WO2021087706A1 - Système radar, plateforme mobile et procédé de commande de système radar - Google Patents

Système radar, plateforme mobile et procédé de commande de système radar Download PDF

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Publication number
WO2021087706A1
WO2021087706A1 PCT/CN2019/115458 CN2019115458W WO2021087706A1 WO 2021087706 A1 WO2021087706 A1 WO 2021087706A1 CN 2019115458 W CN2019115458 W CN 2019115458W WO 2021087706 A1 WO2021087706 A1 WO 2021087706A1
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WIPO (PCT)
Prior art keywords
radar
detection device
synchronization signal
radar detection
radio frequency
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PCT/CN2019/115458
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English (en)
Chinese (zh)
Inventor
王俊喜
祝煌剑
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/115458 priority Critical patent/WO2021087706A1/fr
Priority to CN201980031888.6A priority patent/CN112105951A/zh
Publication of WO2021087706A1 publication Critical patent/WO2021087706A1/fr

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    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G01S13/935—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft for terrain-avoidance

Definitions

  • This application relates to the field of radar technology, in particular to a radar system, a movable platform, and a control method of the radar system.
  • the obstacle avoidance radar rotates at a constant speed of 360 degrees in the horizontal direction, and performs ranging according to different angular positions.
  • One rotation can realize 360-degree environmental scanning, perceive surrounding targets, realize obstacle space positioning, and ensure the safe flight of unmanned aerial vehicles.
  • the obstacle avoidance radar only detects in a certain range of pitch angles, and lacks the ability to detect the height below.
  • the present application provides a radar system, a movable platform, and a control method of the radar system.
  • this application provides a radar system, which is applied to a movable platform, and the radar system includes:
  • the first radar detection device is set at the first position of the movable platform, and scans and detects the first detection area around the movable platform or stops scanning and detection under a control instruction;
  • the second radar detection device is arranged at a second position of the movable platform, and stops scanning detection or scanning detection of a second detection area around the movable platform under the control instruction, the second detection area including The blind area scanned and detected by the first radar detection device;
  • the control circuit is respectively electrically connected to the first radar detection device and the second radar detection device, and is used to issue the control instruction, and the control instruction causes the first radar detection device and the second radar detection device to detect The equipment works in different time periods.
  • the present application provides a movable platform, the movable platform includes a radar system, and the radar system includes:
  • the first radar detection device is set at the first position of the movable platform, and scans and detects the first detection area around the movable platform or stops scanning and detection under a control instruction;
  • the second radar detection device is arranged at a second position of the movable platform, and stops scanning detection or scanning detection of a second detection area around the movable platform under the control instruction, the second detection area including The blind area scanned and detected by the first radar detection device;
  • the control circuit is respectively electrically connected to the first radar detection device and the second radar detection device, and is used to issue the control instruction, and the control instruction causes the first radar detection device and the second radar detection device to detect The equipment works in different time periods.
  • the present application provides a method for controlling a radar system, the method is suitable for the radar system as described above, and the method includes:
  • the first radar detection device and the second radar detection device are not operated at the same time.
  • the embodiments of the present application provide a radar system, a movable platform, and a control method of the radar system.
  • the first radar detection device is set on the first position of the movable platform, and scans and detects the first surrounding the movable platform under the control instruction.
  • the second radar detection equipment is set on the second position of the movable platform, and under the control instruction, it stops scanning detection or scanning detection of the second detection area around the movable platform.
  • the second detection area includes the first Radar detection equipment scans and detects the blind area;
  • the control circuit is electrically connected with the first radar detection equipment and the second radar detection equipment, and is used to issue control instructions.
  • the control instructions make the first radar detection equipment and the second radar detection equipment be different from each other. Working hours.
  • the second radar detection device can scan and detect the blind area scanned and detected by the first radar detection device, which can increase the scanning detection range around the movable platform and reduce the movable The blind area of scanning detection around the platform, so as to provide a larger range of scanning and detection data for the movable platform, so that the movable platform can achieve more related functions; when the radar system is set in a suitable position of the unmanned aerial vehicle, it can Realize the height measurement below, and can realize the terrain following function of the unmanned aerial vehicle.
  • control command issued by the control circuit can make the first radar detection device and the second radar detection device work in different time periods, in this way, the first radar detection device and the second radar detection device can be operated separately. Avoid mutual interference, thereby improving the accuracy of radar system scanning and detection.
