
  • the antenna device of the microwave radar continuously emits M triangle waves and receives the M returned by the detection target. After each echo signal, the continuous M echo signals are grouped and coherently accumulated to improve the signal-to-noise ratio, thereby improving the detection probability of weak targets and improving the performance of microwave radar obstacle avoidance.
  • the method further includes: controlling the antenna device to continuously rotate around a rotation axis.
  • the method further includes: controlling the antenna device to continuously transmit microwave signals while rotating.
  • the step of calculating the relevant information of the detection target corresponding to the echo accumulation signal according to the echo accumulation signal includes: removing the DC component in the echo accumulation signal; using a preset truncation function to remove the DC component Perform truncation processing on the accumulated echo signal; perform fast Fourier on the accumulated echo signal after truncation processing to obtain the spectrum information of the accumulated echo signal after fast Fourier; according to the preset detection threshold, the spectrum
  • the information is processed by constant false alarm; the peak information is obtained according to the spectrum information processed by the constant false alarm; the parabolic fitting process is performed according to the peak information; the detection target corresponding to the echo accumulation signal is calculated according to the peak information after the parabolic fitting process Related information.
  • the method further includes: fusing relevant information of the detection target in multiple angle groups.
  • the step of fusing the relevant information of the detection targets in the multiple angle groups includes: determining whether the detection targets in the multiple angle groups are the same detection based on the relevant information of the detection targets in the multiple angle groups Target; if it is the same detection target, then select the relevant information of the detection target with the largest detection energy according to the detection energy of the detection target as the related information of the same detection target.
  • target detection and extraction is performed based on the intermediate frequency signal of the echo signal, including DC removal, windowing, FFT (fast Fourier transform), CFAR (constant false alarm processing) detection, and parabola fitting, etc.
  • the principle of fusion is based on the principle of no loss and any detection, and the merging is performed according to the index of the target (detection peak position). After merging, they are arranged as microwave radar according to the distance from near to far. Target information. It should be noted that if the same target is detected at different observation angles, the energy is used as a basis for selection, and the one with the larger energy is selected as the detection result.
  • the method further includes: determining a compensation frequency according to the moving speed of the microwave radar, and performing Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the method further includes: determining a compensation frequency according to the moving speed of the microwave radar, and performing Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the method further includes: configuring the number of acquired multiple echo signals and coherent accumulation parameters, where the coherent accumulation parameter is the number of echo signals in each angle group and the number of acquired multiple echo signals It is an integer multiple of the coherent accumulation parameter.
  • the number of acquired multiple echo signals and coherent accumulation parameters are configured, and the ratio of the number of acquired multiple echo signals to the coherent accumulation parameters is the number of angle groupings of the echo signals. Multiple echo signals within an angle group are coherently accumulated to increase the probability of weak target detection.
  • the invention adopts a grating scale to control the microwave signal direction of the microwave radar, and can be configured with a grating scale that triggers the radio frequency board to emit triangular waves, continuously emits M triangular waves, and after receiving M echoes, coherent M continuous echo signals Accumulate and compensate Doppler shift to improve the signal-to-noise ratio.
  • the specific methods are as follows:
  • the microwave radar emits a pulse and a part of the energy is emitted by the target.
  • the signal is measured.
  • the measured signal contains a complex echo of amplitude e j ⁇ and additive noise w.
  • Sexual noise w is a random process sample of power ⁇ 2 .
  • the SNR of a single pulse is defined as:
  • ⁇ 1 is SNR
  • a 2 is signal energy
  • ⁇ 2 is noise power
  • z represents the intermediate frequency signal of the echo signal
  • A represents the amplitude of the frequency
  • ⁇ represents the phase of the frequency
  • N represents the coherent accumulation parameter (number of measurements).
  • the energy of the accumulated signal component is N 2 A 2. If the noise samples w(n) are independent of each other and the mean is 0, the power of the noise component is the power sum of the independent noise samples. Further assume that the power of each noise sample is the same as ⁇ 2 , then the total noise power is N ⁇ 2 , and the accumulated SNR becomes:
  • Coherent accumulation of N measurements can increase SNR by a factor of N. This increase is called accumulation gain. As expected, increasing SNR can improve the performance of radar detection and parameter estimation.
  • the signal components are added in phase, that is, coherently added. Because the amplitude of the accumulated signal component is increased by N times, the signal energy is increased by N 2 times, and the phase of the noise signal is randomly changed, so it is called power addition. It is the consistency of the signal phase that makes the signal power increase faster than the noise power during the accumulation process.
  • the signal must be pre-processed to ensure that the phase of the signal component is consistent in order to obtain coherent accumulation gain. If the target is moving, a Doppler frequency will appear in the measurement result of the signal component, as follows:
  • f is the Doppler normalized frequency.
  • the power of the signal depends on the specific value of the Doppler shift. Except for a few extremely lucky cases, the signal power will be less than N 2 A 2 . However, if the Doppler frequency shift is known in advance, the phase change of the signal components can be compensated before summing:
  • the phase calibration makes the phases of the signal components the same, the signal components can be added coherently, and the phase of the noise component is still random, so that the accumulated signal power becomes N 2 A 2 , and the accumulated noise power is still For N ⁇ 2 , the coherent accumulation gain N is obtained.
  • the method further includes: controlling an angle sensor of the microwave radar to detect the observation angle of the microwave signal and the echo signal.
  • the angle sensor includes a grating angle sensor.
  • the method further includes: modifying the observation angle acquired by the angle sensor according to the attitude information of the vehicle, wherein the vehicle is used to carry the microwave radar.
  • the vehicle is an unmanned aerial vehicle, or a ground vehicle.
  • the attitude information is used to adjust the zero-scale position of the angle sensor.
  • Attitude information includes pitch angle information, and the zero-scale position of the angle sensor is set parallel to the translation axis of the vehicle.
  • the unmanned aerial vehicle will be tilted during the flight, and the attitude information is used to compensate the zero-scale position of the angle sensor, thereby improving the accuracy of target detection.
  • the rotation axis of the antenna device is set perpendicular to the translation axis of the carrier.
  • the relevant information of the detection target includes one or a combination of the following: the distance between the microwave radar and the detection target, the angle between the microwave radar and the detection target, the number of detection targets, the position of the detection target, and the return energy .
  • the step of fusing the relevant information of the detection targets in multiple angle groups includes: establishing a fusion variable; for any angle group, determining whether the number of detection targets in the angle group is greater than zero, when the angle group When the number of detection targets is less than or equal to zero, enter the next angle grouping.
  • the number of detection targets in the angle group is greater than zero, determine whether the number of detection targets in the fusion variable is zero; when the number of detection targets in the fusion variable is zero, group the angle The relevant information of the detection target in the copy is copied to the fusion variable, and the next angle grouping is entered.
  • the relevant information of the detection target in the angle grouping is carried out with the detection target information in the fusion variable Merge until the number of detection targets in the fusion variable is greater than the preset number threshold.
  • the step of combining the relevant information of the detection target in the angle group with the detection target information in the fusion variable includes: according to the distance between the microwave radar and the detection target, the detection target in the angle group is related The information is merged with the detection target information in the fusion variable.
  • FIG. 3 shows a flowchart of a multi-angle measurement method according to a specific embodiment of the present invention. Among them, the method includes:
  • Step 304 Use the flight control attitude data to compensate the grating scale and collect M echo signals
  • Step 306 Coherently accumulate N consecutive signals from the M echo signals and compensate the Doppler phase shift caused by the unmanned aerial vehicle movement;
  • Step 308 Perform target detection processing on the intermediate frequency data obtained after coherent accumulation (including acquiring distance, angle, energy, target position, and number);
  • Step 310 it is judged whether the detection of Y angles is completed, if it goes to step 312, if it returns to step 308;
  • step 312 multiple observation angle fusion processes are performed.
  • FIG. 4 shows a flowchart of a multi-angle measurement result fusion method in a specific embodiment of the present invention. Among them, the method includes:
  • the target set includes all target indexes obtained at the i-th angle and the information of the target.
  • the information of the target includes distance, angle, energy, target position, number of targets, etc.;
  • Step 404 create a new merged process variable tgts_temp
  • Step 408 determine whether i>Y, if not, go to step 410, if yes, go to step 420;
  • Step 410 determine whether the target number in tgts[i] is greater than 0, if it enters step 412, if not, return to step 406;
  • Step 412 determine whether the target number in tgts_temp is 0, if it goes to step 414, if it goes to step 416;
  • Step 414 copy tgts[i] to tgts_temp, and return to step 406;
  • step 416 it is determined whether the target number of the merger is greater than the preset number, for example, the preset number is 16, if not, go to step 418, if it goes to step 420;
  • Step 418 perform data merging on tgts[i] and tgts_temp, and return to step 406;
  • Step 420 output the result data.
  • FIG. 8 shows a flowchart of a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention.
  • the control method includes:
  • Step 802 controlling the antenna device of the microwave radar of the UAV to transmit microwave signals at different angles, and/or receive the echo signals of the microwave signals;
  • Step 804 Acquire multiple echo signals, and group the multiple echo signals according to the observation angle corresponding to the echo signal, where each angle group corresponds to the echo signal of the preset observation angle range;
  • Step 806 Perform a coherent accumulation on the echo signals in each angle group to obtain an echo accumulation signal
  • step 808 according to the echo accumulation signal, relevant information of the detection target corresponding to the echo accumulation signal is calculated.
  • the invention uses the configured grating scale to control the direction of the microwave signal emitted by the microwave radar.
  • the microwave radar can be configured to trigger a radio frequency board to transmit the grating scale.
  • the antenna device of the microwave radar continuously emits M triangular waves and receives the M returned by the detection target After each echo signal, the continuous M echo signals are grouped and coherently accumulated to improve the signal-to-noise ratio, thereby improving the detection probability of weak targets and improving the performance of microwave radar obstacle avoidance.
  • the antenna device is controlled to rotate continuously about a rotation axis.
  • the method further includes: controlling the antenna device to continuously transmit microwave signals while rotating.
  • the step of calculating the relevant information of the detection target corresponding to the echo accumulation signal according to the echo accumulation signal includes: removing the DC component in the echo accumulation signal; using a preset truncation function to remove the DC component Perform truncation processing on the accumulated echo signal; perform fast Fourier on the accumulated echo signal after truncation processing to obtain the spectrum information of the accumulated echo signal after fast Fourier; according to the preset detection threshold, the spectrum
  • the information is processed by constant false alarm; the peak information is obtained according to the spectrum information processed by the constant false alarm; the parabolic fitting process is performed according to the peak information; the detection target corresponding to the echo accumulation signal is calculated according to the peak information after the parabolic fitting process Related information.
  • the method further includes: fusing relevant information of the detection target in multiple angle groups.
  • the step of fusing the relevant information of the detection targets in the multiple angle groups includes: determining whether the detection targets in the multiple angle groups are the same detection based on the relevant information of the detection targets in the multiple angle groups Target; if it is the same detection target, then select the relevant information of the detection target with the largest detection energy according to the detection energy of the detection target as the related information of the same detection target.
  • target detection and extraction is performed based on the intermediate frequency signal of the echo signal, including DC removal, windowing, FFT (fast Fourier transform), CFAR (constant false alarm processing) detection, and parabola fitting, etc.
  • the principle of fusion is based on the principle of no loss and any detection, and the merging is performed according to the index of the target (detection peak position). After merging, they are arranged as microwave radar according to the distance from near to far. Target information. It should be noted that if the same target is detected at different observation angles, the energy is used as a basis for selection, and the one with the larger energy is selected as the detection result.
  • the method further includes: determining a compensation frequency according to the moving speed of the microwave radar, and performing Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the method further includes: configuring the number of acquired multiple echo signals and coherent accumulation parameters, where the coherent accumulation parameter is the number of echo signals in each angle group and the number of acquired multiple echo signals It is an integer multiple of the coherent accumulation parameter.
  • the number of acquired multiple echo signals and coherent accumulation parameters are configured, and the ratio of the number of acquired multiple echo signals to the coherent accumulation parameters is the number of angle groupings of the echo signals. Multiple echo signals within an angle group are coherently accumulated to increase the probability of weak target detection.
  • the invention adopts a grating scale to control the microwave signal direction of the microwave radar, and can be configured with a grating scale that triggers the radio frequency board to emit triangular waves, continuously emits M triangular waves, and after receiving M echoes, coherent M continuous echo signals Accumulate and compensate Doppler shift to improve the signal-to-noise ratio.
  • the specific methods are as follows:
  • the microwave radar emits a pulse and a part of the energy is emitted by the target.
  • the signal is measured.
  • the measured signal contains a complex echo of amplitude e j ⁇ and additive noise w.
  • Sexual noise w is a random process sample of power ⁇ 2 .
  • the SNR of a single pulse is defined as:
  • ⁇ 1 is SNR
  • a 2 is signal energy
  • ⁇ 2 is noise power
  • z represents the intermediate frequency signal of the echo signal
  • A represents the amplitude of the frequency
  • ⁇ represents the phase of the frequency
  • N represents the coherent accumulation parameter (number of measurements).
  • the energy of the accumulated signal component is N 2 A 2. If the noise samples w(n) are independent of each other and the mean is 0, the power of the noise component is the power sum of the independent noise samples. Further assume that the power of each noise sample is the same as ⁇ 2 , then the total noise power is N ⁇ 2 , and the accumulated SNR becomes:
  • Coherent accumulation of N measurements can increase SNR by a factor of N. This increase is called accumulation gain. As expected, increasing SNR can improve the performance of radar detection and parameter estimation.
  • the signal components are added in phase, that is, coherently added. Because the amplitude of the accumulated signal component is increased by N times, the signal energy is increased by N 2 times, and the phase of the noise signal is randomly changed, so it is called power addition. It is the consistency of the signal phase that makes the signal power increase faster than the noise power during the accumulation process.
  • the signal must be pre-processed to ensure that the phase of the signal component is consistent in order to obtain coherent accumulation gain. If the target is moving, a Doppler frequency will appear in the measurement result of the signal component, as follows:
  • f is the Doppler normalized frequency.
