WO2022141048A1 - Procédé d'acquisition d'une grille d'onde de regroupement de nuage de points et radar, plate-forme mobile et support de stockage - Google Patents

Procédé d'acquisition d'une grille d'onde de regroupement de nuage de points et radar, plate-forme mobile et support de stockage Download PDF

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WO2022141048A1
WO2022141048A1 PCT/CN2020/140822 CN2020140822W WO2022141048A1 WO 2022141048 A1 WO2022141048 A1 WO 2022141048A1 CN 2020140822 W CN2020140822 W CN 2020140822W WO 2022141048 A1 WO2022141048 A1 WO 2022141048A1
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wave gate
target
gate
accuracy
radar
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PCT/CN2020/140822
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English (en)
Chinese (zh)
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王石荣
王俊喜
高迪
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深圳市大疆创新科技有限公司
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Priority to CN202080070979.3A priority Critical patent/CN114631035A/zh
Priority to PCT/CN2020/140822 priority patent/WO2022141048A1/fr
Publication of WO2022141048A1 publication Critical patent/WO2022141048A1/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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/23—Clustering techniques
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/762—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using clustering, e.g. of similar faces in social networks

Definitions

  • the present invention generally relates to the technical field of radar, and more particularly, to a method for acquiring point cloud clustering gates, a radar, a movable platform and a storage medium.
  • the Density-Based Spatial Clustering of Application with Noise (DBSCAN) algorithm with noise is based on the difference in the density of points in the space. Given a set of points in a space, this algorithm can group the points in the density range into a group, and determine the points in the low-density area as outliers.
  • the density range refers to the given area range in space, which is expressed as "gate" in radar science.
  • radar usually uses a spherical wave gate, taking the target point as the center of the circle. It only needs to determine whether the distance from the surrounding point to the target point is less than the radius of the given circle to determine whether the surrounding point is within the density range of the target point.
  • one aspect of the present invention provides a method for acquiring a point cloud clustering gate, the method is applied to a radar, and the radar is set on a movable platform, and the method includes:
  • the wave gate shape includes one of the following shapes: a sphere, an ellipsoid, and a cuboid;
  • a gate range of the wave gate centered on the first target is determined.
  • Yet another aspect of the present invention provides a radar, the radar comprising: one or more processors, working individually or jointly, the processors are configured to implement the aforementioned method for obtaining a point cloud clustering gate.
  • a movable platform comprising: a movable platform body;
  • the radar is arranged on the movable platform body.
  • Another aspect of the present invention provides a computer storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the aforementioned method for obtaining a point cloud clustering gate is implemented.
  • the method for obtaining power clustering gates in the embodiment of the present application determines the gate range of the gate centered on the first target by combining the shape of the gate and the accuracy of the azimuth dimension, pitch angle, and distance dimension of the radar, so as to obtain A gate that is more in line with radar characteristics, in order to achieve a more refined effective range judgment, used in clustering, track correlation and other occasions, and then can provide more refined clustering results or track correlation results, etc., and improve the self-adaptation of the algorithm sex.
  • Fig. 1 shows the schematic diagram of the DBSCAN algorithm in an embodiment of the present application
  • FIG. 2 shows a schematic diagram of point cloud clustering discrimination by different shaped gates in a rotating radar system in an embodiment of the present application
  • Figure 3 shows a schematic diagram of an erroneous cuboid gate in one embodiment
  • FIG. 4 shows a schematic flowchart of a method for obtaining a point cloud clustering gate in an embodiment of the present application
  • FIG. 5 shows a schematic block diagram of an azimuth expression form of an ellipsoid gate in an embodiment of the present invention
  • FIG. 6 shows a schematic block diagram of a microwave radar in an embodiment of the present application.
  • the DBSCAN algorithm is implemented based on the difference in density of points in space. Given a set of points in a space, this algorithm can group the points in the density range into a group, and determine the points in the low-density area as outliers.
  • the density range refers to the given area range in space, which is expressed as "gate" in radar science.
  • the determination range taken is a circle (that is, the circle is also a wave gate), that is, it is only necessary to determine whether the distance from the surrounding point to point A is less than the radius of the given circle, then the point Within the density range of point A, point A is the initial point, points B and C are points determined by the extended clustering, and point D is the noise point.
  • the gate judgment of microwave radar generally does not involve the conversion of the coordinate system, because the direction of the radar beam is fixed. In this case, the beam direction may be taken as the x-axis direction of the gate. Or, the processing method of the car radar is to convert the target point to the car coordinate system, and then take the direction of the front of the car as the x-axis direction of the wave gate. Or, if the radar has a velocity measurement function, the velocity direction is the x-axis direction of the gate.
  • the beam direction of the target changes at each grating angle of the rotating radar, the use of cuboid wave gates and ellipsoid wave gates requires basic transformation processing and adjustment of the wave gates according to the radial direction from the antenna direction to the target.