  • Fig. 1 is a schematic structural diagram of an embodiment of the radar system of the present application
  • FIG. 2 is a schematic structural diagram of another embodiment of the radar system of the present application.
  • Figure 3 is a schematic diagram of a specific structure of a radar detection device in practical applications
  • FIG. 4 is a schematic diagram of the corresponding detection area and blind area when the obstacle avoidance radar detection equipment installed on the unmanned aerial vehicle scans and detects the surroundings in a practical application;
  • FIG. 5 is a schematic diagram of a simplified structure of the radar system according to the embodiment of the present application for the problem of FIG. 4;
  • FIG. 6 is a schematic diagram of the working sequence of the radio frequency board of the fixed height radar and the radio frequency board of the obstacle avoidance radar in a practical application of the radar system of the present application.
  • Radio frequency front end 11. Voltage-controlled oscillator; 12. First power divider; 13. Power amplifier; 14. Transmit antenna; 21. Mixer; 22. Second power divider; 23. Low noise amplifier; 24. Receiving antenna; 25. A/D converter;
  • Obstacle avoidance radar radio frequency board 101. Obstacle avoidance radar radio frequency board; 201, fixed height radar radio frequency board; 301, FPGA digital board.
  • the unmanned aerial vehicle uses obstacle avoidance radar to perceive the surrounding targets, realize the obstacle space positioning, and ensure its own safe flight.
  • the obstacle avoidance radar only detects in a certain range of pitch angles, and lacks the performance of lower height detection.
  • the higher the unmanned aerial vehicle the larger the blind area below it, which cannot realize the lower height measurement and the terrain following function of the unmanned aerial vehicle.
  • the first radar detection device of the embodiment of the present application is set on the first position of the movable platform, and scans and detects the first detection area around the movable platform or stops scanning and detection under the control instruction; the second radar detection device is set on the movable platform In the second position, under the control instruction, stop scanning detection or scanning detection of the second detection area around the movable platform.
  • the second detection area includes the blind area scanned and detected by the first radar detection device; the control circuit and the first radar detection device are respectively It is electrically connected with the second radar detection device, and is used to issue a control instruction, and the control instruction makes the first radar detection device and the second radar detection device work in different time periods.
  • the second radar detection device can scan and detect the blind area scanned and detected by the first radar detection device, which can increase the scanning detection range around the movable platform and reduce the movable The blind area of scanning detection around the platform, so as to provide a larger range of scanning and detection data for the movable platform, so that the movable platform can achieve more related functions; when the radar system is set in a suitable position of the unmanned aerial vehicle, it can Realize the height measurement below, and can realize the terrain following function of the unmanned aerial vehicle.
  • control command issued by the control circuit can make the first radar detection device and the second radar detection device work in different time periods, in this way, the first radar detection device and the second radar detection device can be operated separately. Avoid mutual interference, thereby improving the accuracy of radar system scanning and detection.
  • Fig. 1 is a schematic structural diagram of an embodiment of a radar system of the present application, and the radar system is applied to a movable platform.
  • the movable platforms in the embodiments of the present application refer to various platforms that can move automatically or under controlled conditions, such as: unmanned aerial vehicles, unmanned vehicles, ground remote-controlled robots, and so on.
  • the radar system 100 includes: a first radar detection device 10, a second radar detection device 20, and a control circuit 30.
  • the first radar detection device 10 is arranged at the first position of the movable platform, and under the control instruction, it scans and detects the first detection area around the movable platform or stops scanning detection; the second radar detection device 20 is arranged on the first position of the movable platform. In the second position, under the control instruction, stop scanning detection or scanning detection of the second detection area around the movable platform.
  • the second detection area includes the blind area scanned and detected by the first radar detection device 10; the control circuit 30 and the first radar detection device respectively 10 and the second radar detection device 20 are electrically connected, and are used to issue a control instruction, which causes the first radar detection device 10 and the second radar detection device 20 to work in different time periods, respectively.
  • Radar is the transliteration of Radar (radio detection and ranging) in English, meaning “radio detection and ranging”, that is, using radio methods to find targets and determine their spatial positions. Therefore, radar is also called “radiolocation”.
  • the radar emits electromagnetic waves to irradiate the target and receives its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave launching point, the rate of change of distance (radial velocity), the azimuth, and the height.
  • the advantage of radar is that it can detect long-distance targets during the day and night, and is not blocked by fog, clouds and rain. It has the characteristics of all-weather and all-weather, and has a certain penetration ability. It has not only become an indispensable electronic equipment in the military, but also widely used in social and economic development.