  • the power of the signal depends on the specific value of the Doppler shift. Except for a few extremely lucky cases, the signal power will be less than N 2 A 2 . However, if the Doppler frequency shift is known in advance, the phase change of the signal components can be compensated before summing:
  • the phase calibration makes the phases of the signal components the same, the signal components can be added coherently, and the phase of the noise component is still random, so that the accumulated signal power becomes N 2 A 2 , and the accumulated noise power is still For N ⁇ 2 , the coherent accumulation gain N is obtained.
  • the angle sensor controlling the microwave radar detects the observation angle of the microwave signal and the echo signal.
  • the angle sensor includes a grating angle sensor.
  • the method further includes: modifying the observation angle acquired by the angle sensor according to the attitude information of the vehicle, wherein the vehicle is used to carry the microwave radar.
  • the vehicle is an unmanned aerial vehicle, or a ground vehicle.
  • the attitude information is used to adjust the zero-scale position of the angle sensor.
  • Attitude information includes pitch angle information, and the zero-scale position of the angle sensor is set parallel to the translation axis of the vehicle.
  • the rotation axis of the antenna device is set perpendicular to the translation axis of the carrier.
  • the unmanned aerial vehicle will be tilted during the flight, and the attitude information is used to compensate the zero-scale position of the angle sensor, thereby improving the accuracy of target detection.
  • the relevant information of the detection target includes one or a combination of the following: the distance between the microwave radar and the detection target, the angle between the microwave radar and the detection target, the number of detection targets, the position of the detection target, and the return energy .
  • the step of fusing the relevant information of the detection targets in multiple angle groups includes: establishing a fusion variable; for any angle group, determining whether the number of detection targets in the angle group is greater than zero, when the angle group When the number of detection targets is less than or equal to zero, enter the next angle grouping.
  • the number of detection targets in the angle group is greater than zero, determine whether the number of detection targets in the fusion variable is zero; when the number of detection targets in the fusion variable is zero, group the angle The relevant information of the detection target in the copy is copied to the fusion variable, and the next angle grouping is entered.
  • the relevant information of the detection target in the angle grouping is carried out with the detection target information in the fusion variable Merge until the number of detection targets in the fusion variable is greater than the preset number threshold.
  • the step of combining the relevant information of the detection target in the angle group with the detection target information in the fusion variable includes: according to the distance between the microwave radar and the detection target, the detection target in the angle group is related The information is merged with the detection target information in the fusion variable.
  • FIG. 3 shows a flowchart of a multi-angle measurement method according to a specific embodiment of the present invention. Among them, the method includes:
  • Step 304 Use the flight control attitude data to compensate the grating scale and collect M echo signals
  • Step 306 Coherently accumulate N consecutive signals from the M echo signals and compensate the Doppler phase shift caused by the unmanned aerial vehicle movement;
  • Step 308 Perform target detection processing on the intermediate frequency data obtained after coherent accumulation (including acquiring distance, angle, energy, target position, and number);
  • Step 310 it is judged whether the detection of Y angles is completed, if it goes to step 312, if it returns to step 308;
  • step 312 multiple observation angle fusion processes are performed.
  • FIG. 4 shows a flowchart of a multi-angle measurement result fusion method in a specific embodiment of the present invention. Among them, the method includes:
  • the target set includes all target indexes obtained at the i-th angle and the information of the target.
  • the information of the target includes distance, angle, energy, target position, number of targets, etc.;
  • Step 404 create a new merged process variable tgts_temp
  • Step 408 determine whether i>Y, if not, go to step 410, if yes, go to step 420;
  • Step 410 determine whether the target number in tgts[i] is greater than 0, if it enters step 412, if not, return to step 406;
  • Step 412 determine whether the target number in tgts_temp is 0, if it goes to step 414, if it goes to step 416;
  • Step 414 copy tgts[i] to tgts_temp, and return to step 406;
  • step 416 it is determined whether the target number of the merger is greater than the preset number, for example, the preset number is 16, if not, go to step 418, if it goes to step 420;
  • Step 418 perform data merging on tgts[i] and tgts_temp, and return to step 406;
  • Step 420 output the result data.
  • the method further includes: controlling the trajectory of the UAV according to the related information of the fused detection target.
  • the aircraft controller controls the trajectory of the unmanned aerial vehicle according to the relevant information of the fused detection target, for example, controls the unmanned aerial vehicle to stop flying in front of the target or bypass the detection target.
  • a computer storage medium in which program instructions are stored, and the program instructions are used to implement: an antenna device for controlling a microwave radar transmits microwave signals at different angles, and/or receives microwaves The echo signal of the signal; obtain multiple echo signals, and group the multiple echo signals according to the observation angle corresponding to the echo signal, wherein each angle group corresponds to the echo signal of the preset observation angle range; The echo signals in each angle group are coherently accumulated to obtain an echo accumulation signal; according to the echo accumulation signal, the relevant information of the detection target corresponding to the echo accumulation signal is calculated.
  • the invention uses the configured grating scale to control the direction of the microwave signal emitted by the microwave radar.
  • the microwave radar can be configured to trigger a radio frequency board to transmit the grating scale.
  • the antenna device of the microwave radar continuously emits M triangle waves and receives the M returned by the detection target. After each echo signal, the continuous M echo signals are grouped and coherently accumulated to improve the signal-to-noise ratio, thereby improving the detection probability of weak targets and improving the performance of microwave radar obstacle avoidance.
  • the program instructions are also used to realize: controlling the antenna device to continuously rotate around a rotation axis.
  • the program instructions are also used to realize that the antenna device is controlled to continuously emit microwave signals while rotating.
  • the program instructions implement calculation of the relevant information of the detection target corresponding to the echo accumulation signal according to the echo accumulation signal, which specifically includes: removing the DC component in the echo accumulation signal; using a preset truncation function, After the DC component is removed, the echo accumulation signal is truncated; the truncated echo accumulation signal is subjected to fast Fourier to obtain the spectrum information of the fast Fourier echo accumulation signal; according to the preset detection threshold , Perform constant false alarm processing on the spectrum information; obtain peak information according to the spectrum information processed by the constant false alarm; perform parabolic fitting processing based on the peak information; calculate the corresponding to the echo accumulation signal according to the peak information after the parabolic fitting processing Information about the detection target.
  • the program instructions are also used to realize: fuse the relevant information of the detection target in multiple angle groups.
  • the program instructions realize the fusion of the related information of the detection targets in the multiple angle groups, specifically including: determining whether the detection targets in the multiple angle groups are based on the related information of the detection targets in the multiple angle groups It is the same detection target; if it is the same detection target, the relevant information of the detection target with the largest detection energy is selected as the relevant information of the same detection target according to the detection energy of the detection target.
  • target detection and extraction is performed based on the intermediate frequency signal of the echo signal, including DC removal, windowing, FFT (fast Fourier transform), CFAR (constant false alarm processing) detection, and parabola fitting, etc.
  • the principle of fusion is based on the principle of no loss and any detection, and the merging is performed according to the index of the target (detection peak position). After merging, they are arranged as microwave radar according to the distance from near to far. Target information. It should be noted that if the same target is detected at different observation angles, the energy is used as a basis for selection, and the one with the larger energy is selected as the detection result.
  • the computer storage medium may be volatile memory, or non-volatile memory.
  • the computer storage medium may also be a serial memory or a parallel memory.
  • the computer storage medium may be a RAM memory or a ROM memory.
  • the program instructions are also used to realize: determining the compensation frequency according to the moving speed of the microwave radar, and performing Doppler frequency shift compensation on the echo accumulation signal according to the compensation frequency.
  • the invention adopts a grating scale to control the microwave signal direction of the microwave radar, and can be configured with a grating scale that triggers the radio frequency board to emit triangular waves, continuously emits M triangular waves, and after receiving M echoes, coherent M continuous echo signals Accumulate and compensate Doppler shift to improve the signal-to-noise ratio.
  • the specific methods are as follows:
  • the microwave radar emits a pulse, and a part of the energy is emitted by the target.
  • the echo is output from the receiver, the signal is measured.
  • the measured signal includes a complex echo with an amplitude of e j ⁇ , and additive noise w.
  • Sexual noise w is a random process sample of power ⁇ 2 .
  • the SNR of a single pulse is defined as:
  • ⁇ 1 is SNR
  • a 2 is signal energy
  • ⁇ 2 is noise power
  • z represents the intermediate frequency signal of the echo signal
  • A represents the amplitude of the frequency
  • ⁇ represents the phase of the frequency
  • N represents the coherent accumulation parameter (number of measurements).
  • the energy of the accumulated signal component is N 2 A 2. If the noise samples w(n) are independent of each other and the mean is 0, the power of the noise component is the power sum of the independent noise samples. Further assume that the power of each noise sample is the same as ⁇ 2 , then the total noise power is N ⁇ 2 , and the accumulated SNR becomes:
  • Coherent accumulation of N measurements can increase SNR by a factor of N. This increase is called accumulation gain. As expected, increasing SNR can improve the performance of radar detection and parameter estimation.
  • the signal components are added in phase, that is, coherently added. Because the amplitude of the accumulated signal component is increased by N times, the signal energy is increased by N 2 times, and the phase of the noise signal is randomly changed, so it is called power addition. It is the consistency of the signal phase that makes the signal power increase faster than the noise power during the accumulation process.
  • the signal must be pre-processed to ensure that the phase of the signal component is consistent in order to obtain coherent accumulation gain. If the target is moving, a Doppler frequency will appear in the measurement result of the signal component, as follows:
  • f is the Doppler normalized frequency.
  • the power of the signal depends on the specific value of the Doppler shift. Except for a few extremely lucky cases, the signal power will be less than N 2 A 2 . However, if the Doppler frequency shift is known in advance, the phase change of the signal components can be compensated before summing:
  • the phase calibration makes the phases of the signal components the same, the signal components can be added coherently, and the phase of the noise component is still random, so that the accumulated signal power becomes N 2 A 2 , and the accumulated noise power is still For N ⁇ 2 , the coherent accumulation gain N is obtained.
  • the program instructions are also used to implement: configuring the number of acquired multiple echo signals and coherent accumulation parameters, where the coherent accumulation parameter is the number of echo signals in each angle group, and the acquired multiple echoes
  • the number of wave signals is an integer multiple of the coherent accumulation parameter.
  • the ratio between the number of acquired multiple echo signals and the coherent accumulation parameter configured as the acquired multiple echo signals is the number of angle groupings of the echo signals.
  • the echo signals are coherently accumulated to increase the probability of weak target detection.
  • the program instructions are also used to realize: controlling the angle sensor of the microwave radar to detect the observation angle of the microwave signal and the echo signal.
  • the angle sensor includes a grating angle sensor.
  • the program instructions are also used to implement: modify the observation angle acquired by the angle sensor according to the attitude information of the vehicle, where the vehicle is used to carry the microwave radar.
  • the vehicle is an unmanned aerial vehicle, or a ground vehicle.
  • the program instructions are also used to implement: adjust the zero-degree scale position of the angle sensor using attitude information.
  • the attitude information includes pitch angle information
  • the zero-scale position of the angle sensor is set parallel to the translation axis of the vehicle.
  • the rotation axis of the antenna device is set perpendicular to the translation axis of the carrier.
  • the unmanned aerial vehicle will be tilted during the flight, and the attitude information is used to compensate the zero-scale position of the angle sensor, thereby improving the accuracy of target detection.
  • the relevant information of the detection target includes one or a combination of the following: the distance between the microwave radar and the detection target, the angle between the microwave radar and the detection target, the number of detection targets, the position of the detection target, and the return energy .
  • the program instructions realize the fusion of the relevant information of the detection targets in multiple angle groups, which specifically includes: establishing a fusion variable; for any angle group, determining whether the number of detection targets in the angle group is greater than zero, when When the number of detection targets in the angle group is less than or equal to zero, the next angle group is entered.
  • the number of detection targets in the angle group is greater than zero, it is determined whether the number of detection targets in the fusion variable is zero; when the number of detection targets in the fusion variable is zero Copy the relevant information of the detection target in the angle group to the fusion variable, and enter the next angle group, when the number of detection targets in the fusion variable is not zero, the relevant information of the detection target in the angle group and the detection in the fusion variable The target information is merged until the number of detected targets in the fusion variable is greater than the preset number threshold.
  • the program instructions combine the information about the detection target in the angle group with the detection target information in the fusion variable, which specifically includes: grouping the detection in the angle group according to the distance between the microwave radar and the detection target The relevant information of the target is merged with the detected target information in the fusion variable.
  • FIG. 3 shows a flowchart of a multi-angle measurement method according to a specific embodiment of the present invention. Among them, the method includes:
  • Step 304 Use the flight control attitude data to compensate the grating scale and collect M echo signals
  • Step 306 Coherently accumulate N consecutive signals from the M echo signals and compensate the Doppler phase shift caused by the unmanned aerial vehicle movement;
  • Step 308 Perform target detection processing on the intermediate frequency data obtained after coherent accumulation (including acquiring distance, angle, energy, target position, and number);
  • Step 310 it is judged whether the detection of Y angles is completed, if it goes to step 312, if it returns to step 308;
  • step 312 multiple observation angle fusion processes are performed.
  • FIG. 4 shows a flowchart of a multi-angle measurement result fusion method in a specific embodiment of the present invention. Among them, the method includes:
  • the target set includes all target indexes obtained at the i-th angle and the information of the target.
  • the information of the target includes distance, angle, energy, target position, number of targets, etc.;
  • Step 404 create a new merged process variable tgts_temp
  • Step 408 determine whether i>Y, if not, go to step 410, if yes, go to step 420;
  • Step 410 determine whether the target number in tgts[i] is greater than 0, if it enters step 412, if not, return to step 406;
  • Step 412 determine whether the target number in tgts_temp is 0, if it goes to step 414, if it goes to step 416;
  • Step 414 copy tgts[i] to tgts_temp, and return to step 406;
  • step 416 it is determined whether the target number of the merger is greater than the preset number, for example, the preset number is 16, if not, go to step 418, if it goes to step 420;
  • Step 418 perform data merging on tgts[i] and tgts_temp, and return to step 406;
  • Step 420 output the result data.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Signal Processing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