  • an embodiment of the present application provides a method for obtaining a point cloud clustering gate, the method is applied to a radar, and the radar is set on a movable platform, and the method includes: obtaining a first target The wave gate shape of the wave gate, wherein, the wave gate shape includes one of the following shapes: spherical, ellipsoid, cuboid; obtain the azimuth dimension precision, pitch angle precision, and distance dimension precision of the radar, wherein, all at least two of the azimuth dimension accuracy, pitch angle accuracy, and range dimension accuracy are different; based on the gate shape, the azimuth dimension accuracy, the pitch angle accuracy, and the range dimension accuracy, it is determined that the first target The gate range of the centered gate can be obtained to obtain a gate that is more in line with the radar characteristics, so as to achieve a more refined effective range judgment, which can be used for clustering, track correlation and other occasions, and then can provide more refined clustering results. Or track correlation results, etc
  • FIG. 4 shows a schematic flow chart of a method for obtaining a point cloud clustering gate in an embodiment of the present application
  • Fig. 5 shows a schematic diagram of an azimuth expression form of an ellipsoidal wave gate in an embodiment of the present invention block diagram.
  • the method of the present application can be applied to radars, such as rotating radars, lidars, etc., wherein the rotating radars are, for example, rotating microwave radars, etc., and the radars are arranged on a movable platform, such as the body of the movable platform.
  • the movable platform includes but It is not limited to an aircraft, a robot, a vehicle, a ship, etc., wherein the aircraft is such as an unmanned aerial vehicle, and the vehicle is such as an unmanned vehicle.
  • the method 400 for obtaining a point cloud clustering gate includes the following steps:
  • step S110 the wave gate shape of the wave gate of the first target is acquired.
  • the wave gate shape includes one of the following shapes: sphere, ellipsoid, and cuboid.
  • the above-mentioned gate shapes are only examples, and other gate shapes can also be applied to the method of the present application.
  • the gate shape of the gate of the first target can be obtained based on any suitable method known to those skilled in the art, for example, the gate shape of the gate of the first target is determined according to the user instruction. For example, based on the setting interface displayed on the man-machine exchange interface, a selection instruction input by the user is obtained through the setting interface, and the selection instruction is used to indicate the type of the gate to be used.
  • acquiring the wave gate shape of the first target's wave gate includes: obtaining the wave gate shape of the first target's wave gate according to the current moving speed of the movable platform. Generally, the larger the moving speed of the movable platform, the larger the range of the wave gate required.
  • the shape of the wave gate is determined to be spherical;
  • the shape of the wave gate is determined to be a cuboid;
  • the moving speed is within the third speed threshold range, it is determined that the shape of the wave gate is an ellipsoid, wherein the first The speed threshold range is greater than the second speed threshold range, and the second speed threshold range is greater than the third speed threshold range.
  • the first speed threshold range, the second speed threshold range, and the third speed threshold range can be reasonably set according to actual needs, which are not specifically limited herein.
  • acquiring the gate shape of the gate of the first target may further include: determining the shape of the gate based on the sensitivity of the radar, for example, when the sensitivity is within the range of the first sensitivity threshold, determining the The shape of the wave gate is spherical; when the sensitivity is within the range of the second sensitivity threshold, the shape of the gate is determined to be a rectangular parallelepiped; when the sensitivity is within the range of the third sensitivity threshold, the shape of the gate is determined is an ellipsoid, wherein the first sensitivity threshold range is greater than the second sensitivity threshold range, and the second sensitivity threshold range is greater than the third sensitivity threshold range.
  • the first sensitivity threshold range, the second sensitivity threshold range, and the third sensitivity threshold range can be any suitable preset values.
  • a wider range of gates such as a spherical gate, can be selected to Make a quicker response according to the sensitivity, and if the sensitivity is low, you can choose an ellipsoidal wave gate, etc., to finely measure the weight of each direction and determine a finer wave gate range.
  • the shape of the acquisition gate can be set by the user before the movable platform starts to move, or it can acquire the moving speed, sensitivity and other information in real time during the moving process of the movable platform. information, adjust the shape of the wave gate in real time to adapt to the attitude transformation, speed transformation and orientation transformation of the movable platform.
  • step S120 the azimuth dimension precision, the pitch angle precision and the range dimension precision of the radar are obtained, wherein at least two precisions among the azimuth dimension precision, the pitch angle precision and the range dimension precision are different.
  • the rotating microwave radar has the following characteristics: 1.
  • the direction of the radar beam is determined by the rotational position of the motor, and the azimuth angle is obtained through an angle sensor such as a grating angle sensor, covering 360° at different times; 2.
  • the distance dimension In the three dimensions of the pitch dimension and the azimuth dimension, the precisions are inconsistent, that is, at least two of the azimuth dimension precision, the pitch angle precision and the distance dimension precision are different.