  • the ground-targeted radar can detect the precise shape of the ground, and its spatial resolution can reach several meters to tens of meters, regardless of distance. Radar has also shown good application potential in flood monitoring, sea ice monitoring, soil moisture survey, forest resource inventory, and geological survey.
  • Both the first radar detection device 10 and the second radar detection device 20 are electronic devices that use electromagnetic waves to detect targets.
  • the first radar detection device 10 and the second radar detection device 20 have a wide variety of types, such as pulsed radar, continuous wave radar, pulse compression radar, and frequency agile radar according to the form of radar signals; classified according to the angle tracking method, there are Monopulse radar, cone scanning radar and hidden cone scanning radar, etc.; according to the antenna scanning method, it can be classified into mechanical scanning radar, phased array radar, etc.; according to the radar frequency band, it can be divided into over-the-horizon radar, microwave radar, and millimeter wave Radar and lidar, etc.
  • the first radar detection device 10 is a microwave radar
  • the second radar detection device 20 is a microwave radar.
  • Microwave radar is a radar that uses microwaves to work. Microwave radar can use a smaller antenna to obtain a very narrow beam width to obtain more information about the nature of the target being measured.
  • the frequency bands of the electromagnetic wave signals emitted by the radar are basically the same or similar. Therefore, in this embodiment, the frequency band of the detection signal of the first radar detection device 10 is the same or similar to the frequency band of the detection signal of the second radar detection device 20.
  • the first radar detection device 10 can scan and detect the first detection area around the movable platform
  • the second radar detection device 20 can scan and detect the second detection area around the movable platform.
  • the second detection area includes the first detection area around the movable platform.
  • a blind area scanned and detected by the radar detection device 10, that is, the second radar detection device 20 can scan and detect the area that the first radar detection device 10 cannot scan and detect.
  • the scanning detection range around the movable platform can be increased, Reduce the blind area of scanning detection around the movable platform, so as to provide a larger range of scanning and detection data for the movable platform, so that the movable platform can realize more related functions; when the radar system 100 is set in a suitable position of the unmanned aerial vehicle When up, it can measure the height below, and can realize the terrain following function of the unmanned aerial vehicle.
  • the radar detection device 20 is electrically connected, and is used to issue a control command to the first radar detection device and the second radar detection device. Under the control command, the first radar detection device 10 and the second radar detection device 20 are operated at different time intervals. jobs. That is, under the control instruction, during the period when the first radar detection device 10 is working, the second radar detection device 20 does not work, or during the period when the second radar detection device 20 is working, the first radar detection device 10 does not work.
  • the first radar detection device 10 works for a certain period of time
  • the second radar detection device 20 works, and after the second radar detection device 20 works for a certain period of time
  • the first radar detection device 10 works after a period of time
  • the second radar detection device 20 operates, and after the second radar detection device 20 operates for a period of time, the first radar detection device 10 operates; and so on.
  • the first radar detection device 10 of the embodiment of the present application is set on the first position of the movable platform, and scans and detects the first detection area around the movable platform or stops scanning detection under the control instruction; the second radar detection device 20 is set on the movable platform. At the second position of the mobile platform, under the control instruction, stop scanning detection or scanning detection of the second detection area around the movable platform.
  • the second detection area includes the blind area scanned and detected by the first radar detection device 10;
  • a radar detection device 10 is electrically connected to the second radar detection device 20, and is used to issue a control command to the first radar detection device and the second radar detection device, under which the first radar detection device 10 and the second radar detection device The devices 20 work in different time periods, respectively.
  • the second radar detection device 20 can scan and detect the blind area scanned and detected by the first radar detection device 10, which can increase the scanning detection range around the movable platform, Reduce the blind area of scanning detection around the movable platform, so as to provide a larger range of scanning and detection data for the movable platform, so that the movable platform can realize more related functions; when the radar system 100 is set in a suitable position of the unmanned aerial vehicle When up, it can measure the height below, and can realize the terrain following function of the unmanned aerial vehicle.
  • the control command issued by the control circuit 30 can enable the first radar detection device 10 and the second radar detection device 20 to work in different time periods, in this way, the first radar detection device 10 and the second radar detection device can be The 20 avoids mutual interference during their respective work, thereby improving the accuracy of scanning and detection of the radar system 100.