提供了一种微波雷达、微波雷达的信号处理方法、无人飞行器以及无人飞行器的控制方法。其中，微波雷达包括：天线装置（542），用于以不同角度发射微波信号，和/或接收微波信号的回波信号（702）；以及雷达控制器（544），与天线装置（542）通信连接，雷达控制器（544）用于执行如下操作：获取多个回波信号；根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号（704）；对每个角度分组中的回波信号，进行相干累加得到回波积累信号（706）；根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息（708）。该微波雷达对多个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。

Description

一种微波雷达和无人飞行器 技术领域
本发明涉及飞行器技术领域，具体而言，涉及一种微波雷达和无人飞行器。
背景技术
旋转雷达在使用过程中旋转频率不能太高，否则会导致轴承的使用寿命缩短，且旋转带来的震动太大也会影响雷达使用寿命。而低转速带来的问题是雷达单俯仰角刷新率不足，这种情况在旋转雷达中普遍存在。
相关技术中，旋转雷达采用三角波调频连续波和OS-CFAR(Ordered Statistic Constant FALSE Alarm Rate，有序统计恒虚警概率检测)。如图1所示，实线表示发射信号、虚线表示运动目标回波信号、点划线表示静止目标回波信号、T CPI表示三角波周期、f表示频率、B表示带宽、f 0表示中心频率、t d表示发射信号与回波信号的时间差、f B表示发射信号与回波信号混频后的差频，对称三角波调制的FMCW(Frequency Modulated Continuous Wave，调频连续波)雷达可以同时测速、测距，其不具有距离模糊等优点，常用三角波作为防撞雷达调制波形。OS-CFAR算法的主要目的是抑制遮蔽效应引起的性能恶化，它保留了平均恒虚概率检测使用的一维或二维滑窗结果，如果需要也可以使用保护单元，但是彻底摈弃了后者通过参考单元的数据进行平均，从而直接估计干扰功率电平的方法，取而代之的是，OS CFAR对参考单元的数据进行排序，形成一个升序排列的新序列，选取第k个有序统计量的值作为干扰功率电平的估计，并设阈值为该值和一个因子的乘积。
而上述相关技术针对弱目标检测存在较大的漏检概率，不能够建立稳定的观测，导致航迹建立失败，对无人飞行器自主避障功能有较大的影响。
发明内容
本发明旨在至少解决现有技术或相关技术中存在的技术问题之一。
为此，本发明的第一个方面在于提出了一种微波雷达。
本发明的第二个方面在于提出了一种无人飞行器。
本发明的第三个方面在于提出了一种微波雷达的信号处理方法。
本发明的第四个方面在于提出了一种无人飞行器的控制方法。
本发明的第五个方面在于提出了一种计算机存储介质。
有鉴于此，根据本发明的第一个方面，提出了一种微波雷达，包括：天线装置，用于以不同角度发射微波信号，和/或接收微波信号的回波信号；以及雷达控制器，与天线装置通信连接，雷达控制器用于执行如下操作：获取多个回波信号；根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号；对每个角度分组中的回波信号，进行相干累加得到回波积累信号；根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息。
本发明采用由雷达控制器配置的光栅刻度来控制微波雷达发射的微波信号方向，例如微波雷达可配置触发射频板来发射该光栅刻度，微波雷达的天线装置连续发射M个三角波，接收到检测目标返回的M个回波信号后，将连续的M个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。
在一些实施例中，天线装置绕一转轴连续转动。
在一些实施例中，天线装置在转动时连续发射微波信号。
在一些实施例中，雷达控制器根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息包括：去除回波积累信号中的直流分量；采用预设截短函数，对去除直流分量后的回波积累信号进行截短处理；对截短处理后的回波积累信号进行快速傅里叶，获取快速傅里叶后的回波积累信号的频谱信息；根据预设检测阈值，对频谱信息进行恒虚警处理；根据恒虚警处理的频谱信息，获取波峰信息；根据波峰信息，进行抛物线拟合处理；根据抛物线拟合处理后的波峰信息，计算与回波积累信号对应的检测目标的相关信息。
在一些实施例中，雷达控制器还用于：对多个角度分组中的检测目标的相关信息进行融合。
在一些实施例中，雷达控制器对多个角度分组中的检测目标的相关信息进行融合包括：根据多个角度分组中的检测目标的相关信息，确定多个角度分组中的检测目标是否为同一检测目标；若为同一检测目标，则根据检测目标的检测能量大小，选择检测能量大小最大的检测目标的相关信息，作为同一检测目标的相关信息。
在该实施例中，根据回波信号的中频信号进行目标检测和提取，包括去直流、加窗、FFT(Fast Fourier Transformation，快速傅里叶变换)、CFAR(恒虚警处理)检测、以及抛物线拟合等，获取角度分组内的目标物信息。得到每一个角度分组检测结果后再对所有结果进行融合处理，融合的原则按照无损失任何探测原则，按照目标的索引(检测峰值位置)进行合并，合并后根据距离由近到远排列作为微波雷达的目标物信息。需要说明的是，如果不同的观测角度，检测到相同的目标则根据其能量大小作为取舍依据，选择能量大的作为检测结果。
在一些实施例中，雷达控制器还用于根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在该实施例中，如果目标是运动的，则在回波信号的信号分量的测量结果中将会呈现一个多普勒频率，因此必须对信号进行频移补偿以保证信号分量的相位一致，以便获得相干积累增益。
在一些实施例中，雷达控制器还用于配置获取的多个回波信号的数量和相干累加参数，其中，相干累加参数为每个角度分组中回波信号的数量，获取的多个回波信号的数量为相干累加参数的整数倍。
在该实施例中，雷达控制器配置获取的多个回波信号的数量和相干累加参数，获取的多个回波信号的数量与相干累加参数的比值即为对回波信号进行角度分组的分组数量，将一个角度分组内的多个回波信号进行相干累加，以增大弱目标检测概率。
在一些实施例中，还包括：与雷达控制器通信连接的角度传感器，角度传感器用于检测微波信号以及回波信号的观测角度。
在一些实施例中，角度传感器包括光栅角度传感器。
在一些实施例中，雷达控制器还用于根据载具的姿态信息，对角度传感器获取的观测角度进行修正，其中，载具用于承载微波雷达。
在一些实施例中，载具为无人飞行器，或地面车辆。
在一些实施例中，雷达控制器还用于利用姿态信息对角度传感器的零度刻度位置进行调整。
在一些实施例中，姿态信息包括俯仰角信息，角度传感器的零度刻度位置平行于载具的平移轴设置。
在一些实施例中，天线装置的转轴垂直于载具的平移轴设置。
在该实施例中，无人飞行器的飞行过程中会出现倾斜情况，利用姿态信息补偿对角度传感器的零度刻度位置，进而提高目标检测的准确性。
在一些实施例中，检测目标的相关信息包括以下一种或其组合：微波雷达与检测目标之间的距离、微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
在一些实施例中，雷达控制器对多个角度分组中的检测目标的相关信息进行融合，具体包括：建立融合变量；针对任一角度分组，判断角度分组内的检测目标数量是否大于零，当角度分组内的检测目标数量小于等于零时进入下一角度分组，当角度分组内的检测目标数量大于零时判断融合变量中的检测目标数量是否为零；当融合变量中的检测目标数量为零时将角度分组内的检测目标的相关信息复制给融合变量，并进入下一角度分组，当融合变量中的检测目标数量不为零时将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，直至融合变量中的检测目标数量大于预设数量阈值。
在一些实施例中，雷达控制器将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，具体包括：按照微波雷达与检测目标之间的距离，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并。
根据本发明的第二个方面，提出了一种无人飞行器，包括：机架；微波雷达，安装在机架上，微波雷达包括：天线装置，用于以不同角度发射 微波信号，和/或接收微波信号的回波信号；以及雷达控制器，与天线装置通信连接，雷达控制器获取多个回波信号，根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号，对每个角度分组中的回波信号，进行相干累加得到回波积累信号，根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息。
本发明采用由雷达控制器配置的光栅刻度来控制微波雷达发射的微波信号方向，例如微波雷达可配置触发射频板来发射该光栅刻度，微波雷达的天线装置连续发射M个三角波，接收到检测目标返回的M个回波信号后，将连续的M个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。
在一些实施例中，天线装置绕一转轴连续转动。
在一些实施例中，天线装置在转动时连续发射微波信号。
在一些实施例中，雷达控制器根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息包括：去除回波积累信号中的直流分量；采用预设截短函数，对去除直流分量后的回波积累信号进行截短处理；对截短处理后的回波积累信号进行快速傅里叶，获取快速傅里叶后的回波积累信号的频谱信息；根据预设检测阈值，对频谱信息进行恒虚警处理；根据恒虚警处理的频谱信息，获取波峰信息；根据波峰信息，进行抛物线拟合处理；根据抛物线拟合处理后的波峰信息，计算与回波积累信号对应的检测目标的相关信息。
在一些实施例中，雷达控制器还用于：对多个角度分组中的检测目标的相关信息进行融合。
在一些实施例中，雷达控制器对多个角度分组中的检测目标的相关信息进行融合包括：根据多个角度分组中的检测目标的相关信息，确定多个角度分组中的检测目标是否为同一检测目标；若为同一检测目标，则根据检测目标的检测能量大小，选择检测能量大小最大的检测目标的相关信息，作为同一检测目标的相关信息。
在该实施例中，根据回波信号的中频信号进行目标检测和提取，包括 去直流、加窗、FFT(快速傅里叶变换)、CFAR(恒虚警处理)检测、以及抛物线拟合等，获取角度分组内的目标物信息。得到每一个角度分组检测结果后再对所有结果进行融合处理，融合的原则按照无损失任何探测原则，按照目标的索引(检测峰值位置)进行合并，合并后根据距离由近到远排列作为微波雷达的目标物信息。需要说明的是，如果不同的观测角度，检测到相同的目标则根据其能量大小作为取舍依据，选择能量大的作为检测结果。
在一些实施例中，雷达控制器还用于根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在该实施例中，如果目标是运动的，则在回波信号的信号分量的测量结果中将会呈现一个多普勒频率，因此必须对信号进行频移补偿以保证信号分量的相位一致，以便获得相干积累增益。
在一些实施例中，雷达控制器还用于配置获取的多个回波信号的数量和相干累加参数，其中，相干累加参数为每个角度分组中回波信号的数量，获取的多个回波信号的数量为相干累加参数的整数倍。
在该实施例中，雷达控制器配置获取的多个回波信号的数量和相干累加参数，获取的多个回波信号的数量与相干累加参数的比值即为对回波信号进行角度分组的分组数量，将一个角度分组内的多个回波信号进行相干累加，以增大弱目标检测概率。
在一些实施例中，还包括：与雷达控制器通信连接的角度传感器，角度传感器用于检测微波信号以及回波信号的观测角度。
在一些实施例中，角度传感器包括光栅角度传感器。
在一些实施例中，雷达控制器还用于根据载具的姿态信息，对角度传感器获取的观测角度进行修正，其中，载具用于承载微波雷达。
在一些实施例中，载具为无人飞行器，或地面车辆。
在一些实施例中，雷达控制器还用于利用姿态信息对角度传感器的零度刻度位置进行调整。
在一些实施例中，姿态信息包括俯仰角信息，角度传感器的零度刻度位置平行于载具的平移轴设置。
在一些实施例中，天线装置的转轴垂直于载具的平移轴设置。
在该实施例中，无人飞行器的飞行过程中会出现倾斜情况，利用姿态信息补偿对角度传感器的零度刻度位置，进而提高目标检测的准确性。
在一些实施例中，检测目标的相关信息包括以下一种或其组合：微波雷达与检测目标之间的距离、微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
在一些实施例中，雷达控制器对多个角度分组中的检测目标的相关信息进行融合，具体包括：建立融合变量；针对任一角度分组，判断角度分组内的检测目标数量是否大于零，当角度分组内的检测目标数量小于等于零时进入下一角度分组，当角度分组内的检测目标数量大于零时判断融合变量中的检测目标数量是否为零；当融合变量中的检测目标数量为零时将角度分组内的检测目标的相关信息复制给融合变量，并进入下一角度分组，当融合变量中的检测目标数量不为零时将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，直至融合变量中的检测目标数量大于预设数量阈值。
在一些实施例中，雷达控制器将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，具体包括：按照微波雷达与检测目标之间的距离，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并。
在一些实施例中，还包括：飞行器控制器，用于根据融合后的检测目标的相关信息控制无人飞行器的航迹。
在该实施例中，飞行器控制器根据融合后的检测目标的相关信息控制无人飞行器的航迹，例如，控制无人飞行器在检测目标前停止飞行或者绕过目标物飞行。
根据本发明的第三个方面，提出了一种微波雷达的信号处理方法，包括：控制微波雷达的天线装置以不同角度发射微波信号，和/或接收微波信号的回波信号；获取多个回波信号，根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号；对每个角度分组中的回波信号，进行相干累加得到回波积累 信号；根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息。
本发明采用由配置的光栅刻度来控制微波雷达发射的微波信号方向，例如微波雷达可配置触发射频板来发射该光栅刻度，微波雷达的天线装置连续发射M个三角波，接收到检测目标返回的M个回波信号后，将连续的M个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。
在一些实施例中，还包括：控制天线装置绕一转轴连续转动。
在一些实施例中，还包括：控制天线装置在转动时连续发射微波信号。
在一些实施例中，根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息的步骤包括：去除回波积累信号中的直流分量；采用预设截短函数，对去除直流分量后的回波积累信号进行截短处理；对截短处理后的回波积累信号进行快速傅里叶，获取快速傅里叶后的回波积累信号的频谱信息；根据预设检测阈值，对频谱信息进行恒虚警处理；根据恒虚警处理的频谱信息，获取波峰信息；根据波峰信息，进行抛物线拟合处理；根据抛物线拟合处理后的波峰信息，计算与回波积累信号对应的检测目标的相关信息。
在一些实施例中，还包括：对多个角度分组中的检测目标的相关信息进行融合。
在一些实施例中，对多个角度分组中的检测目标的相关信息进行融合的步骤包括：根据多个角度分组中的检测目标的相关信息，确定多个角度分组中的检测目标是否为同一检测目标；若为同一检测目标，则根据检测目标的检测能量大小，选择检测能量大小最大的检测目标的相关信息，作为同一检测目标的相关信息。
在该实施例中，根据回波信号的中频信号进行目标检测和提取，包括去直流、加窗、FFT(快速傅里叶变换)、CFAR(恒虚警处理)检测、以及抛物线拟合等，获取角度分组内的目标物信息。得到每一个角度分组检测结果后再对所有结果进行融合处理，融合的原则按照无损失任何探测原则，按照目标的索引(检测峰值位置)进行合并，合并后根据距离由近到 远排列作为微波雷达的目标物信息。需要说明的是，如果不同的观测角度，检测到相同的目标则根据其能量大小作为取舍依据，选择能量大的作为检测结果。
在一些实施例中，还包括：根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在该实施例中，如果目标是运动的，则在回波信号的信号分量的测量结果中将会呈现一个多普勒频率，因此必须对信号进行频移补偿以保证信号分量的相位一致，以便获得相干积累增益。
在一些实施例中，还包括：配置获取的多个回波信号的数量和相干累加参数，其中，相干累加参数为每个角度分组中回波信号的数量，获取的多个回波信号的数量为相干累加参数的整数倍。
在该实施例中，配置获取的多个回波信号的数量和相干累加参数，获取的多个回波信号的数量与相干累加参数的比值即为对回波信号进行角度分组的分组数量，将一个角度分组内的多个回波信号进行相干累加，以增大弱目标检测概率。
在一些实施例中，还包括：控制微波雷达的角度传感器检测微波信号以及回波信号的观测角度。
在一些实施例中，角度传感器包括光栅角度传感器。
在一些实施例中，还包括：根据载具的姿态信息，对角度传感器获取的观测角度进行修正，其中，载具用于承载微波雷达。
在一些实施例中，载具为无人飞行器，或地面车辆。
在一些实施例中，还包括：利用姿态信息对角度传感器的零度刻度位置进行调整。
在一些实施例中，姿态信息包括俯仰角信息，角度传感器的零度刻度位置平行于载具的平移轴设置。
在该实施例中，无人飞行器的飞行过程中会出现倾斜情况，利用姿态信息补偿角度传感器的零度刻度位置，进而提高目标检测的准确性。
在一些实施例中，天线装置的转轴垂直于载具的平移轴设置。
在一些实施例中，检测目标的相关信息包括以下一种或其组合：微波 雷达与检测目标之间的距离、微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
在一些实施例中，对多个角度分组中的检测目标的相关信息进行融合的步骤包括：建立融合变量；针对任一角度分组，判断角度分组内的检测目标数量是否大于零，当角度分组内的检测目标数量小于等于零时进入下一角度分组，当角度分组内的检测目标数量大于零时判断融合变量中的检测目标数量是否为零；当融合变量中的检测目标数量为零时将角度分组内的检测目标的相关信息复制给融合变量，并进入下一角度分组，当融合变量中的检测目标数量不为零时将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，直至融合变量中的检测目标数量大于预设数量阈值。
在一些实施例中，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并的步骤包括：按照微波雷达与检测目标之间的距离，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并。
根据本发明的第四个方面，提出了一种无人飞行器的控制方法，包括：控制无人飞行器的微波雷达的天线装置以不同角度发射微波信号，和/或接收微波信号的回波信号；获取多个回波信号，根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号；对每个角度分组中的回波信号，进行相干累加得到回波积累信号；根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息。
本发明采用由配置的光栅刻度来控制微波雷达发射的微波信号方向，例如微波雷达可配置触发射频板来发射该光栅刻度，微波雷达的天线装置连续发射M个三角波，接收到检测目标返回的M个回波信号后，将连续的M个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。
在一些实施例中，控制天线装置绕一转轴连续转动。
在一些实施例中，还包括：控制天线装置在转动时连续发射微波信号。
在一些实施例中，根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息的步骤包括：去除回波积累信号中的直流分量；采用预设截短函数，对去除直流分量后的回波积累信号进行截短处理；对截短处理后的回波积累信号进行快速傅里叶，获取快速傅里叶后的回波积累信号的频谱信息；根据预设检测阈值，对频谱信息进行恒虚警处理；根据恒虚警处理的频谱信息，获取波峰信息；根据波峰信息，进行抛物线拟合处理；根据抛物线拟合处理后的波峰信息，计算与回波积累信号对应的检测目标的相关信息。
在一些实施例中，还包括：对多个角度分组中的检测目标的相关信息进行融合。
在一些实施例中，对多个角度分组中的检测目标的相关信息进行融合的步骤包括：根据多个角度分组中的检测目标的相关信息，确定多个角度分组中的检测目标是否为同一检测目标；若为同一检测目标，则根据检测目标的检测能量大小，选择检测能量大小最大的检测目标的相关信息，作为同一检测目标的相关信息。
在该实施例中，根据回波信号的中频信号进行目标检测和提取，包括去直流、加窗、FFT(快速傅里叶变换)、CFAR(恒虚警处理)检测、以及抛物线拟合等，获取角度分组内的目标物信息。得到每一个角度分组检测结果后再对所有结果进行融合处理，融合的原则按照无损失任何探测原则，按照目标的索引(检测峰值位置)进行合并，合并后根据距离由近到远排列作为微波雷达的目标物信息。需要说明的是，如果不同的观测角度，检测到相同的目标则根据其能量大小作为取舍依据，选择能量大的作为检测结果。
在一些实施例中，还包括：根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在该实施例中，如果目标是运动的，则在回波信号的信号分量的测量结果中将会呈现一个多普勒频率，因此必须对信号进行频移补偿以保证信号分量的相位一致，以便获得相干积累增益。
在一些实施例中，还包括：配置获取的多个回波信号的数量和相干累 加参数，其中，相干累加参数为每个角度分组中回波信号的数量，获取的多个回波信号的数量为相干累加参数的整数倍。
在该实施例中，配置获取的多个回波信号的数量和相干累加参数，获取的多个回波信号的数量与相干累加参数的比值即为对回波信号进行角度分组的分组数量，将一个角度分组内的多个回波信号进行相干累加，以增大弱目标检测概率。
在一些实施例中，控制微波雷达的角度传感器检测微波信号以及回波信号的观测角度。
在一些实施例中，角度传感器包括光栅角度传感器。
在一些实施例中，还包括：根据载具的姿态信息，对角度传感器获取的观测角度进行修正，其中，载具用于承载微波雷达。
在一些实施例中，载具为无人飞行器，或地面车辆。
在一些实施例中，还包括：利用姿态信息对角度传感器的零度刻度位置进行调整。
在一些实施例中，姿态信息包括俯仰角信息，角度传感器的零度刻度位置平行于载具的平移轴设置。
在一些实施例中，天线装置的转轴垂直于载具的平移轴设置。
在该实施例中，无人飞行器的飞行过程中会出现倾斜情况，利用姿态信息补偿角度传感器的零度刻度位置，进而提高目标检测的准确性。
在一些实施例中，检测目标的相关信息包括以下一种或其组合：微波雷达与检测目标之间的距离、微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
在一些实施例中，对多个角度分组中的检测目标的相关信息进行融合的步骤包括：建立融合变量；针对任一角度分组，判断角度分组内的检测目标数量是否大于零，当角度分组内的检测目标数量小于等于零时进入下一角度分组，当角度分组内的检测目标数量大于零时判断融合变量中的检测目标数量是否为零；当融合变量中的检测目标数量为零时将角度分组内的检测目标的相关信息复制给融合变量，并进入下一角度分组，当融合变量中的检测目标数量不为零时将角度分组内的检测目标的相关信息与融合 变量中的检测目标信息进行合并，直至融合变量中的检测目标数量大于预设数量阈值。
在一些实施例中，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并的步骤包括：按照微波雷达与检测目标之间的距离，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并。
在一些实施例中，还包括：根据融合后的检测目标的相关信息控制无人飞行器的航迹。
在该实施例中，飞行器控制器根据融合后的检测目标的相关信息控制无人飞行器的航迹，例如，控制无人飞行器在目标物前停止飞行或者绕过检测目标飞行。
根据本发明的第五个方面，提出了一种计算机存储介质，计算机存储介质中存储有程序指令，程序指令用于实现：控制微波雷达的天线装置以不同角度发射微波信号，和/或接收微波信号的回波信号；获取多个回波信号，根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号；对每个角度分组中的回波信号，进行相干累加得到回波积累信号；根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息。
本发明采用由配置的光栅刻度来控制微波雷达发射的微波信号方向，例如微波雷达可配置触发射频板来发射该光栅刻度，微波雷达的天线装置连续发射M个三角波，接收到检测目标返回的M个回波信号后，将连续的M个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。
在一些实施例中，程序指令还用于实现：控制天线装置绕一转轴连续转动。
在一些实施例中，程序指令还用于实现：控制天线装置在转动时连续发射微波信号。
在一些实施例中，程序指令实现根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息，具体包括：去除回波积累信号中的直流 分量；采用预设截短函数，对去除直流分量后的回波积累信号进行截短处理；对截短处理后的回波积累信号进行快速傅里叶，获取快速傅里叶后的回波积累信号的频谱信息；根据预设检测阈值，对频谱信息进行恒虚警处理；根据恒虚警处理的频谱信息，获取波峰信息；根据波峰信息，进行抛物线拟合处理；根据抛物线拟合处理后的波峰信息，计算与回波积累信号对应的检测目标的相关信息。
在一些实施例中，程序指令还用于实现：对多个角度分组中的检测目标的相关信息进行融合。
在一些实施例中，程序指令实现对多个角度分组中的检测目标的相关信息进行融合，具体包括：根据多个角度分组中的检测目标的相关信息，确定多个角度分组中的检测目标是否为同一检测目标；若为同一检测目标，则根据检测目标的检测能量大小，选择检测能量大小最大的检测目标的相关信息，作为同一检测目标的相关信息。
在该实施例中，根据回波信号的中频信号进行目标检测和提取，包括去直流、加窗、FFT(快速傅里叶变换)、CFAR(恒虚警处理)检测、以及抛物线拟合等，获取角度分组内的目标物信息。得到每一个角度分组检测结果后再对所有结果进行融合处理，融合的原则按照无损失任何探测原则，按照目标的索引(检测峰值位置)进行合并，合并后根据距离由近到远排列作为微波雷达的目标物信息。需要说明的是，如果不同的观测角度，检测到相同的目标则根据其能量大小作为取舍依据，选择能量大的作为检测结果。
在一些实施例中，程序指令还用于实现：根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在该实施例中，如果目标是运动的，则在回波信号的信号分量的测量结果中将会呈现一个多普勒频率，因此必须对信号进行频移补偿以保证信号分量的相位一致，以便获得相干积累增益。
在一些实施例中，程序指令还用于实现：配置获取的多个回波信号的数量和相干累加参数，其中，相干累加参数为每个角度分组中回波信号的数量，获取的多个回波信号的数量为相干累加参数的整数倍。
在该实施例中，配置获取的多个回波信号的数量和相干累加参数，获取的多个回波信号的数量与相干累加参数的比值即为对回波信号进行角度分组的分组数量，将一个角度分组内的多个回波信号进行相干累加，以增大弱目标检测概率。
在一些实施例中，程序指令还用于实现：控制微波雷达的角度传感器检测微波信号以及回波信号的观测角度。
在一些实施例中，角度传感器包括光栅角度传感器。
在一些实施例中，程序指令还用于实现：根据载具的姿态信息，对角度传感器获取的观测角度进行修正，其中，载具用于承载微波雷达。
在一些实施例中，载具为无人飞行器，或地面车辆。
在一些实施例中，程序指令还用于实现：利用姿态信息对角度传感器的零度刻度位置进行调整。
在一些实施例中，姿态信息包括俯仰角信息，角度传感器的零度刻度位置平行于载具的平移轴设置。
在一些实施例中，天线装置的转轴垂直于载具的平移轴设置。
在该实施例中，无人飞行器的飞行过程中会出现倾斜情况，利用姿态信息补偿角度传感器的零度刻度位置，进而提高目标检测的准确性。
在一些实施例中，检测目标的相关信息包括以下一种或其组合：微波雷达与检测目标之间的距离、微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
在一些实施例中，程序指令实现对多个角度分组中的检测目标的相关信息进行融合，具体包括：建立融合变量；针对任一角度分组，判断角度分组内的检测目标数量是否大于零，当角度分组内的检测目标数量小于等于零时进入下一角度分组，当角度分组内的检测目标数量大于零时判断融合变量中的检测目标数量是否为零；当融合变量中的检测目标数量为零时将角度分组内的检测目标的相关信息复制给融合变量，并进入下一角度分组，当融合变量中的检测目标数量不为零时将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，直至融合变量中的检测目标数量大于预设数量阈值。
在一些实施例中，程序指令实现将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，具体包括：按照微波雷达与检测目标之间的距离，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并。
本发明的附加方面和优点将在下面的描述部分中变得明显，或通过本发明的实践了解到。
附图说明
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1示出了相关技术中的三角波调制波形的示意图；
图2示出了本发明的一个实施例的微波雷达的示意框图；
图3示出了本发明的一个具体实施例的多角度测量方法的流程图；
图4示出了本发明的一个具体实施例的多角度测量结果融合方法的流程图；
图5示出了本发明的一个实施例的无人飞行器的示意框图；
图6示出了本发明的一个实施例的无人飞行器的示意图；
图7示出了本发明的一个实施例的微波雷达的信号处理方法的流程图；
图8示出了本发明的一个实施例的无人飞行器的控制方法的流程图。
具体实施方式
为了能够更清楚地理解本发明的上述目的、特征和优点，下面结合附图和具体实施方式对本发明进行进一步的详细描述。需要说明的是，在不冲突的情况下，本发明的实施例及实施例中的特征可以相互组合。
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是，本发明还可以采用其他不同于在此描述的其他方式来实施，因此，本发明的保护范围并不限于下面公开的具体实施例的限制。
本发明第一方面的实施例，提出一种微波雷达，图2示出了本发明的 一个实施例的微波雷达20的示意框图。其中，该微波雷达20包括：
天线装置202，用于以不同角度发射微波信号，和/或接收微波信号的回波信号；
雷达控制器204，与天线装置202通信连接，雷达控制器204用于执行如下操作：获取多个回波信号；根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号；对每个角度分组中的回波信号，进行相干累加得到回波积累信号；根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息。
本发明采用由雷达控制器204配置的光栅刻度来控制微波雷达发射的微波信号方向，例如微波雷达20可配置触发射频板来发射该光栅刻度，微波雷达20的天线装置202连续发射M个三角波，接收到检测目标返回的M个回波信号后，将连续的M个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。
在一些实施例中，所述微波雷达20可以安装在无人飞行器上，雷达控制器204可以包括一个或多个微处理器。微波雷达20还可以包括信号发射器、信号接收器、滤波器、混频器等。
在一些实施例中，天线装置202绕一转轴连续转动。
在一些实施例中，天线装置202在转动时连续发射微波信号。
在一些实施例中，雷达控制器204根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息包括：去除回波积累信号中的直流分量；采用预设截短函数，对去除直流分量后的回波积累信号进行截短处理；对截短处理后的回波积累信号进行快速傅里叶，获取快速傅里叶后的回波积累信号的频谱信息；根据预设检测阈值，对频谱信息进行恒虚警处理；根据恒虚警处理的频谱信息，获取波峰信息；根据波峰信息，进行抛物线拟合处理；根据抛物线拟合处理后的波峰信息，计算与回波积累信号对应的检测目标的相关信息。
在一些实施例中，雷达控制器204还用于：对多个角度分组中的检测目标的相关信息进行融合。
在一些实施例中，雷达控制器204对多个角度分组中的检测目标的相 关信息进行融合包括：根据多个角度分组中的检测目标的相关信息，确定多个角度分组中的检测目标是否为同一检测目标；若为同一检测目标，则根据检测目标的检测能量大小，选择检测能量大小最大的检测目标的相关信息，作为同一检测目标的相关信息。
在该实施例中，根据回波信号的中频信号进行目标检测和提取，包括去直流、加窗、FFT(Fast Fourier Transformation，快速傅里叶变换)、CFAR(恒虚警处理)检测、以及抛物线拟合等，获取角度分组内的目标物信息。得到每一个角度分组检测结果后再对所有结果进行融合处理，融合的原则按照无损失任何探测原则，按照目标的索引(检测峰值位置)进行合并，合并后根据距离由近到远排列作为微波雷达的目标物信息。需要说明的是，如果不同的观测角度，检测到相同的目标则根据其能量大小作为取舍依据，选择能量大的作为检测结果。
在一些实施例中，雷达控制器204还用于根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在该实施例中，如果目标是运动的，则在回波信号的信号分量的测量结果中将会呈现一个多普勒频率，因此必须对信号进行频移补偿以保证信号分量的相位一致，以便获得相干积累增益。
本发明采用光栅刻度来控制微波雷达的微波信号方向，并且可配置触发射频板发射三角波的光栅刻度，连续发射M个三角波，接收到M个回波后，将连续的M个回波信号进行相干累加并补偿多普勒平移，提高信噪比，具体做法如下：
(1)相干累加：
假设微波雷达发射一个脉冲，被目标物发射回来一部分能量，在回波从接收机输出时对信号进行测量，测量的信号中包含幅度为e jφ的复回波，以及加性噪声w，假设加性噪声w是对功率σ 2的随机过程样本。单个脉冲的SNR定义为：
Figure PCTCN2018117372-appb-000001
其中，χ 1为SNR，A 2为信号能量，σ 2为噪声功率。
现在假设测量又重复了N-1次(共测量N次)，希望测量到的回波响 应是不变的，而每次的噪声样本则是独立的。将这些独立测量值进行积累(求和)产生一个新的测量值z，这些包含相位信息的复样本的求和就是相干积累，如下：
Figure PCTCN2018117372-appb-000002
其中，z表示回波积累信号，A表示频率的幅度，φ表示频率的相位，N表示相干累加参数(测量次数)。
显然积累的信号分量的能量为N 2A 2，如果噪声样本w(n)彼此独立且均值为0，则噪声分量的功率是独立噪声样本的功率和。进一步假设每个噪声样本的功率相同为σ 2，则总的噪声功率为Nσ 2，积累后的SNR变成：
Figure PCTCN2018117372-appb-000003
将N次测量进行相干积累可以将SNR提高N倍，这种提高称为积累增益，正如希望的那样提高SNR可以改善雷达检测和参数估计的性能。
在相干积累中，信号分量是同相相加的，即相干相加的。因为积累后的信号分量的幅度增加原来N倍，所以信号能量增加到原来的N 2倍，而噪声信号由于其相位是随机变化的，所以称之为功率相加。正是信号相位的一致性使信号功率在积累过程中的增加快于噪声功率。
(2)补偿多普勒平移：
在有些情况下，必须对信号进行预处理以保证信号分量的相位一致，以便获得相干积累增益，如果目标是运动的，则在信号分量的测量结果中将会呈现一个多普勒频率，如下：
Figure PCTCN2018117372-appb-000004
其中，f为多普勒归一化频率，在这种情况下，信号的功率依赖于多普勒频移的具体数值，除了少数极为幸运的情况外，信号功率都将小于N 2A 2，然而，如果预先知道多普勒频移，信号分量的相位变化可以在求和之前进行补偿：
Figure PCTCN2018117372-appb-000005
因为相位校准使信号分量的相位变得相同，所以信号分量可以相干相加，噪声分量的相位仍然随机的，这样积累后的信号功率又变成了N 2A 2， 而积累后的噪声功率仍为Nσ 2，又得到了相干积累增益N。
在一些实施例中，雷达控制器204还用于配置获取的多个回波信号的数量和相干累加参数，其中，相干累加参数为每个角度分组中回波信号的数量，获取的多个回波信号的数量为相干累加参数的整数倍。
在该实施例中，雷达控制器204配置获取的多个回波信号的数量和相干累加参数，获取的多个回波信号的数量与相干累加参数的比值即为对回波信号进行角度分组的分组数量，将一个角度分组内的多个回波信号进行相干累加，以增大弱目标检测概率。
在一些实施例中，还包括：与雷达控制器204通信连接的角度传感器206，角度传感器206用于检测微波信号以及回波信号的观测角度。
在一些实施例中，角度传感器206包括光栅角度传感器。
在一些实施例中，雷达控制器204还用于根据载具的姿态信息，对角度传感器获取的观测角度进行修正，其中，载具用于承载微波雷达。
在一些实施例中，载具为无人飞行器，或地面车辆。
在一些实施例中，雷达控制器204还用于利用姿态信息对角度传感器的零度刻度位置进行调整。
在一些实施例中，姿态信息包括俯仰角信息，角度传感器的零度刻度位置平行于载具的平移轴设置。
在一些实施例中，天线装置的转轴垂直于载具的平移轴设置。
在该实施例中，无人飞行器的飞行过程中会出现倾斜情况，利用姿态信息补偿对角度传感器的零度刻度位置，进而提高目标检测的准确性。
在一些实施例中，检测目标的相关信息包括以下一种或其组合：微波雷达与检测目标之间的距离、微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
在一些实施例中，雷达控制器204对多个角度分组中的检测目标的相关信息进行融合，具体包括：建立融合变量；针对任一角度分组，判断角度分组内的检测目标数量是否大于零，当角度分组内的检测目标数量小于等于零时进入下一角度分组，当角度分组内的检测目标数量大于零时判断融合变量中的检测目标数量是否为零；当融合变量中的检测目标数量为零 时将角度分组内的检测目标的相关信息复制给融合变量，并进入下一角度分组，当融合变量中的检测目标数量不为零时将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，直至融合变量中的检测目标数量大于预设数量阈值。
在一些实施例中，雷达控制器204将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，具体包括：按照微波雷达与检测目标之间的距离，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并。
本发明通过采用多角度观测目标并利用SNR融合结果，来提高弱目标检测概率，从而提升雷达避障性能。图3示出了本发明的一个具体实施例的多角度测量方法的流程图。其中，该方法包括：
步骤302，配置起始采集光栅刻度、采集回波信号数量M和相干累加参数N，其中，采集回波信号数量M为相干累加参数N的整数倍，观测角度个数为M/N＝Y；
步骤304，利用飞控姿态数据对光栅刻度进行补偿，并采集M个回波信号；
步骤306，从M个回波信号中连续的N个信号做相干累加并补偿由于无人飞行器运动而引起的多普勒相位移动；
步骤308，对相干累加后得到的中频数据做目标检测处理(包括获取距离、角度、能量、目标位置、数量)；
步骤310，判断是否完成Y个角度检测，若是进入步骤312，若否返回步骤308；
步骤312，进行多个观测角度融合处理。
图4示出了本发明的一个具体实施例的多角度测量结果融合方法的流程图。其中，该方法包括：
步骤402，多角度Y检测数据获取{tgts[1]tgts[2]tgts[3]......tgts[Y]}，其中，tgts[i]表示第i个角度中获取的目标集合，该目标集合中包括在第i个角度下获取的所有目标物索引以及该目标物的信息，目标物的信息包括距离、角度、能量、目标位置、目标数量等；
步骤404，新建合并过程变量tgts_temp；
步骤406，i＝i+1；
步骤408，判断是否i>Y，若否进入步骤410，若是进入步骤420；
步骤410，判断tgts[i]中的目标数量是否大于0，若是进入步骤412，若否返回步骤406；
步骤412，判断tgts_temp中目标数量是否为0，若是进入步骤414，若否进入步骤416；
步骤414，把tgts[i]复制给tgts_temp，并返回步骤406；
步骤416，判断合并的目标数量是否大于预设数量，例如预设数量为16，若否进入步骤418，若是进入步骤420；
步骤418，对tgts[i]与tgts_temp进行数据合并，并返回步骤406；
步骤420，输出结果数据。
本发明第二方面的实施例，提出一种无人飞行器，图5示出了本发明的一个实施例的无人飞行器50的示意框图。其中，该无人飞行器50包括：
机架502；