  • control circuit 30 issuing control instructions to make the first radar detection device 10 and the second radar detection device 20 work in different time periods.
  • radar systems including main radar detection equipment and non-primary radar detection equipment.
  • One radar detection equipment is the main radar detection equipment, and the other radar detection equipment is the non-main radar detection equipment.
  • the non-primary radar detection equipment only works intermittently, that is, the non-primary radar detection equipment works in the gap between the main radar detection equipment. Therefore, in this embodiment, the first radar detection device 10 or the second radar detection device 20 operates intermittently. In this way, on the one hand, the normal operation of the main radar detection equipment is not affected, and on the other hand, the normal operation of the main radar detection equipment can be beneficially supplemented by the intermittent work of the non-main radar detection equipment.
  • the intermittent work of the first radar detection device 10 or the second radar detection device 20 can be to make the first radar detection device 10 or the second radar detection device 20 work intermittently under preset conditions, or it can be on a movable platform. If necessary, the first radar detection device 10 or the second radar detection device 20 is controlled to work intermittently, which is specifically selected according to actual needs.
  • the first radar detection device 10 and the second radar detection device 20 are cyclically operated without any non-working time.
  • the control method requires the first radar detection device 10 and the second radar detection device 20 to maintain synchronization.
  • the radar system 100 further includes a synchronization signal generator 40 electrically connected to the control circuit 30.
  • the synchronization signal generator 40 is used to sequentially and cyclically emit the first synchronization signal and the second synchronization signal, and the control circuit 30 according to the first synchronization signal A synchronization signal or a second synchronization signal sends out a control instruction.
  • the control instruction can synchronize the operation of the first radar detection device 10 while the second radar detection device 20 does not work, or synchronize the operation of the second radar detection device 20 and the first radar detection device 20.
  • the detection device 10 does not work.
  • the synchronization signal generator 40 refers to a signal generator capable of generating a synchronization signal, and the first synchronization signal and the second synchronization signal are used to trigger the first radar detection device 10 and the second radar detection device 20 to coordinate work at the same time. , That is, synchronization causes the first radar detection device 10 to work but the second radar detection device 20 does not work, or synchronization causes the second radar detection device 20 to work but the first radar detection device 10 does not work.
  • the control circuit 30 can be triggered more sensitively, the response speed of the control circuit 30 can be improved, and the synchronization control can be more accurate.
  • the first synchronization signal includes the first grating synchronization signal.
  • the two synchronization signals include the second raster synchronization signal.
  • a gap is provided on the synchronization signal generator, and the first grating synchronization signal includes a signal generated when the grating pulse leaves the gap provided on the synchronization signal generator.
  • the two-grating synchronization signal includes the signal generated when the grating pulse reaches the gap.
  • a plurality of gaps are arranged on the synchronization signal generator at intervals to sequentially and cyclically send out the first grating synchronization signal and the second grating synchronization signal.
  • the specific application of the simultaneous coordination of the first radar detection device 10 and the second radar detection device 20 may be: when the first synchronization signal is issued, the control instruction synchronizes the operation of the first radar detection device 10 and the second radar detection device 20 does not work.
  • the control command synchronizes to make the second radar detection device 20 work, but the first radar detection device 10 does not work. That is, the time length between the adjacent first synchronization signal and the second synchronization signal is the operating time of the first radar detection device 10, and the time length between the adjacent second synchronization signal and the next first synchronization signal is the first 2.
  • Working hours of the radar detection equipment 20 In this way, the first radar detection device 10 and the second radar detection device 20 can work alternately without interfering with each other.
  • the transmitter of the first radar detection device 10 is turned on at the preset transmission power, and the transmission of the second radar detection device 20 is turned off at the preset transmission power.
  • the second synchronization signal is sent, under the control instruction, the transmitter of the second radar detection device 20 with a preset transmission power is turned on synchronously, and the transmitter of the first radar detection device 10 with the preset transmission power is turned off.
  • the coordination of the first radar detection device 10 and the second radar detection device 20 can be simply and conveniently realized. jobs.
  • the main radar detection equipment has a long working time, while the non-main radar detection equipment has a short working time. That is, the time length between the adjacent first synchronization signal and the second synchronization signal is greater than the time length between the adjacent second synchronization signal and the next first synchronization signal. In this way, the working time of the main radar detection equipment is not affected.
  • Radar detection equipment mainly includes two parts: RF front-end and signal processing module. Take the radio frequency front end adopting one receiving and one sending as an example to illustrate the general structure of radar detection equipment. As shown in Fig. 3, Fig. 3 is a schematic diagram of a specific structure of an existing radar detection device in practical application.
  • the transmitting branch of the radio frequency front-end 1 includes a voltage-controlled oscillator 11 (VCO, Voltage-Controlled Oscillator), a first power divider 12 (abbreviated as power divider 1), a power amplifier 13 (PA, Power Amplifier), and a transmitting antenna 14 connected in sequence.
  • VCO voltage-controlled oscillator
  • PA Power Amplifier
  • the receiving branch of the RF front-end 1 includes a mixer 21 (referred to as mixing), a second power divider 22 (referred to as power divider 2), and a low noise amplifier 23 (LNA, Low Noise Amplifier) connected in sequence ), receiving antenna 24 (RX, Receiving antenna); wherein the power divider 12 is connected to the mixer 21, and the mixer 21 is also connected to the analog-to-digital converter 25 (ADC or A/D, Analog-to-Digital Converter) connection.
  • ADC or A/D Analog-to-Digital Converter
  • the signal processing module 3 includes a digital signal processor 31 (DSP, digital signal processor), a FLASH flash memory 32 connected to the digital signal processor 31, a read-write memory 33 (RAM), and a read-only memory 34 (ROM); where the modulus / The digital converter 25 is connected to the digital signal processor 31.
  • DSP digital signal processor
  • FLASH flash memory 32 connected to the digital signal processor 31
  • RAM read-write memory 33
  • ROM read-only memory 34
  • the radio frequency front end 1 is used to receive the modulation signal (modulation waveform) generated by the signal processing module 3 and generate a high-frequency signal whose frequency changes linearly with the modulation voltage.
  • the high-frequency signal (electromagnetic wave) is radiated outward through the transmitting antenna 14, and the electromagnetic wave encounters the ground Or the obstacle is reflected back and received by the receiving antenna 24, and the intermediate frequency after the low-noise amplifier 23 and the power divider 22 is mixed with the transmission signal separated from the power divider 12 in the transmitting branch at the mixer 21
  • the intermediate frequency signal is obtained, and the intermediate frequency signal collected by the ADC is input to the signal processing module 3 for processing and analysis.
  • the signal processing modules of the first radar detection device and the second radar detection device are integrated with the control circuit, that is, the first radar detection device 10 It includes a first radar radio frequency front end, the second radar detection device 20 includes a second radar radio frequency front end, and the control circuit 30 includes a signal processing control circuit.
  • the control circuit 30 includes a signal processing control circuit.
  • the signal processing control circuit includes an FPGA digital board.
  • various hardware resources that need to be used can be rationally organized, and various hardware circuits can be implemented to provide various signal processing required; it can be reprogrammed indefinitely, reducing hardware overhead, and further saving costs.
  • the respective functions of the first radar radio frequency front end, the second radar radio frequency front end, and the signal processing control circuit are clearly divided.
  • the first radar radio frequency front end is used to scan the first detection area and collect first data under a control instruction, and send the first data to the signal processing control circuit, or stop scanning and acquisition;
  • the second radar radio frequency front end is used to control the Stop scanning collection under the instruction, or scan the second detection area and collect the second data, and send the second data to the signal processing control circuit;
  • the signal processing control circuit is also used to perform data processing on the first data and the second data to obtain the detection result.
  • the signal processing control circuit can be simple and convenient to synchronously control the first radar radio frequency front end and the second radar radio frequency front end; Since both the first data and the second data are processed by the signal processing control circuit, in this way, technical support can be provided for flexibly processing data according to specific practical application needs. For example: the first data and the second data are processed separately, or the first data and the second data are processed together, and so on.
  • the detection result includes the fusion detection result of the first detection result and the second detection result.
  • the first detection result is the detection result after data processing is performed on the first data
  • the second detection result is the detection result of the second data.
  • the detection result after data processing Since the detection result includes the fusion detection result of the first detection result and the second detection result, in this way, detection results more in line with actual needs can be obtained, and the movable platform can provide more realistic and stable detection results.
  • the specific settings of the first radar radio frequency front end and the second radar radio frequency front end need to be comprehensively considered based on the specific shapes and structures of the first radar radio frequency front end and the second radar radio frequency front end, specific applications, and specific requirements.