微波雷达504，安装在机架502上，微波雷达504包括：
天线装置542，用于以不同角度发射微波信号，和/或接收微波信号的回波信号；以及雷达控制器544，与天线装置542通信连接，雷达控制器544获取多个回波信号，根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号，对每个角度分组中的回波信号，进行相干累加得到回波积累信号，根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息。
本发明采用由雷达控制器544配置的光栅刻度来控制微波雷达504发射的微波信号方向，例如微波雷达504可配置触发射频板来发射该光栅刻度，微波雷达504的天线装置542连续发射M个三角波，接收到检测目标返回的M个回波信号后，将连续的M个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。
在一些实施例中，雷达控制器544可以包括一个或多个微处理器。微波雷达504还可以包括信号发射器、信号接收器、滤波器、混频器等。
在一些实施例中，天线装置542绕一转轴连续转动，如图6所示，旋转雷达(微波雷达)具有一转轴，天线装置542绕该转轴连续转动。
在一些实施例中，天线装置542在转动时连续发射微波信号。
在一些实施例中，雷达控制器544根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息包括：去除回波积累信号中的直流分量；采用预设截短函数，对去除直流分量后的回波积累信号进行截短处理；对截短处理后的回波积累信号进行快速傅里叶，获取快速傅里叶后的回波积累信号的频谱信息；根据预设检测阈值，对频谱信息进行恒虚警处理；根据恒虚警处理的频谱信息，获取波峰信息；根据波峰信息，进行抛物线拟合处理；根据抛物线拟合处理后的波峰信息，计算与回波积累信号对应的检测目标的相关信息。
在一些实施例中，雷达控制器还用于：对多个角度分组中的检测目标的相关信息进行融合。
在一些实施例中，雷达控制器544对多个角度分组中的检测目标的相关信息进行融合包括：根据多个角度分组中的检测目标的相关信息，确定多个角度分组中的检测目标是否为同一检测目标；若为同一检测目标，则根据检测目标的检测能量大小，选择检测能量大小最大的检测目标的相关信息，作为同一检测目标的相关信息。
在该实施例中，根据回波信号的中频信号进行目标检测和提取，包括去直流、加窗、FFT(快速傅里叶变换)、CFAR(恒虚警处理)检测、以及抛物线拟合等，获取角度分组内的目标物信息。得到每一个角度分组检测结果后再对所有结果进行融合处理，融合的原则按照无损失任何探测原则，按照目标的索引(检测峰值位置)进行合并，合并后根据距离由近到远排列作为微波雷达的目标物信息。需要说明的是，如果不同的观测角度，检测到相同的目标则根据其能量大小作为取舍依据，选择能量大的作为检测结果。
在一些实施例中，雷达控制器544还用于根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在该实施例中，如果目标是运动的，则在回波信号的信号分量的测量 结果中将会呈现一个多普勒频率，因此必须对信号进行频移补偿以保证信号分量的相位一致，以便获得相干积累增益。
本发明采用光栅刻度来控制微波雷达的微波信号方向，并且可配置触发射频板发射三角波的光栅刻度，连续发射M个三角波，接收到M个回波后，将连续的M个回波信号进行相干累加并补偿多普勒平移，提高信噪比，具体做法如下：
(1)相干累加：
假设微波雷达发射一个脉冲，被目标物发射回来一部分能量，在回波从接收机输出时对信号进行测量，测量的信号中包含幅度为e jφ的复回波，以及加性噪声w，假设加性噪声w是对功率σ 2的随机过程样本。单个脉冲的SNR定义为：
Figure PCTCN2018117372-appb-000006
其中，χ 1为SNR，A 2为信号能量，σ 2为噪声功率。
现在假设测量又重复了N-1次(共测量N次)，希望测量到的回波响应是不变的，而每次的噪声样本则是独立的。将这些独立测量值进行积累(求和)产生一个新的测量值z，这些包含相位信息的复样本的求和就是相干积累，如下：
Figure PCTCN2018117372-appb-000007
其中，z表示回波积累信号，A表示频率的幅度，φ表示频率的相位，N表示相干累加参数(测量次数)。
显然积累的信号分量的能量为N 2A 2，如果噪声样本w(n)彼此独立且均值为0，则噪声分量的功率是独立噪声样本的功率和。进一步假设每个噪声样本的功率相同为σ 2，则总的噪声功率为Nσ 2，积累后的SNR变成：
Figure PCTCN2018117372-appb-000008
将N次测量进行相干积累可以将SNR提高N倍，这种提高称为积累增益，正如希望的那样提高SNR可以改善雷达检测和参数估计的性能。
在相干积累中，信号分量是同相相加的，即相干相加的。因为积累后的信号分量的幅度增加原来N倍，所以信号能量增加到原来的N 2倍，而噪 声信号由于其相位是随机变化的，所以称之为功率相加。正是信号相位的一致性使信号功率在积累过程中的增加快于噪声功率。
(2)补偿多普勒平移：
在有些情况下，必须对信号进行预处理以保证信号分量的相位一致，以便获得相干积累增益，如果目标是运动的，则在信号分量的测量结果中将会呈现一个多普勒频率，如下：
Figure PCTCN2018117372-appb-000009
其中，f为多普勒归一化频率，在这种情况下，信号的功率依赖于多普勒频移的具体数值，除了少数极为幸运的情况外，信号功率都将小于N 2A 2，然而，如果预先知道多普勒频移，信号分量的相位变化可以在求和之前进行补偿：
Figure PCTCN2018117372-appb-000010
因为相位校准使信号分量的相位变得相同，所以信号分量可以相干相加，噪声分量的相位仍然随机的，这样积累后的信号功率又变成了N 2A 2，而积累后的噪声功率仍为Nσ 2，又得到了相干积累增益N。
在一些实施例中，雷达控制器544还用于配置获取的多个回波信号的数量和相干累加参数，其中，相干累加参数为每个角度分组中回波信号的数量，获取的多个回波信号的数量为相干累加参数的整数倍。
在该实施例中，雷达控制器配置获取的多个回波信号的数量和相干累加参数，获取的多个回波信号的数量与相干累加参数的比值即为对回波信号进行角度分组的分组数量，将一个角度分组内的多个回波信号进行相干累加，以增大弱目标检测概率。
在一些实施例中，还包括：与雷达控制器544通信连接的角度传感器546，角度传感器546用于检测微波信号以及回波信号的观测角度。
在一些实施例中，角度传感器546包括光栅角度传感器。
在一些实施例中，雷达控制器544还用于根据载具的姿态信息，对角度传感器获取的观测角度进行修正，其中，载具用于承载微波雷达。
在一些实施例中，载具为无人飞行器，或地面车辆。
在一些实施例中，雷达控制器544还用于利用姿态信息对角度传感器 的零度刻度位置进行调整。
在一些实施例中，姿态信息包括俯仰角信息，角度传感器的零度刻度位置平行于载具的平移轴设置(如图6中所示无人飞行器的平移轴)。
在一些实施例中，天线装置542的转轴垂直于载具的平移轴设置。
在该实施例中，无人飞行器50的飞行过程中会出现倾斜情况，利用姿态信息补偿对角度传感器的零度刻度位置，进而提高目标检测的准确性。
在一些实施例中，检测目标的相关信息包括以下一种或其组合：微波雷达与检测目标之间的距离、微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
在一些实施例中，雷达控制器544对多个角度分组中的检测目标的相关信息进行融合，具体包括：建立融合变量；针对任一角度分组，判断角度分组内的检测目标数量是否大于零，当角度分组内的检测目标数量小于等于零时进入下一角度分组，当角度分组内的检测目标数量大于零时判断融合变量中的检测目标数量是否为零；当融合变量中的检测目标数量为零时将角度分组内的检测目标的相关信息复制给融合变量，并进入下一角度分组，当融合变量中的检测目标数量不为零时将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，直至融合变量中的检测目标数量大于预设数量阈值。
在一些实施例中，雷达控制器544将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，具体包括：按照微波雷达与检测目标之间的距离，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并。
本发明通过采用多角度观测目标并利用SNR融合结果，来提高弱目标检测概率，从而提升雷达避障性能。图3示出了本发明的一个具体实施例的多角度测量方法的流程图。其中，该方法包括：
步骤302，配置起始采集光栅刻度、采集回波信号数量M和相干累加参数N，其中，采集回波信号数量M为相干累加参数N的整数倍，观测角度个数为M/N＝Y；
步骤304，利用飞控姿态数据对光栅刻度进行补偿，并采集M个回波 信号；
步骤306，从M个回波信号中连续的N个信号做相干累加并补偿由于无人飞行器运动而引起的多普勒相位移动；
步骤308，对相干累加后得到的中频数据做目标检测处理(包括获取距离、角度、能量、目标位置、数量)；
步骤310，判断是否完成Y个角度检测，若是进入步骤312，若否返回步骤308；
步骤312，进行多个观测角度融合处理。
图4示出了本发明的一个具体实施例的多角度测量结果融合方法的流程图。其中，该方法包括：
步骤402，多角度Y检测数据获取{tgts[1]tgts[2]tgts[3]......tgts[Y]}，其中，tgts[i]表示第i个角度中获取的目标集合，该目标集合中包括在第i个角度下获取的所有目标物索引以及该目标物的信息，目标物的信息包括距离、角度、能量、目标位置、目标数量等；
步骤404，新建合并过程变量tgts_temp；
步骤406，i＝i+1；
步骤408，判断是否i>Y，若否进入步骤410，若是进入步骤420；
步骤410，判断tgts[i]中的目标数量是否大于0，若是进入步骤412，若否返回步骤406；
步骤412，判断tgts_temp中目标数量是否为0，若是进入步骤414，若否进入步骤416；
步骤414，把tgts[i]复制给tgts_temp，并返回步骤406；
步骤416，判断合并的目标数量是否大于预设数量，例如预设数量为16，若否进入步骤418，若是进入步骤420；
步骤418，对tgts[i]与tgts_temp进行数据合并，并返回步骤406；
步骤420，输出结果数据。
在一些实施例中，无人飞行器50还包括：飞行器控制器506，用于根据融合后的检测目标的相关信息控制无人飞行器的航迹。
在该实施例中，飞行器控制器506根据融合后的检测目标的相关信息 控制无人飞行器的航迹，例如，控制无人飞行器在目标物前停止飞行或者绕过检测目标飞行。
本发明第三方面的实施例，提出一种微波雷达的信号处理方法，图7示出了本发明的一个实施例的微波雷达的信号处理方法的流程图。其中，该信号处理方法包括：
步骤702，控制微波雷达的天线装置以不同角度发射微波信号，和/或接收微波信号的回波信号；
步骤704，获取多个回波信号，根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号；
步骤706，对每个角度分组中的回波信号，进行相干累加得到回波积累信号；
步骤708，根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息。
本发明采用由配置的光栅刻度来控制微波雷达发射的微波信号方向，例如微波雷达可配置触发射频板来发射该光栅刻度，微波雷达的天线装置连续发射M个三角波，接收到检测目标返回的M个回波信号后，将连续的M个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。
在一些实施例中，还包括：控制天线装置绕一转轴连续转动。
在一些实施例中，还包括：控制天线装置在转动时连续发射微波信号。
在一些实施例中，根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息的步骤包括：去除回波积累信号中的直流分量；采用预设截短函数，对去除直流分量后的回波积累信号进行截短处理；对截短处理后的回波积累信号进行快速傅里叶，获取快速傅里叶后的回波积累信号的频谱信息；根据预设检测阈值，对频谱信息进行恒虚警处理；根据恒虚警处理的频谱信息，获取波峰信息；根据波峰信息，进行抛物线拟合处理；根据抛物线拟合处理后的波峰信息，计算与回波积累信号对应的检测目标的相关信息。
在一些实施例中，还包括：对多个角度分组中的检测目标的相关信息进行融合。
在一些实施例中，对多个角度分组中的检测目标的相关信息进行融合的步骤包括：根据多个角度分组中的检测目标的相关信息，确定多个角度分组中的检测目标是否为同一检测目标；若为同一检测目标，则根据检测目标的检测能量大小，选择检测能量大小最大的检测目标的相关信息，作为同一检测目标的相关信息。
在该实施例中，根据回波信号的中频信号进行目标检测和提取，包括去直流、加窗、FFT(快速傅里叶变换)、CFAR(恒虚警处理)检测、以及抛物线拟合等，获取角度分组内的目标物信息。得到每一个角度分组检测结果后再对所有结果进行融合处理，融合的原则按照无损失任何探测原则，按照目标的索引(检测峰值位置)进行合并，合并后根据距离由近到远排列作为微波雷达的目标物信息。需要说明的是，如果不同的观测角度，检测到相同的目标则根据其能量大小作为取舍依据，选择能量大的作为检测结果。
在一些实施例中，还包括：根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在一些实施例中，还包括：根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在该实施例中，如果目标是运动的，则在回波信号的信号分量的测量结果中将会呈现一个多普勒频率，因此必须对信号进行频移补偿以保证信号分量的相位一致，以便获得相干积累增益。
在一些实施例中，还包括：配置获取的多个回波信号的数量和相干累加参数，其中，相干累加参数为每个角度分组中回波信号的数量，获取的多个回波信号的数量为相干累加参数的整数倍。
在该实施例中，配置获取的多个回波信号的数量和相干累加参数，获取的多个回波信号的数量与相干累加参数的比值即为对回波信号进行角度分组的分组数量，将一个角度分组内的多个回波信号进行相干累加，以增大弱目标检测概率。
本发明采用光栅刻度来控制微波雷达的微波信号方向，并且可配置触发射频板发射三角波的光栅刻度，连续发射M个三角波，接收到M个回波后，将连续的M个回波信号进行相干累加并补偿多普勒平移，提高信噪比，具体做法如下：
(1)相干累加：
假设微波雷达发射一个脉冲，被目标物发射回来一部分能量，在回波从接收机输出时对信号进行测量，测量的信号中包含幅度为e jφ的复回波，以及加性噪声w，假设加性噪声w是对功率σ 2的随机过程样本。单个脉冲的SNR定义为：
Figure PCTCN2018117372-appb-000011
其中，χ 1为SNR，A 2为信号能量，σ 2为噪声功率。
现在假设测量又重复了N-1次(共测量N次)，希望测量到的回波响应是不变的，而每次的噪声样本则是独立的。将这些独立测量值进行积累(求和)产生一个新的测量值z，这些包含相位信息的复样本的求和就是相干积累，如下：
Figure PCTCN2018117372-appb-000012
其中，z表示回波信号的中频信号，A表示频率的幅度，φ表示频率的相位，N表示相干累加参数(测量次数)。
显然积累的信号分量的能量为N 2A 2，如果噪声样本w(n)彼此独立且均值为0，则噪声分量的功率是独立噪声样本的功率和。进一步假设每个噪声样本的功率相同为σ 2，则总的噪声功率为Nσ 2，积累后的SNR变成：
Figure PCTCN2018117372-appb-000013
将N次测量进行相干积累可以将SNR提高N倍，这种提高称为积累增益，正如希望的那样提高SNR可以改善雷达检测和参数估计的性能。
在相干积累中，信号分量是同相相加的，即相干相加的。因为积累后的信号分量的幅度增加原来N倍，所以信号能量增加到原来的N 2倍，而噪声信号由于其相位是随机变化的，所以称之为功率相加。正是信号相位的一致性使信号功率在积累过程中的增加快于噪声功率。
(2)补偿多普勒平移：
在有些情况下，必须对信号进行预处理以保证信号分量的相位一致，以便获得相干积累增益，如果目标是运动的，则在信号分量的测量结果中将会呈现一个多普勒频率，如下：
Figure PCTCN2018117372-appb-000014
其中，f为多普勒归一化频率，在这种情况下，信号的功率依赖于多普勒频移的具体数值，除了少数极为幸运的情况外，信号功率都将小于N 2A 2，然而，如果预先知道多普勒频移，信号分量的相位变化可以在求和之前进行补偿：
Figure PCTCN2018117372-appb-000015
因为相位校准使信号分量的相位变得相同，所以信号分量可以相干相加，噪声分量的相位仍然随机的，这样积累后的信号功率又变成了N 2A 2，而积累后的噪声功率仍为Nσ 2，又得到了相干积累增益N。
在一些实施例中，还包括：控制微波雷达的角度传感器检测微波信号以及回波信号的观测角度。
在一些实施例中，角度传感器包括光栅角度传感器。
在一些实施例中，还包括：根据载具的姿态信息，对角度传感器获取的观测角度进行修正，其中，载具用于承载微波雷达。
在一些实施例中，载具为无人飞行器，或地面车辆。
在一些实施例中，利用姿态信息对角度传感器的零度刻度位置进行调整。姿态信息包括俯仰角信息，角度传感器的零度刻度位置平行于载具的平移轴设置。
在该实施例中，无人飞行器的飞行过程中会出现倾斜情况，利用姿态信息补偿角度传感器的零度刻度位置，进而提高目标检测的准确性。
在一些实施例中，天线装置的转轴垂直于载具的平移轴设置。
在一些实施例中，检测目标的相关信息包括以下一种或其组合：微波雷达与检测目标之间的距离、微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
在一些实施例中，对多个角度分组中的检测目标的相关信息进行融合 的步骤包括：建立融合变量；针对任一角度分组，判断角度分组内的检测目标数量是否大于零，当角度分组内的检测目标数量小于等于零时进入下一角度分组，当角度分组内的检测目标数量大于零时判断融合变量中的检测目标数量是否为零；当融合变量中的检测目标数量为零时将角度分组内的检测目标的相关信息复制给融合变量，并进入下一角度分组，当融合变量中的检测目标数量不为零时将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，直至融合变量中的检测目标数量大于预设数量阈值。
在一些实施例中，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并的步骤包括：按照微波雷达与检测目标之间的距离，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并。
本发明通过采用多角度观测目标并利用SNR融合结果，来提高弱目标检测概率，从而提升雷达避障性能。图3示出了本发明的一个具体实施例的多角度测量方法的流程图。其中，该方法包括：
步骤302，配置起始采集光栅刻度、采集回波信号数量M和相干累加参数N，其中，采集回波信号数量M为相干累加参数N的整数倍，观测角度个数为M/N＝Y；
步骤304，利用飞控姿态数据对光栅刻度进行补偿，并采集M个回波信号；
步骤306，从M个回波信号中连续的N个信号做相干累加并补偿由于无人飞行器运动而引起的多普勒相位移动；
步骤308，对相干累加后得到的中频数据做目标检测处理(包括获取距离、角度、能量、目标位置、数量)；
步骤310，判断是否完成Y个角度检测，若是进入步骤312，若否返回步骤308；
步骤312，进行多个观测角度融合处理。
图4示出了本发明的一个具体实施例的多角度测量结果融合方法的流程图。其中，该方法包括：
步骤402，多角度Y检测数据获取{tgts[1]tgts[2]tgts[3]......tgts[Y]}，其中，tgts[i]表示第i个角度中获取的目标集合，该目标集合中包括在第i个角度下获取的所有目标物索引以及该目标物的信息，目标物的信息包括距离、角度、能量、目标位置、目标数量等；
步骤404，新建合并过程变量tgts_temp；
步骤406，i＝i+1；
步骤408，判断是否i>Y，若否进入步骤410，若是进入步骤420；
步骤410，判断tgts[i]中的目标数量是否大于0，若是进入步骤412，若否返回步骤406；
步骤412，判断tgts_temp中目标数量是否为0，若是进入步骤414，若否进入步骤416；
步骤414，把tgts[i]复制给tgts_temp，并返回步骤406；
步骤416，判断合并的目标数量是否大于预设数量，例如预设数量为16，若否进入步骤418，若是进入步骤420；
步骤418，对tgts[i]与tgts_temp进行数据合并，并返回步骤406；
步骤420，输出结果数据。
本发明第四方面的实施例，提出一种无人飞行器的控制方法，图8示出了本发明的一个实施例的无人飞行器的控制方法的流程图。其中，该控制方法包括：
步骤802，控制无人飞行器的微波雷达的天线装置以不同角度发射微波信号，和/或接收微波信号的回波信号；
步骤804，获取多个回波信号，根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号；
步骤806，对每个角度分组中的回波信号，进行相干累加得到回波积累信号；
步骤808，根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息。
本发明采用由配置的光栅刻度来控制微波雷达发射的微波信号方向， 例如微波雷达可配置触发射频板来发射该光栅刻度，微波雷达的天线装置连续发射M个三角波，接收到检测目标返回的M个回波信号后，将连续的M个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。
在一些实施例中，控制天线装置绕一转轴连续转动。
在一些实施例中，还包括：控制天线装置在转动时连续发射微波信号。
在一些实施例中，根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息的步骤包括：去除回波积累信号中的直流分量；采用预设截短函数，对去除直流分量后的回波积累信号进行截短处理；对截短处理后的回波积累信号进行快速傅里叶，获取快速傅里叶后的回波积累信号的频谱信息；根据预设检测阈值，对频谱信息进行恒虚警处理；根据恒虚警处理的频谱信息，获取波峰信息；根据波峰信息，进行抛物线拟合处理；根据抛物线拟合处理后的波峰信息，计算与回波积累信号对应的检测目标的相关信息。
在一些实施例中，还包括：对多个角度分组中的检测目标的相关信息进行融合。
在一些实施例中，对多个角度分组中的检测目标的相关信息进行融合的步骤包括：根据多个角度分组中的检测目标的相关信息，确定多个角度分组中的检测目标是否为同一检测目标；若为同一检测目标，则根据检测目标的检测能量大小，选择检测能量大小最大的检测目标的相关信息，作为同一检测目标的相关信息。
在该实施例中，根据回波信号的中频信号进行目标检测和提取，包括去直流、加窗、FFT(快速傅里叶变换)、CFAR(恒虚警处理)检测、以及抛物线拟合等，获取角度分组内的目标物信息。得到每一个角度分组检测结果后再对所有结果进行融合处理，融合的原则按照无损失任何探测原则，按照目标的索引(检测峰值位置)进行合并，合并后根据距离由近到远排列作为微波雷达的目标物信息。需要说明的是，如果不同的观测角度，检测到相同的目标则根据其能量大小作为取舍依据，选择能量大的作为检测结果。
在一些实施例中，还包括：根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在该实施例中，如果目标是运动的，则在回波信号的信号分量的测量结果中将会呈现一个多普勒频率，因此必须对信号进行频移补偿以保证信号分量的相位一致，以便获得相干积累增益。
在一些实施例中，还包括：配置获取的多个回波信号的数量和相干累加参数，其中，相干累加参数为每个角度分组中回波信号的数量，获取的多个回波信号的数量为相干累加参数的整数倍。
在该实施例中，配置获取的多个回波信号的数量和相干累加参数，获取的多个回波信号的数量与相干累加参数的比值即为对回波信号进行角度分组的分组数量，将一个角度分组内的多个回波信号进行相干累加，以增大弱目标检测概率。
本发明采用光栅刻度来控制微波雷达的微波信号方向，并且可配置触发射频板发射三角波的光栅刻度，连续发射M个三角波，接收到M个回波后，将连续的M个回波信号进行相干累加并补偿多普勒平移，提高信噪比，具体做法如下：
(1)相干累加：
假设微波雷达发射一个脉冲，被目标物发射回来一部分能量，在回波从接收机输出时对信号进行测量，测量的信号中包含幅度为e jφ的复回波，以及加性噪声w，假设加性噪声w是对功率σ 2的随机过程样本。单个脉冲的SNR定义为：
Figure PCTCN2018117372-appb-000016
其中，χ 1为SNR，A 2为信号能量，σ 2为噪声功率。
现在假设测量又重复了N-1次(共测量N次)，希望测量到的回波响应是不变的，而每次的噪声样本则是独立的。将这些独立测量值进行积累(求和)产生一个新的测量值z，这些包含相位信息的复样本的求和就是相干积累，如下：
Figure PCTCN2018117372-appb-000017
其中，z表示回波信号的中频信号，A表示频率的幅度，φ表示频率的 相位，N表示相干累加参数(测量次数)。
显然积累的信号分量的能量为N 2A 2，如果噪声样本w(n)彼此独立且均值为0，则噪声分量的功率是独立噪声样本的功率和。进一步假设每个噪声样本的功率相同为σ 2，则总的噪声功率为Nσ 2，积累后的SNR变成：
Figure PCTCN2018117372-appb-000018
将N次测量进行相干积累可以将SNR提高N倍，这种提高称为积累增益，正如希望的那样提高SNR可以改善雷达检测和参数估计的性能。
在相干积累中，信号分量是同相相加的，即相干相加的。因为积累后的信号分量的幅度增加原来N倍，所以信号能量增加到原来的N 2倍，而噪声信号由于其相位是随机变化的，所以称之为功率相加。正是信号相位的一致性使信号功率在积累过程中的增加快于噪声功率。
(2)补偿多普勒平移：
在有些情况下，必须对信号进行预处理以保证信号分量的相位一致，以便获得相干积累增益，如果目标是运动的，则在信号分量的测量结果中将会呈现一个多普勒频率，如下：
Figure PCTCN2018117372-appb-000019
其中，f为多普勒归一化频率，在这种情况下，信号的功率依赖于多普勒频移的具体数值，除了少数极为幸运的情况外，信号功率都将小于N 2A 2，然而，如果预先知道多普勒频移，信号分量的相位变化可以在求和之前进行补偿：
Figure PCTCN2018117372-appb-000020
因为相位校准使信号分量的相位变得相同，所以信号分量可以相干相加，噪声分量的相位仍然随机的，这样积累后的信号功率又变成了N 2A 2，而积累后的噪声功率仍为Nσ 2，又得到了相干积累增益N。
在一些实施例中，控制微波雷达的角度传感器检测微波信号以及回波信号的观测角度。
在一些实施例中，角度传感器包括光栅角度传感器。
在一些实施例中，还包括：根据载具的姿态信息，对角度传感器获取 的观测角度进行修正，其中，载具用于承载微波雷达。
在一些实施例中，载具为无人飞行器，或地面车辆。
在一些实施例中，利用姿态信息对角度传感器的零度刻度位置进行调整。姿态信息包括俯仰角信息，角度传感器的零度刻度位置平行于载具的平移轴设置。
在一些实施例中，天线装置的转轴垂直于载具的平移轴设置。
在该实施例中，无人飞行器的飞行过程中会出现倾斜情况，利用姿态信息补偿角度传感器的零度刻度位置，进而提高目标检测的准确性。
在一些实施例中，检测目标的相关信息包括以下一种或其组合：微波雷达与检测目标之间的距离、微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
在一些实施例中，对多个角度分组中的检测目标的相关信息进行融合的步骤包括：建立融合变量；针对任一角度分组，判断角度分组内的检测目标数量是否大于零，当角度分组内的检测目标数量小于等于零时进入下一角度分组，当角度分组内的检测目标数量大于零时判断融合变量中的检测目标数量是否为零；当融合变量中的检测目标数量为零时将角度分组内的检测目标的相关信息复制给融合变量，并进入下一角度分组，当融合变量中的检测目标数量不为零时将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，直至融合变量中的检测目标数量大于预设数量阈值。
在一些实施例中，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并的步骤包括：按照微波雷达与检测目标之间的距离，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并。
本发明通过采用多角度观测目标并利用SNR融合结果，来提高弱目标检测概率，从而提升雷达避障性能。图3示出了本发明的一个具体实施例的多角度测量方法的流程图。其中，该方法包括：
步骤302，配置起始采集光栅刻度、采集回波信号数量M和相干累加参数N，其中，采集回波信号数量M为相干累加参数N的整数倍，观测角 度个数为M/N＝Y；
步骤304，利用飞控姿态数据对光栅刻度进行补偿，并采集M个回波信号；
步骤306，从M个回波信号中连续的N个信号做相干累加并补偿由于无人飞行器运动而引起的多普勒相位移动；
步骤308，对相干累加后得到的中频数据做目标检测处理(包括获取距离、角度、能量、目标位置、数量)；
步骤310，判断是否完成Y个角度检测，若是进入步骤312，若否返回步骤308；
步骤312，进行多个观测角度融合处理。
图4示出了本发明的一个具体实施例的多角度测量结果融合方法的流程图。其中，该方法包括：
步骤402，多角度Y检测数据获取{tgts[1]tgts[2]tgts[3]......tgts[Y]}，其中，tgts[i]表示第i个角度中获取的目标集合，该目标集合中包括在第i个角度下获取的所有目标物索引以及该目标物的信息，目标物的信息包括距离、角度、能量、目标位置、目标数量等；
步骤404，新建合并过程变量tgts_temp；
步骤406，i＝i+1；
步骤408，判断是否i>Y，若否进入步骤410，若是进入步骤420；
步骤410，判断tgts[i]中的目标数量是否大于0，若是进入步骤412，若否返回步骤406；
步骤412，判断tgts_temp中目标数量是否为0，若是进入步骤414，若否进入步骤416；
步骤414，把tgts[i]复制给tgts_temp，并返回步骤406；
步骤416，判断合并的目标数量是否大于预设数量，例如预设数量为16，若否进入步骤418，若是进入步骤420；
步骤418，对tgts[i]与tgts_temp进行数据合并，并返回步骤406；
步骤420，输出结果数据。
在一些实施例中，还包括：根据融合后的检测目标的相关信息控制无 人飞行器的航迹。
在该实施例中，飞行器控制器根据融合后的检测目标的相关信息控制无人飞行器的航迹，例如，控制无人飞行器在目标物前停止飞行或者绕过检测目标飞行。
本发明第五方面的实施例，提出了一种计算机存储介质，计算机存储介质中存储有程序指令，程序指令用于实现：控制微波雷达的天线装置以不同角度发射微波信号，和/或接收微波信号的回波信号；获取多个回波信号，根据回波信号对应的观测角度，对多个回波信号进行角度分组，其中，每个角度分组对应于预设观测角度范围的回波信号；对每个角度分组中的回波信号，进行相干累加得到回波积累信号；根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息。
本发明采用由配置的光栅刻度来控制微波雷达发射的微波信号方向，例如微波雷达可配置触发射频板来发射该光栅刻度，微波雷达的天线装置连续发射M个三角波，接收到检测目标返回的M个回波信号后，将连续的M个回波信号进行分组后相干累加，以提高信噪比，进而提高弱目标检测概率，提升微波雷达避障性能。
在一些实施例中，程序指令还用于实现：控制天线装置绕一转轴连续转动。
在一些实施例中，程序指令还用于实现：控制天线装置在转动时连续发射微波信号。
在一些实施例中，程序指令实现根据回波积累信号，计算与回波积累信号对应的检测目标的相关信息，具体包括：去除回波积累信号中的直流分量；采用预设截短函数，对去除直流分量后的回波积累信号进行截短处理；对截短处理后的回波积累信号进行快速傅里叶，获取快速傅里叶后的回波积累信号的频谱信息；根据预设检测阈值，对频谱信息进行恒虚警处理；根据恒虚警处理的频谱信息，获取波峰信息；根据波峰信息，进行抛物线拟合处理；根据抛物线拟合处理后的波峰信息，计算与回波积累信号对应的检测目标的相关信息。
在一些实施例中，程序指令还用于实现：对多个角度分组中的检测目 标的相关信息进行融合。
在一些实施例中，程序指令实现对多个角度分组中的检测目标的相关信息进行融合，具体包括：根据多个角度分组中的检测目标的相关信息，确定多个角度分组中的检测目标是否为同一检测目标；若为同一检测目标，则根据检测目标的检测能量大小，选择检测能量大小最大的检测目标的相关信息，作为同一检测目标的相关信息。
在该实施例中，根据回波信号的中频信号进行目标检测和提取，包括去直流、加窗、FFT(快速傅里叶变换)、CFAR(恒虚警处理)检测、以及抛物线拟合等，获取角度分组内的目标物信息。得到每一个角度分组检测结果后再对所有结果进行融合处理，融合的原则按照无损失任何探测原则，按照目标的索引(检测峰值位置)进行合并，合并后根据距离由近到远排列作为微波雷达的目标物信息。需要说明的是，如果不同的观测角度，检测到相同的目标则根据其能量大小作为取舍依据，选择能量大的作为检测结果。
在一些实施例中，所述计算机存储介质可以为易失性存储器，或者非易失性存储器。所述计算机存储介质也可以为串行存储器，或者并行存储器。所述计算机存储介质可以为RAM存储器，或者ROM存储器。
在一些实施例中，程序指令还用于实现：根据微波雷达的移动速度确定补偿频率，并根据补偿频率对回波积累信号进行多普勒频移补偿。
在该实施例中，如果目标是运动的，则在回波信号的信号分量的测量结果中将会呈现一个多普勒频率，因此必须对信号进行频移补偿以保证信号分量的相位一致，以便获得相干积累增益。
本发明采用光栅刻度来控制微波雷达的微波信号方向，并且可配置触发射频板发射三角波的光栅刻度，连续发射M个三角波，接收到M个回波后，将连续的M个回波信号进行相干累加并补偿多普勒平移，提高信噪比，具体做法如下：
(1)相干累加：
假设微波雷达发射一个脉冲，被目标物发射回来一部分能量，在回波从接收机输出时对信号进行测量，测量的信号中包含幅度为e jφ的复回波， 以及加性噪声w，假设加性噪声w是对功率σ 2的随机过程样本。单个脉冲的SNR定义为：
Figure PCTCN2018117372-appb-000021
其中，χ 1为SNR，A 2为信号能量，σ 2为噪声功率。
现在假设测量又重复了N-1次(共测量N次)，希望测量到的回波响应是不变的，而每次的噪声样本则是独立的。将这些独立测量值进行积累(求和)产生一个新的测量值z，这些包含相位信息的复样本的求和就是相干积累，如下：
Figure PCTCN2018117372-appb-000022
其中，z表示回波信号的中频信号，A表示频率的幅度，φ表示频率的相位，N表示相干累加参数(测量次数)。
显然积累的信号分量的能量为N 2A 2，如果噪声样本w(n)彼此独立且均值为0，则噪声分量的功率是独立噪声样本的功率和。进一步假设每个噪声样本的功率相同为σ 2，则总的噪声功率为Nσ 2，积累后的SNR变成：
Figure PCTCN2018117372-appb-000023
将N次测量进行相干积累可以将SNR提高N倍，这种提高称为积累增益，正如希望的那样提高SNR可以改善雷达检测和参数估计的性能。
在相干积累中，信号分量是同相相加的，即相干相加的。因为积累后的信号分量的幅度增加原来N倍，所以信号能量增加到原来的N 2倍，而噪声信号由于其相位是随机变化的，所以称之为功率相加。正是信号相位的一致性使信号功率在积累过程中的增加快于噪声功率。
(2)补偿多普勒平移：
在有些情况下，必须对信号进行预处理以保证信号分量的相位一致，以便获得相干积累增益，如果目标是运动的，则在信号分量的测量结果中将会呈现一个多普勒频率，如下：
Figure PCTCN2018117372-appb-000024
其中，f为多普勒归一化频率，在这种情况下，信号的功率依赖于多普勒频移的具体数值，除了少数极为幸运的情况外，信号功率都将小于 N 2A 2，然而，如果预先知道多普勒频移，信号分量的相位变化可以在求和之前进行补偿：
Figure PCTCN2018117372-appb-000025
因为相位校准使信号分量的相位变得相同，所以信号分量可以相干相加，噪声分量的相位仍然随机的，这样积累后的信号功率又变成了N 2A 2，而积累后的噪声功率仍为Nσ 2，又得到了相干积累增益N。
在一些实施例中，程序指令还用于实现：配置获取的多个回波信号的数量和相干累加参数，其中，相干累加参数为每个角度分组中回波信号的数量，获取的多个回波信号的数量为相干累加参数的整数倍。
在该实施例中，配置获取的多个回波信号的获取的多个回波信号的数量与相干累加参数的比值即为对回波信号进行角度分组的分组数量，将一个角度分组内的多个回波信号进行相干累加，以增大弱目标检测概率。
在一些实施例中，程序指令还用于实现：控制微波雷达的角度传感器检测微波信号以及回波信号的观测角度。
在一些实施例中，角度传感器包括光栅角度传感器。
在一些实施例中，程序指令还用于实现：根据载具的姿态信息，对角度传感器获取的观测角度进行修正，其中，载具用于承载微波雷达。
在一些实施例中，载具为无人飞行器，或地面车辆。
在一些实施例中，程序指令还用于实现：利用姿态信息对角度传感器的零度刻度位置进行调整。
在一些实施例中，姿态信息包括俯仰角信息，角度传感器的零度刻度位置平行于载具的平移轴设置。
在一些实施例中，天线装置的转轴垂直于载具的平移轴设置。
在该实施例中，无人飞行器的飞行过程中会出现倾斜情况，利用姿态信息补偿角度传感器的零度刻度位置，进而提高目标检测的准确性。
在一些实施例中，检测目标的相关信息包括以下一种或其组合：微波雷达与检测目标之间的距离、微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
在一些实施例中，程序指令实现对多个角度分组中的检测目标的相关 信息进行融合，具体包括：建立融合变量；针对任一角度分组，判断角度分组内的检测目标数量是否大于零，当角度分组内的检测目标数量小于等于零时进入下一角度分组，当角度分组内的检测目标数量大于零时判断融合变量中的检测目标数量是否为零；当融合变量中的检测目标数量为零时将角度分组内的检测目标的相关信息复制给融合变量，并进入下一角度分组，当融合变量中的检测目标数量不为零时将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，直至融合变量中的检测目标数量大于预设数量阈值。
在一些实施例中，程序指令实现将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并，具体包括：按照微波雷达与检测目标之间的距离，将角度分组内的检测目标的相关信息与融合变量中的检测目标信息进行合并。
本发明通过采用多角度观测目标并利用SNR融合结果，来提高弱目标检测概率，从而提升雷达避障性能。图3示出了本发明的一个具体实施例的多角度测量方法的流程图。其中，该方法包括：
步骤302，配置起始采集光栅刻度、采集回波信号数量M和相干累加参数N，其中，采集回波信号数量M为相干累加参数N的整数倍，观测角度个数为M/N＝Y；
步骤304，利用飞控姿态数据对光栅刻度进行补偿，并采集M个回波信号；
步骤306，从M个回波信号中连续的N个信号做相干累加并补偿由于无人飞行器运动而引起的多普勒相位移动；
步骤308，对相干累加后得到的中频数据做目标检测处理(包括获取距离、角度、能量、目标位置、数量)；
步骤310，判断是否完成Y个角度检测，若是进入步骤312，若否返回步骤308；
步骤312，进行多个观测角度融合处理。
图4示出了本发明的一个具体实施例的多角度测量结果融合方法的流程图。其中，该方法包括：
步骤402，多角度Y检测数据获取{tgts[1]tgts[2]tgts[3]......tgts[Y]}，其中，tgts[i]表示第i个角度中获取的目标集合，该目标集合中包括在第i个角度下获取的所有目标物索引以及该目标物的信息，目标物的信息包括距离、角度、能量、目标位置、目标数量等；
步骤404，新建合并过程变量tgts_temp；
步骤406，i＝i+1；
步骤408，判断是否i>Y，若否进入步骤410，若是进入步骤420；
步骤410，判断tgts[i]中的目标数量是否大于0，若是进入步骤412，若否返回步骤406；
步骤412，判断tgts_temp中目标数量是否为0，若是进入步骤414，若否进入步骤416；
步骤414，把tgts[i]复制给tgts_temp，并返回步骤406；
步骤416，判断合并的目标数量是否大于预设数量，例如预设数量为16，若否进入步骤418，若是进入步骤420；
步骤418，对tgts[i]与tgts_temp进行数据合并，并返回步骤406；
步骤420，输出结果数据。
在本说明书的描述中，术语“第一”、“第二”仅用于描述的目的，而不能理解为指示或暗示相对重要性，除非另有明确的规定和限定；术语“连接”、“安装”、“固定”等均应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本说明书的描述中，术语“一个实施例”、“一些实施例”、“具体实施例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或实例。而且，描述的具体特征、结构、材料或特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于 本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (92)