  • the shape of the plate-shaped radar radio frequency front end is relatively simple and easy to install. That is, the first radar radio frequency front end includes the first radar radio frequency board, and the second radar radio frequency front end includes the second radar radio frequency board.
  • the first radar radio frequency board and the second radar radio frequency board are arranged perpendicular to each other on the movable platform, so that the second radar radio frequency board can scan and detect the blind area detected by the first radar radio frequency board.
  • the first radar radio frequency board rotates around a rotation axis
  • the second radar radio frequency board rotates synchronously with the first radar radio frequency board, so that the second radar radio frequency board can synchronously scan and detect the first radar The blind area detected by the radio frequency board scanning.
  • the rotation axis is parallel to the yaw axis of the unmanned aerial vehicle, that is, the first radar radio frequency board rotates around the unmanned aerial vehicle's yaw axis, so that the first radar radio frequency board scans and detects the unmanned aerial vehicle
  • the surrounding area with the yaw axis as the center provides technical support for the unmanned aerial vehicle to scan and detect the target object in the yaw axis direction; or the rotation axis is parallel to the pitch axis of the unmanned aerial vehicle, that is, the first radar radio frequency board rotates around the pitch axis of the unmanned aerial vehicle , So that the first radar radio frequency board scans and detects the surrounding area of the unmanned aerial vehicle with the pitch axis as the center, and provides technical support for the unmanned aerial vehicle to scan and detect the target object in the direction of the pitch axis.
  • the first radar radio frequency board includes the obstacle avoidance radar radio frequency board
  • the second radar radio frequency board includes the fixed height radar radio frequency board
  • the obstacle avoidance radar radio frequency board is arranged under the unmanned aerial vehicle body.
  • the high radar radio frequency board is arranged under the fuselage of the unmanned aerial vehicle.
  • the obstacle avoidance radar radio frequency board can scan and detect obstacles around the UAV, which can make the UAV automatically avoid obstacles; the obstacle avoidance radar radio frequency board is set under the unmanned aerial vehicle's fuselage, so that it does not affect the unmanned aerial vehicle.
  • the fixed height radar radio frequency board can scan and detect vertical obstacles, and then obtain the distance from the vertical obstacle to the UAV Information:
  • the fixed-altitude radar radio frequency board is set under the fuselage of the unmanned aerial vehicle, which can obtain the altitude of the unmanned aerial vehicle to the bottom.
  • the obstacle avoidance radar detection equipment rotates at a constant speed of 360 degrees in the horizontal direction, and performs ranging according to different angular positions.
  • a full rotation can realize 360-degree environmental scanning, perceive surrounding targets, realize obstacle space positioning, and ensure unmanned aerial vehicles. Safe flight.
  • horizontal rotation can only be detected in a certain range of pitch angle, and there is no lower height detection performance.
  • the lower part (including the upper part) is the blind zone of the obstacle avoidance radar detection equipment. The higher the unmanned aerial vehicle, the larger the blind zone.
  • FIG. 5 is a simplified structural diagram of the radar system according to the embodiment of the present application for the problem of FIG. 4.
  • the fixed height radar radio frequency board 201 is installed directly under the UAV fuselage, and is responsible for completing the height calculation under the UAV;
  • the obstacle avoidance radar radio frequency board 101 is installed directly under the UAV fuselage, and is connected with the fixed altitude radar radio frequency board.
  • 201 is vertical, to achieve 360-degree detection of the surrounding target in the horizontal direction of the UAV, and estimate the target distance and angle;
  • FPGA digital board 301 estimates the distance through the fixed height radar radio frequency board 201 and the ground fitted by the obstacle avoidance radar radio frequency board 101 Highly perform data fusion, and obtain the final stable and reliable fusion detection result.
  • the synchronization signal A plurality of gaps are arranged on the generator at the same predetermined interval distance.
  • the first grating synchronization signal is generated when the grating pulse leaves the gap provided on the synchronization signal generator, and the second grating synchronization signal is generated when the grating pulse reaches the gap.
  • the transmitter of the preset transmission power of the obstacle avoidance radar radio frequency board 101 is turned on, and the preset transmission power of the fixed height radar radio frequency board 201 is turned off.
  • the working time of the obstacle avoidance radar radio frequency board 101 is longer, while the working time of the fixed height radar radio frequency board 201 is shorter, that is, the length of time between the adjacent first synchronization signal to the second synchronization signal is longer than the adjacent second synchronization signal The length of time between the signal and the next first synchronization signal.