  1. 一种微波雷达，其特征在于，包括：
    天线装置，用于以不同角度发射微波信号，和/或接收所述微波信号的回波信号；以及
    雷达控制器，与所述天线装置通信连接，所述雷达控制器用于执行如下操作：
    获取多个所述回波信号；
    根据所述回波信号对应的观测角度，对多个所述回波信号进行角度分组，其中，每个所述角度分组对应于预设观测角度范围的所述回波信号；
    对每个所述角度分组中的所述回波信号，进行相干累加得到回波积累信号；
    根据所述回波积累信号，计算与所述回波积累信号对应的检测目标的相关信息。
  2. 根据权利要求1所述的微波雷达，其特征在于，
    所述天线装置绕一转轴连续转动。
  3. 根据权利要求2所述的微波雷达，其特征在于，
    所述天线装置在转动时连续发射所述微波信号。
  4. 根据权利要求1所述的微波雷达，其特征在于，所述雷达控制器根据所述回波积累信号，计算与所述回波积累信号对应的检测目标的相关信息包括：
    去除所述回波积累信号中的直流分量；
    采用预设截短函数，对去除直流分量后的所述回波积累信号进行截短处理；
    对截短处理后的所述回波积累信号进行快速傅里叶，获取所述快速傅里叶后的所述回波积累信号的频谱信息；
    根据预设检测阈值，对所述频谱信息进行恒虚警处理；
    根据恒虚警处理的频谱信息，获取波峰信息；
    根据所述波峰信息，进行抛物线拟合处理；
    根据抛物线拟合处理后的波峰信息，计算与所述回波积累信号对应的检测目标的相关信息。
  5. 根据权利要求1所述的微波雷达，其特征在于，
    所述雷达控制器还用于：对多个所述角度分组中的检测目标的相关信息进行融合。
  6. 根据权利要求5所述的微波雷达，其特征在于，所述雷达控制器对多个所述角度分组中的检测目标的相关信息进行融合包括：
    根据多个所述角度分组中的检测目标的相关信息，确定多个所述角度分组中的检测目标是否为同一检测目标；
    若为同一检测目标，则根据检测目标的检测能量大小，选择所述检测能量大小最大的检测目标的相关信息，作为所述同一检测目标的相关信息。
  7. 根据权利要求1所述的微波雷达，其特征在于，
    所述雷达控制器还用于根据所述微波雷达的移动速度确定补偿频率，并根据所述补偿频率对所述回波积累信号进行多普勒频移补偿。
  8. 根据权利要求1所述的微波雷达，其特征在于，
    所述雷达控制器还用于配置获取的多个所述回波信号的数量和相干累加参数，其中，所述相干累加参数为每个所述角度分组中回波信号的数量，所述获取的多个所述回波信号的数量为所述相干累加参数的整数倍。
  9. 根据权利要求1所述的微波雷达，其特征在于，还包括：与所述雷达控制器通信连接的角度传感器，所述角度传感器用于检测所述微波信号以及所述回波信号的观测角度。
  10. 根据权利要求9所述的微波雷达，其特征在于，所述角度传感器包括光栅角度传感器。
  11. 根据权利要求9所述的微波雷达，其特征在于，所述雷达控制器还用于根据载具的姿态信息，对所述角度传感器获取的观测角度进行修正，其中，所述载具用于承载所述微波雷达。
  12. 根据权利要求11所述的微波雷达，其特征在于，所述载具为无人飞行器，或地面车辆。
  13. 根据权利要求11所述的微波雷达，其特征在于，所述雷达控制器 还用于利用姿态信息对所述角度传感器的零度刻度位置进行调整。
  14. 根据权利要求13所述的微波雷达，其特征在于，
    所述姿态信息包括俯仰角信息，所述角度传感器的零度刻度位置平行于所述载具的平移轴设置。
  15. 根据权利要求14所述的微波雷达，其特征在于，
    所述天线装置的转轴垂直于所述载具的平移轴设置。
  16. 根据权利要求5所述的微波雷达，其特征在于，
    所述检测目标的相关信息包括以下一种或其组合：所述微波雷达与检测目标之间的距离、所述微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
  17. 根据权利要求16所述的微波雷达，其特征在于，所述雷达控制器对多个所述角度分组中的检测目标的相关信息进行融合，具体包括：
    建立融合变量；
    针对任一所述角度分组，判断所述角度分组内的检测目标数量是否大于零，当所述角度分组内的检测目标数量小于等于零时进入下一所述角度分组，当所述角度分组内的检测目标数量大于零时判断所述融合变量中的检测目标数量是否为零；
    当所述融合变量中的检测目标数量为零时将所述角度分组内的检测目标的相关信息复制给所述融合变量，并进入下一所述角度分组，当所述融合变量中的检测目标数量不为零时将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并，直至所述融合变量中的检测目标数量大于预设数量阈值。
  18. 根据权利要求17所述的微波雷达，其特征在于，所述雷达控制器将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并，具体包括：
    按照所述微波雷达与所述检测目标之间的距离，将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并。
  19. 一种无人飞行器，其特征在于，包括：
    机架；
    微波雷达，安装在所述机架上，所述微波雷达包括：
    天线装置，用于以不同角度发射微波信号，和/或接收所述微波信号的回波信号；以及
    雷达控制器，与所述天线装置通信连接，所述雷达控制器获取多个所述回波信号，根据所述回波信号对应的观测角度，对多个所述回波信号进行角度分组，其中，每个所述角度分组对应于预设观测角度范围的所述回波信号，对每个所述角度分组中的所述回波信号，进行相干累加得到回波积累信号，根据所述回波积累信号，计算与所述回波积累信号对应的检测目标的相关信息。
  20. 根据权利要求19所述的无人飞行器，其特征在于，
    所述天线装置绕一转轴连续转动。
  21. 根据权利要求20所述的无人飞行器，其特征在于，
    所述天线装置在转动时连续发射所述微波信号。
  22. 根据权利要求19所述的无人飞行器，其特征在于，所述雷达控制器根据所述回波积累信号，计算与所述回波积累信号对应的检测目标的相关信息包括：
    去除所述回波积累信号中的直流分量；
    采用预设截短函数，对去除直流分量后的所述回波积累信号进行截短处理；
    对截短处理后的所述回波积累信号进行快速傅里叶，获取所述快速傅里叶后的所述回波积累信号的频谱信息；
    根据预设检测阈值，对所述频谱信息进行恒虚警处理；
    根据恒虚警处理的频谱信息，获取波峰信息；
    根据所述波峰信息，进行抛物线拟合处理；
    根据抛物线拟合处理后的波峰信息，计算与所述回波积累信号对应的检测目标的相关信息。
  23. 根据权利要求19所述的无人飞行器，其特征在于，
    所述雷达控制器还用于：对多个所述角度分组中的检测目标的相关信息进行融合。
  24. 根据权利要求23所述的无人飞行器，其特征在于，所述雷达控制器对多个所述角度分组中的检测目标的相关信息进行融合包括：
    根据多个所述角度分组中的检测目标的相关信息，确定多个所述角度分组中的检测目标是否为同一检测目标；
    若为同一检测目标，则根据检测目标的检测能量大小，选择所述检测能量大小最大的检测目标的相关信息，作为所述同一检测目标的相关信息。
  25. 根据权利要求19所述的无人飞行器，其特征在于，
    所述雷达控制器还用于根据所述微波雷达的移动速度确定补偿频率，并根据所述补偿频率对所述回波积累信号进行多普勒频移补偿。
  26. 根据权利要求19所述的无人飞行器，其特征在于，
    所述雷达控制器还用于配置获取的多个所述回波信号的数量和相干累加参数，其中，所述相干累加参数为每个所述角度分组中回波信号的数量，所述获取的多个所述回波信号的数量为所述相干累加参数的整数倍。
  27. 根据权利要求19所述的无人飞行器，其特征在于，还包括：与所述雷达控制器通信连接的角度传感器，所述角度传感器用于检测所述微波信号以及所述回波信号的观测角度。
  28. 根据权利要求27所述的无人飞行器，其特征在于，所述角度传感器包括光栅角度传感器。
  29. 根据权利要求27所述的无人飞行器，其特征在于，所述雷达控制器还用于根据载具的姿态信息，对所述角度传感器获取的观测角度进行修正，其中，所述载具用于承载所述微波雷达。
  30. 根据权利要求29所述的无人飞行器，其特征在于，所述载具为无人飞行器，或地面车辆。
  31. 根据权利要求29所述的无人飞行器，其特征在于，
    所述雷达控制器还用于利用姿态信息对所述角度传感器的零度刻度位置进行调整。
  32. 根据权利要求31所述的无人飞行器，其特征在于，
    所述姿态信息包括俯仰角信息，所述角度传感器的零度刻度位置平行于所述载具的平移轴设置。
  33. 根据权利要求32所述的无人飞行器，其特征在于，
    所述天线装置的转轴垂直于所述载具的平移轴设置。
  34. 根据权利要求23所述的无人飞行器，其特征在于，还包括：
    飞行器控制器，用于根据融合后的所述检测目标的相关信息控制所述无人飞行器的航迹。
  35. 根据权利要求23所述的无人飞行器，其特征在于，
    所述检测目标的相关信息包括以下一种或其组合：所述微波雷达与检测目标之间的距离、所述微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
  36. 根据权利要求35所述的无人飞行器，其特征在于，所述雷达控制器对多个所述角度分组中的检测目标的相关信息进行融合，具体包括：
    建立融合变量；
    针对任一所述角度分组，判断所述角度分组内的检测目标数量是否大于零，当所述角度分组内的检测目标数量小于等于零时进入下一所述角度分组，当所述角度分组内的检测目标数量大于零时判断所述融合变量中的检测目标数量是否为零；
    当所述融合变量中的检测目标数量为零时将所述角度分组内的检测目标的相关信息复制给所述融合变量，并进入下一所述角度分组，当所述融合变量中的检测目标数量不为零时将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并，直至所述融合变量中的检测目标数量大于预设数量阈值。
  37. 根据权利要求36所述的无人飞行器，其特征在于，所述雷达控制器将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并，具体包括：
    按照所述微波雷达与所述检测目标之间的距离，将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并。
  38. 一种微波雷达的信号处理方法，其特征在于，包括：
    控制所述微波雷达的天线装置以不同角度发射微波信号，和/或接收所述微波信号的回波信号；
    获取多个所述回波信号，根据所述回波信号对应的观测角度，对多个所述回波信号进行角度分组，其中，每个所述角度分组对应于预设观测角度范围的所述回波信号；
    对每个所述角度分组中的所述回波信号，进行相干累加得到回波积累信号；
    根据所述回波积累信号，计算与所述回波积累信号对应的检测目标的相关信息。
  39. 根据权利要求38所述的微波雷达的信号处理方法，其特征在于，还包括：
    控制所述天线装置绕一转轴连续转动。
  40. 根据权利要求39所述的微波雷达的信号处理方法，其特征在于，还包括：
    控制所述天线装置在转动时连续发射所述微波信号。
  41. 根据权利要求38所述的微波雷达的信号处理方法，其特征在于，所述根据所述回波积累信号，计算与所述回波积累信号对应的检测目标的相关信息的步骤包括：
    去除所述回波积累信号中的直流分量；
    采用预设截短函数，对去除直流分量后的所述回波积累信号进行截短处理；
    对截短处理后的所述回波积累信号进行快速傅里叶，获取所述快速傅里叶后的所述回波积累信号的频谱信息；
    根据预设检测阈值，对所述频谱信息进行恒虚警处理；
    根据恒虚警处理的频谱信息，获取波峰信息；
    根据所述波峰信息，进行抛物线拟合处理；
    根据抛物线拟合处理后的波峰信息，计算与所述回波积累信号对应的检测目标的相关信息。
  42. 根据权利要求38所述的微波雷达的信号处理方法，其特征在于，还包括：
    对多个所述角度分组中的检测目标的相关信息进行融合。
  43. 根据权利要求42所述的微波雷达的信号处理方法，其特征在于，所述对多个所述角度分组中的检测目标的相关信息进行融合的步骤包括：
    根据多个所述角度分组中的检测目标的相关信息，确定多个所述角度分组中的检测目标是否为同一检测目标；
    若为同一检测目标，则根据检测目标的检测能量大小，选择所述检测能量大小最大的检测目标的相关信息，作为所述同一检测目标的相关信息。
  44. 根据权利要求38所述的微波雷达的信号处理方法，其特征在于，还包括：
    根据所述微波雷达的移动速度确定补偿频率，并根据所述补偿频率对所述回波积累信号进行多普勒频移补偿。
  45. 根据权利要求38所述的微波雷达的信号处理方法，其特征在于，还包括：
    配置获取的多个所述回波信号的数量和相干累加参数，其中，所述相干累加参数为每个所述角度分组中回波信号的数量，所述获取的多个所述回波信号的数量为所述相干累加参数的整数倍。
  46. 根据权利要求38所述的微波雷达的信号处理方法，其特征在于，还包括：
    控制所述微波雷达的角度传感器检测所述微波信号以及所述回波信号的观测角度。
  47. 根据权利要求46所述的微波雷达的信号处理方法，其特征在于，所述角度传感器包括光栅角度传感器。
  48. 根据权利要求46所述的微波雷达的信号处理方法，其特征在于，还包括：
    根据载具的姿态信息，对所述角度传感器获取的观测角度进行修正，其中，所述载具用于承载所述微波雷达。
  49. 根据权利要求48所述的微波雷达的信号处理方法，其特征在于，所述载具为无人飞行器，或地面车辆。
  50. 根据权利要求38所述的微波雷达的信号处理方法，其特征在于，还包括：
    利用姿态信息对所述角度传感器的零度刻度位置进行调整。
  51. 根据权利要求50所述的微波雷达的信号处理方法，其特征在于，
    所述姿态信息包括俯仰角信息，所述角度传感器的零度刻度位置平行于所述载具的平移轴设置。
  52. 根据权利要求51所述的微波雷达的信号处理方法，其特征在于，
    所述天线装置的转轴垂直于所述载具的平移轴设置。
  53. 根据权利要求42所述的微波雷达的信号处理方法，其特征在于，
    所述检测目标的相关信息包括以下一种或其组合：所述微波雷达与检测目标之间的距离、所述微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
  54. 根据权利要求53所述的微波雷达的信号处理方法，其特征在于，所述对多个所述角度分组中的检测目标的相关信息进行融合的步骤包括：
    建立融合变量；
    针对任一所述角度分组，判断所述角度分组内的检测目标数量是否大于零，当所述角度分组内的检测目标数量小于等于零时进入下一所述角度分组，当所述角度分组内的检测目标数量大于零时判断所述融合变量中的检测目标数量是否为零；
    当所述融合变量中的检测目标数量为零时将所述角度分组内的检测目标的相关信息复制给所述融合变量，并进入下一所述角度分组，当所述融合变量中的检测目标数量不为零时将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并，直至所述融合变量中的检测目标数量大于预设数量阈值。
  55. 根据权利要求54所述的微波雷达的信号处理方法，其特征在于，所述将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并的步骤包括：
    按照所述微波雷达与所述检测目标之间的距离，将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并。
  56. 一种无人飞行器的控制方法，其特征在于，包括：
    控制所述无人飞行器的微波雷达的天线装置以不同角度发射微波信 号，和/或接收所述微波信号的回波信号；
    获取多个所述回波信号，根据所述回波信号对应的观测角度，对多个所述回波信号进行角度分组，其中，每个所述角度分组对应于预设观测角度范围的所述回波信号；
    对每个所述角度分组中的所述回波信号，进行相干累加得到回波积累信号；
    根据所述回波积累信号，计算与所述回波积累信号对应的检测目标的相关信息。
  57. 根据权利要求56所述的无人飞行器的控制方法，其特征在于，还包括：
    控制所述天线装置绕一转轴连续转动。
  58. 根据权利要求57所述的无人飞行器的控制方法，其特征在于，还包括：
    控制所述天线装置在转动时连续发射所述微波信号。
  59. 根据权利要求56所述的无人飞行器的控制方法，其特征在于，所述根据所述回波积累信号，计算与所述回波积累信号对应的检测目标的相关信息的步骤包括：
    去除所述回波积累信号中的直流分量；
    采用预设截短函数，对去除直流分量后的所述回波积累信号进行截短处理；
    对截短处理后的所述回波积累信号进行快速傅里叶，获取所述快速傅里叶后的所述回波积累信号的频谱信息；
    根据预设检测阈值，对所述频谱信息进行恒虚警处理；
    根据恒虚警处理的频谱信息，获取波峰信息；
    根据所述波峰信息，进行抛物线拟合处理；
    根据抛物线拟合处理后的波峰信息，计算与所述回波积累信号对应的检测目标的相关信息。
  60. 根据权利要求56所述的无人飞行器的控制方法，其特征在于，还包括：
    对多个所述角度分组中的检测目标的相关信息进行融合。
  61. 根据权利要求60所述的无人飞行器的控制方法，其特征在于，所述对多个所述角度分组中的检测目标的相关信息进行融合的步骤包括：
    根据多个所述角度分组中的检测目标的相关信息，确定多个所述角度分组中的检测目标是否为同一检测目标；
    若为同一检测目标，则根据检测目标的检测能量大小，选择所述检测能量大小最大的检测目标的相关信息，作为所述同一检测目标的相关信息。
  62. 根据权利要求56所述的无人飞行器的控制方法，其特征在于，还包括：
    根据所述微波雷达的移动速度确定补偿频率，并根据所述补偿频率对所述回波积累信号进行多普勒频移补偿。
  63. 根据权利要求56所述的无人飞行器的控制方法，其特征在于，还包括：
    配置获取的多个所述回波信号的数量和相干累加参数，其中，所述相干累加参数为每个所述角度分组中回波信号的数量，所述获取的多个所述回波信号的数量为所述相干累加参数的整数倍。
  64. 根据权利要求56所述的无人飞行器的控制方法，其特征在于，还包括：
    控制所述微波雷达的角度传感器检测所述微波信号以及所述回波信号的观测角度。
  65. 根据权利要求64所述的无人飞行器的控制方法，其特征在于，所述角度传感器包括光栅角度传感器。
  66. 根据权利要求64所述的无人飞行器的控制方法，其特征在于，还包括：
    根据载具的姿态信息，对所述角度传感器获取的观测角度进行修正，其中，所述载具用于承载所述微波雷达。
  67. 根据权利要求66所述的无人飞行器的控制方法，其特征在于，所述载具为无人飞行器，或地面车辆。
  68. 根据权利要求66所述的无人飞行器的控制方法，其特征在于，还 包括：
    利用姿态信息对所述角度传感器的零度刻度位置进行调整。
  69. 根据权利要求68所述的无人飞行器的控制方法，其特征在于，
    所述姿态信息包括俯仰角信息，所述角度传感器的零度刻度位置平行于所述载具的平移轴设置。
  70. 根据权利要求69所述的无人飞行器的控制方法，其特征在于，
    所述天线装置的转轴垂直于所述载具的平移轴设置。
  71. 根据权利要求60所述的无人飞行器的控制方法，其特征在于，还包括：
    根据融合后的所述检测目标的相关信息控制所述无人飞行器的航迹。
  72. 根据权利要求60所述的无人飞行器的控制方法，其特征在于，
    所述检测目标的相关信息包括以下一种或其组合：所述微波雷达与检测目标之间的距离、所述微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
  73. 根据权利要求72所述的无人飞行器的控制方法，其特征在于，所述对多个所述角度分组中的检测目标的相关信息进行融合的步骤包括：
    建立融合变量；
    针对任一所述角度分组，判断所述角度分组内的检测目标数量是否大于零，当所述角度分组内的检测目标数量小于等于零时进入下一所述角度分组，当所述角度分组内的检测目标数量大于零时判断所述融合变量中的检测目标数量是否为零；
    当所述融合变量中的检测目标数量为零时将所述角度分组内的检测目标的相关信息复制给所述融合变量，并进入下一所述角度分组，当所述融合变量中的检测目标数量不为零时将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并，直至所述融合变量中的检测目标数量大于预设数量阈值。
  74. 根据权利要求73所述的无人飞行器的控制方法，其特征在于，所述将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并的步骤包括：
    按照所述微波雷达与所述检测目标之间的距离，将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并。
  75. 一种计算机存储介质，其特征在于，所述计算机存储介质中存储有程序指令，所述程序指令用于实现：
    控制微波雷达的天线装置以不同角度发射微波信号，和/或接收所述微波信号的回波信号；
    获取多个所述回波信号，根据所述回波信号对应的观测角度，对多个所述回波信号进行角度分组，其中，每个所述角度分组对应于预设观测角度范围的所述回波信号；
    对每个所述角度分组中的所述回波信号，进行相干累加得到回波积累信号；
    根据所述回波积累信号，计算与所述回波积累信号对应的检测目标的相关信息。
  76. 根据权利要求75所述的计算机存储介质，其特征在于，所述程序指令还用于实现：
    控制所述天线装置绕一转轴连续转动。
  77. 根据权利要求76所述的计算机存储介质，其特征在于，所述程序指令还用于实现：
    控制所述天线装置在转动时连续发射所述微波信号。
  78. 根据权利要求75所述的计算机存储介质，其特征在于，所述程序指令实现根据所述回波积累信号，计算与所述回波积累信号对应的检测目标的相关信息，具体包括：
    去除所述回波积累信号中的直流分量；
    采用预设截短函数，对去除直流分量后的所述回波积累信号进行截短处理；
    对截短处理后的所述回波积累信号进行快速傅里叶，获取所述快速傅里叶后的所述回波积累信号的频谱信息；
    根据预设检测阈值，对所述频谱信息进行恒虚警处理；
    根据恒虚警处理的频谱信息，获取波峰信息；
    根据所述波峰信息，进行抛物线拟合处理；
    根据抛物线拟合处理后的波峰信息，计算与所述回波积累信号对应的检测目标的相关信息。
  79. 根据权利要求75所述的计算机存储介质，其特征在于，所述程序指令还用于实现：
    对多个所述角度分组中的检测目标的相关信息进行融合。
  80. 根据权利要求79所述的计算机存储介质，其特征在于，所述程序指令实现对多个所述角度分组中的检测目标的相关信息进行融合，具体包括：
    根据多个所述角度分组中的检测目标的相关信息，确定多个所述角度分组中的检测目标是否为同一检测目标；
    若为同一检测目标，则根据检测目标的检测能量大小，选择所述检测能量大小最大的检测目标的相关信息，作为所述同一检测目标的相关信息。
  81. 根据权利要求75所述的计算机存储介质，其特征在于，所述程序指令还用于实现：
    根据所述微波雷达的移动速度确定补偿频率，并根据所述补偿频率对所述回波积累信号进行多普勒频移补偿。
  82. 根据权利要求75所述的计算机存储介质，其特征在于，所述程序指令还用于实现：
    配置获取的多个所述回波信号的数量和相干累加参数，其中，所述相干累加参数为每个所述角度分组中回波信号的数量，所述获取的多个所述回波信号的数量为所述相干累加参数的整数倍。
  83. 根据权利要求75所述的计算机存储介质，其特征在于，所述程序指令还用于实现：
    控制所述微波雷达的角度传感器检测所述微波信号以及所述回波信号的观测角度。
  84. 根据权利要求83所述的计算机存储介质，其特征在于，所述角度传感器包括光栅角度传感器。
  85. 根据权利要求83所述的计算机存储介质，其特征在于，所述程序 指令还用于实现：
    根据载具的姿态信息，对所述角度传感器获取的观测角度进行修正，其中，所述载具用于承载所述微波雷达。
  86. 根据权利要求85所述的计算机存储介质，其特征在于，所述载具为无人飞行器，或地面车辆。
  87. 根据权利要求75所述的计算机存储介质，其特征在于，所述程序指令还用于实现：
    利用姿态信息对所述角度传感器的零度刻度位置进行调整。
  88. 根据权利要求87所述的计算机存储介质，其特征在于，
    所述姿态信息包括俯仰角信息，所述角度传感器的零度刻度位置平行于所述载具的平移轴设置。
  89. 根据权利要求88所述的计算机存储介质，其特征在于，
    所述天线装置的转轴垂直于所述载具的平移轴设置。
  90. 根据权利要求49所述的计算机存储介质，其特征在于，
    所述检测目标的相关信息包括以下一种或其组合：所述微波雷达与检测目标之间的距离、所述微波雷达与检测目标之间的角度、检测目标数量、检测目标位置、回波能量。
  91. 根据权利要求90所述的计算机存储介质，其特征在于，所述程序指令实现所述对多个所述角度分组中的检测目标的相关信息进行融合，具体包括：
    建立融合变量；
    针对任一所述角度分组，判断所述角度分组内的检测目标数量是否大于零，当所述角度分组内的检测目标数量小于等于零时进入下一所述角度分组，当所述角度分组内的检测目标数量大于零时判断所述融合变量中的检测目标数量是否为零；
    当所述融合变量中的检测目标数量为零时将所述角度分组内的检测目标的相关信息复制给所述融合变量，并进入下一所述角度分组，当所述融合变量中的检测目标数量不为零时将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并，直至所述融合变量中的检 测目标数量大于预设数量阈值。
  92. 根据权利要求91所述的计算机存储介质，其特征在于，所述程序指令实现所述将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并，具体包括：
    按照所述微波雷达与所述检测目标之间的距离，将所述角度分组内的检测目标的相关信息与所述融合变量中的检测目标信息进行合并。
PCT/CN2018/117372 2018-11-26 2018-11-26 一种微波雷达和无人飞行器 Ceased WO2020107138A1 (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880040886.9A CN110892285A (zh) 2018-11-26 2018-11-26 一种微波雷达和无人飞行器
PCT/CN2018/117372 WO2020107138A1 (zh) 2018-11-26 2018-11-26 一种微波雷达和无人飞行器