  • the present application also provides a movable platform, the movable platform includes a radar system, and the radar system includes the radar system as described above.
  • the radar system includes the radar system as described above.
  • the radar system please refer to the content section of the above-mentioned radar system, which will not be repeated here.
  • the radar system includes: a first radar detection device, a second radar detection device, and a control circuit.
  • the first radar detection device is set at the first position of the movable platform, and under the control instruction, it scans and detects the first detection area around the movable platform or stops scanning detection;
  • the second radar detection device is set at the second position of the movable platform Above, stop scanning detection or scanning detection of the second detection area around the movable platform under the control instruction, the second detection area includes the blind area scanned and detected by the first radar detection device;
  • the control circuit is respectively connected with the first radar detection device and the second radar
  • the detection device is electrically connected to issue a control instruction, and the control instruction causes the first radar detection device and the second radar detection device to work in different time periods.
  • the first radar detection device of the embodiment of the present application is set on the first position of the movable platform, and scans and detects the first detection area around the movable platform or stops scanning and detection under the control instruction; the second radar detection device is set on the movable platform In the second position, under the control instruction, stop scanning detection or scanning detection of the second detection area around the movable platform.
  • the second detection area includes the blind area scanned and detected by the first radar detection device; the control circuit and the first radar detection device are respectively It is electrically connected with the second radar detection device, and is used to issue a control instruction, and the control instruction makes the first radar detection device and the second radar detection device work in different time periods.
  • the second radar detection device can scan and detect the blind area scanned and detected by the first radar detection device, which can increase the scanning detection range around the movable platform and reduce the movable The blind area of scanning detection around the platform, so as to provide a larger range of scanning and detection data for the movable platform, so that the movable platform can achieve more related functions; when the radar system is set in a suitable position of the unmanned aerial vehicle, it can Realize the height measurement below, and can realize the terrain following function of the unmanned aerial vehicle.
  • control command issued by the control circuit can make the first radar detection device and the second radar detection device work in different time periods, in this way, the first radar detection device and the second radar detection device can be operated separately. Avoid mutual interference, thereby improving the accuracy of radar system scanning and detection.
  • the movable platform is an unmanned aerial vehicle, an unmanned vehicle, or a ground remote control robot.
  • the first radar detection device is a microwave radar
  • the second radar detection device is a microwave radar
  • the frequency band of the detection signal of the first radar detection device is the same or similar to the frequency band of the detection signal of the second radar detection device.
  • the first radar detection device or the second radar detection device works intermittently.
  • the radar system also includes a synchronization signal generator electrically connected to the control circuit, the synchronization signal generator is used to cyclically send out the first synchronization signal and the second synchronization signal in turn, and the control circuit sends out control instructions according to the first synchronization signal or the second synchronization signal ,
  • the control command can synchronize the operation of the first radar detection device while the second radar detection device does not work, or synchronize the operation of the second radar detection device but the first radar detection device does not work.
  • the control instruction synchronizes the operation of the first radar detection device, but the second radar detection device does not work.
  • the control instruction synchronizes the operation of the second radar detection device, and The first radar detection device is not working.
  • the transmitter of the first radar detection device with the preset transmission power is turned on synchronously, and the transmitter of the second radar detection device with the preset transmission power is turned off;
  • the transmitter of the second radar detection device with the preset transmission power is turned on synchronously, and the transmitter of the first radar detection device with the preset transmission power is turned off.
  • the time length between the adjacent first synchronization signal and the second synchronization signal is greater than the time length between the adjacent second synchronization signal and the next first synchronization signal.
  • the first synchronization signal includes a first grating synchronization signal
  • the second synchronization signal includes a second grating synchronization signal
  • the first grating synchronization signal includes a signal generated when the grating pulse leaves the gap provided on the synchronization signal generator
  • the second grating synchronization signal includes a signal generated when the grating pulse reaches the gap
  • the first radar detection equipment includes a first radar radio frequency front end
  • the second radar detection equipment includes a second radar radio frequency front end
  • the control circuit includes a signal processing control circuit
  • the first radar radio frequency front end is used to scan the first detection area and collect the first data under the control instruction, and send the first data to the signal processing control circuit, or stop scanning acquisition;
  • the second radar radio frequency front end is used to control the instruction Stop scanning collection, or scan the second detection area and collect the second data, and send the second data to the signal processing control circuit;
  • the signal processing control circuit is also used to process the first data and the second data to obtain the detection result .
  • the detection result includes the fusion detection result of the first detection result and the second detection result
  • the first detection result is the detection result after data processing on the first data
  • the second detection result is after data processing on the second data The detection results.
  • the first radar radio frequency front end includes a first radar radio frequency board
  • the second radar radio frequency front end includes a second radar radio frequency board
  • the first radar radio frequency board and the second radar radio frequency board are arranged perpendicular to each other on the movable platform.
  • the first radar radio frequency board rotates around a rotation axis
  • the second radar radio frequency board rotates synchronously with the first radar radio frequency board
  • the movable platform includes an unmanned aerial vehicle, the rotation axis is parallel to the yaw axis of the unmanned aerial vehicle; or the rotation axis is parallel to the pitch axis of the unmanned aerial vehicle.
  • the movable platform includes an unmanned aerial vehicle
  • the first radar radio frequency board includes an obstacle avoidance radar radio frequency board
  • the second radar radio frequency board includes a fixed height radar radio frequency board
  • the obstacle avoidance radar radio frequency board is arranged under the unmanned aerial vehicle body, fixed
  • the high radar radio frequency board is arranged under the fuselage of the unmanned aerial vehicle.
  • the signal processing control circuit includes an FPGA digital board.
  • the present application also provides a method for controlling a radar system.
  • the method is applicable to any of the above radar systems.
  • the method includes:
  • Step S101 Make the control circuit send control instructions to the first radar detection device and the second radar detection device.
  • Step S102 Under the control instruction, make the first radar detection device and the second radar detection device work in different time periods.
  • control command issued by the control circuit can enable the first radar detection device and the second radar detection device to work in different time periods.
  • the first radar detection device and the second radar detection device can be enabled Avoid mutual interference during their respective work, thereby improving the accuracy of the radar system's scanning and detection.
  • step S102 under the control instruction, making the first radar detection device and the second radar detection device work in different time periods, may include: under the control instruction, making the first radar detection device or the second radar detection device Intermittent work.
  • the radar system further includes a synchronization signal generator electrically connected to the control circuit; the method further includes: making the synchronization signal generator cyclically emit the first synchronization signal and the second synchronization signal in turn; in this case, step S101 may include: making the control circuit According to the first synchronization signal or the second synchronization signal, the control instruction is issued; step S102 may also include: under the control instruction, synchronously make the first radar detection device work, but the second radar detection device does not work, or synchronously make the second radar detect The equipment works, but the first radar detection equipment does not work.
  • step S102 may specifically include: when the first synchronization signal is sent, under the control instruction, synchronously turn on the transmitter of the first radar detection device with a preset transmission power, and turn off the preset transmission power of the second radar detection device.
  • the transmitter when the second synchronization signal is sent, under the control instruction, the transmitter of the second radar detection device with the preset transmission power is turned on synchronously, and the transmitter of the first radar detection device with the preset transmission power is turned off.

Landscapes

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

Abstract

L'invention concerne un système radar, une plateforme mobile et un procédé de commande, le système radar comprenant : un premier dispositif de détection radar (10), un second dispositif de détection de radar (20) et un circuit de commande (30) ; le premier dispositif de détection radar (10) est agencé à une première position de la plateforme mobile ; le second dispositif de détection de radar (20) est agencé à une seconde position de la plateforme mobile et balaye une seconde région de détection, la seconde région de détection comprenant une zone aveugle balayée par le premier dispositif de détection radar (10) ; et le circuit de commande (30) envoie une instruction de commande, de telle sorte que le premier dispositif de détection radar (10) et le second dispositif de détection radar (20) fonctionnent à différentes périodes, respectivement.
PCT/CN2019/115458 2019-11-04 2019-11-04 Système radar, plateforme mobile et procédé de commande de système radar WO2021087706A1 (fr)

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PCT/CN2019/115458 WO2021087706A1 (fr) 2019-11-04 2019-11-04 Système radar, plateforme mobile et procédé de commande de système radar
CN201980031888.6A CN112105951A (zh) 2019-11-04 2019-11-04 雷达系统、可移动平台及雷达系统的控制方法

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WO2022188185A1 (fr) * 2021-03-12 2022-09-15 深圳市大疆创新科技有限公司 Système de détection et plateforme mobile
CN113212423B (zh) * 2021-05-21 2022-07-01 广州小鹏自动驾驶科技有限公司 一种车辆控制的方法、装置、车辆和存储介质

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