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/117372 WO2020107138A1 (zh) 2018-11-26 2018-11-26 一种微波雷达和无人飞行器

Publications (1)

Publication Number Publication Date
WO2020107138A1 true WO2020107138A1 (zh) 2020-06-04

Family

ID=69746131

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/117372 Ceased WO2020107138A1 (zh) 2018-11-26 2018-11-26 一种微波雷达和无人飞行器

Country Status (2)

Country Link
CN (1) CN110892285A (zh)
WO (1) WO2020107138A1 (zh)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113966496A (zh) * 2020-05-21 2022-01-21 深圳市大疆创新科技有限公司 控制方法、控制装置、可移动平台与计算机可读存储介质
WO2022160277A1 (zh) * 2021-01-29 2022-08-04 深圳市大疆创新科技有限公司 一种目标检测方法、设备、可移动平台及存储介质
CN114038015B (zh) * 2021-11-16 2025-11-21 深圳市飞睿智能有限公司 手势识别方法、系统、计算机设备及可读存储介质
CN115356734A (zh) * 2022-10-19 2022-11-18 福思(杭州)智能科技有限公司 探测对象的检测方法、装置、存储介质和电子装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3108594A1 (de) * 1981-03-06 1982-09-23 Siemens AG, 1000 Berlin und 8000 München Pulsdoppler-radarempfaenger
CN102830394A (zh) * 2012-07-17 2012-12-19 西安电子科技大学 基于多谱线积累的弱目标探测方法
CN103630888A (zh) * 2013-02-27 2014-03-12 中国科学院电子学研究所 基于对称三角lfmcw雷达的高精度实时微波测速测距装置
CN106353755A (zh) * 2016-09-22 2017-01-25 北京聚速微波技术有限公司 基于微波雷达的周界防护系统和方法
CN106842164A (zh) * 2017-03-14 2017-06-13 中国人民解放军国防科学技术大学 基于小波去噪的非合作脉冲压缩雷达微弱目标检测方法
CN108508413A (zh) * 2017-09-25 2018-09-07 中国人民解放军国防科技大学 一种基于概率统计的低信噪比条件下目标检测方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7729457B2 (en) * 2005-07-25 2010-06-01 Mstar Semiconductor, Inc. Method of weak signal acquisition and associated apparatus
WO2018187946A1 (zh) * 2017-04-11 2018-10-18 深圳市大疆创新科技有限公司 雷达组件及无人机

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3108594A1 (de) * 1981-03-06 1982-09-23 Siemens AG, 1000 Berlin und 8000 München Pulsdoppler-radarempfaenger
CN102830394A (zh) * 2012-07-17 2012-12-19 西安电子科技大学 基于多谱线积累的弱目标探测方法
CN103630888A (zh) * 2013-02-27 2014-03-12 中国科学院电子学研究所 基于对称三角lfmcw雷达的高精度实时微波测速测距装置
CN106353755A (zh) * 2016-09-22 2017-01-25 北京聚速微波技术有限公司 基于微波雷达的周界防护系统和方法
CN106842164A (zh) * 2017-03-14 2017-06-13 中国人民解放军国防科学技术大学 基于小波去噪的非合作脉冲压缩雷达微弱目标检测方法
CN108508413A (zh) * 2017-09-25 2018-09-07 中国人民解放军国防科技大学 一种基于概率统计的低信噪比条件下目标检测方法

Also Published As

Publication number Publication date
CN110892285A (zh) 2020-03-17

Similar Documents

Publication Publication Date Title
US20210356558A1 (en) Method for separating targets and clutter from noise, in radar signals
US9939524B2 (en) Systems and methods for measuring velocity with a radar altimeter
JP6729864B2 (ja) レーダ装置、レーダ装置の信号処理装置及び信号処理方法
WO2020107138A1 (zh) 一种微波雷达和无人飞行器
EP3054314B1 (en) Systems and methods for using velocity measurements to adjust doppler filter bandwidth
US9612323B2 (en) Radar apparatus
CN109407071A (zh) 雷达测距方法、雷达测距装置、无人机和存储介质
CN109407681B (zh) 无人机飞行控制方法、飞行控制装置、无人机和存储介质
WO2018195876A1 (zh) 微波雷达的测距方法、微波雷达、计算机存储介质、无人飞行器及其控制方法
JP2017026604A (ja) レーダシステム
CN108957443A (zh) 一种基于双发双收相干雷达的无人机旋翼长度和转速的估计方法
WO2018063612A1 (en) System and method for detecting heading and velocity of a target object
CN113189554B (zh) 雷达实测回波数据的处理方法、电子设备及存储介质
CN102169176A (zh) 观测信号处理装置
BRPI0922352B1 (pt) Sistema de vigilância para a detecção de alvos compreendendo uma antena de radar montada em uma pá de um moinho de vento
CN109613506A (zh) 一种随机跳频重频捷变雷达目标回波信号检测方法
CN1973212A (zh) 雷达传感器和分析目标的方法
CN107102323B (zh) 用于fmcw雷达高度计系统高度测量分辨率改进的方法和系统
WO2020133223A1 (zh) 目标探测方法、雷达、车辆以及计算机可读存储介质
CN114859337B (zh) 数据处理方法、装置、电子设备、计算机存储介质
CN115356717A (zh) 解距离遮挡的目标检测方法、装置、计算机设备及介质
JP5347830B2 (ja) レーダ装置
US12585011B2 (en) Radar detection using prior tracked object information
KR20140088683A (ko) 차량용 레이더를 이용한 물체 감지 장치, 방법 및 컴퓨터 판독 가능한 기록 매체
US20240280692A1 (en) Fine-near-range estimation method for automotive radar applications

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18941842

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18941842

Country of ref document: EP

Kind code of ref document: A1