  • the azimuth dimension accuracy, pitch angle accuracy, and range dimension accuracy of the radar can be obtained by the following methods.
  • the resolution of the distance dimension (that is, the accuracy of the distance dimension) can be determined based on the modulation slope, the frequency of the intermediate frequency signal, the bandwidth, etc., which can be expressed by the following formula (1):
  • K is the modulation slope
  • ⁇ f is the frequency of the intermediate frequency signal
  • B is the bandwidth
  • the upper limit of the bandwidth is fixed, so the accuracy of the distance dimension is a fixed value ⁇ .
  • acquiring the azimuth dimension accuracy of the radar includes: determining the azimuth dimension accuracy according to the target distance between the first target and the radar and the angle measurement accuracy of the azimuth dimension.
  • the angle measurement accuracy of the azimuth dimension may include the step angle of the grating.
  • the angle measurement accuracy of the azimuth dimension is the step angle of the grating angle
  • 2-3 gratings produce a set of 2-dimensional (2D) Constant False-Alarm Rate (CFAR) results
  • CFAR Constant False-Alarm Rate
  • the grating angle step angle Corresponding to the distance between the two sets of 2D CFAR results on the horizontal plane (that is, the direction dimension accuracy) where d is the target distance.
  • the acquiring the pitch angle accuracy of the radar includes: determining the pitch angle accuracy according to the target distance between the first target and the radar and the angle measurement accuracy of the elevation dimension.
  • the angle measurement accuracy of the pitch dimension increases with the angle, and the accuracy is worse.
  • the angle measurement formula (2) is as follows:
  • lambda is the wavelength
  • phi is the phase difference of the echo
  • the maximum ⁇ can reach 2.7°.
  • the direction of the wave gate that is, the azimuth of the wave gate
  • the azimuth of the wave gate can be designed according to the azimuth angle of the grating and the elevation angle of the electrical scanning of the antenna, as shown in Figure 2.
  • step S130 based on the gate shape, the azimuth dimension accuracy, the pitch angle accuracy, and the range dimension accuracy, a gate range of the gate centered on the first target is determined.
  • determining the gate range of the wave gate centered on the first target based on the gate shape, the azimuth dimension accuracy, the pitch angle accuracy, and the range dimension accuracy includes: according to the The position information of the first target determines the beam pointing of the current radar; according to the beam pointing of the current radar, the orientation of the wave gate centered on the first target is determined, and the orientation of the wave gate includes three of the wave gates. Axial axis of the main shaft. Wherein, the axes of the three main axes of the wave gate point to the radar beam vector, the tangential vector of the first target azimuth dimension, and the tangential vector of the first target elevation dimension, respectively, as shown in FIG.
  • the orientation and shape of the gate according to the direction of the rotating radar beam can provide finer clustering results.
  • determining the gate range of the wave gate centered on the first target further comprising: according to the The distance dimension accuracy, the azimuth dimension accuracy and the pitch angle accuracy are used to determine the length parameters of the three main axes of the wave gate; based on the length parameters of the three main axes of the wave gate, the range of the wave gate is determined .
  • the axial directions of the three main axes of the wave gate point to the radar beam vector, the tangential vector of the first target azimuth dimension, and the tangential vector of the first target elevation dimension, respectively.
  • the accuracy of the range dimension the azimuth dimension accuracy and the pitch angle accuracy, and determining the length parameters of the three main axes of the wave gate, including: according to the range dimension accuracy, determining the three main axes of the wave gate pointing to the radar
  • the length parameter of the first principal axis of the beam vector according to the accuracy of the azimuth dimension, determine the length parameter of the second principal axis of the tangential vector pointing to the first target azimuth dimension among the three principal axes of the beam gate;
  • the pitch angle accuracy is determined, and the length parameter of the third major axis of the tangential vector pointing to the first target pitch dimension among the three major axes of the wave gate is determined.
  • the length parameter of the first principal axis is equal to the distance dimension precision, the length
  • the length parameter of the first major axis is the radius of the first major axis
  • the length parameter of the second major axis is the radius of the second major axis
  • the length parameter of the third major axis is the third major axis. radius.
  • the length parameter of the first main axis is the length from the first target to the surface of the cuboid along the first main axis;
  • the length parameter of the second main axis is the length from the first target to the surface of the cuboid along the second major axis;
  • the length parameter of the third major axis is the length from the first target to the surface of the cuboid along the third major axis, that is, They are 1/2 of the length, 1/2 of the width, and 1/2 of the height of the cuboid.
  • the length parameter of the first main axis can also be reasonably adjusted according to the movement parameters of the movable platform. For example, according to the distance dimension accuracy, the first main axis pointing to the radar beam vector among the three main axes of the wave gate is determined.
  • the length parameter includes: determining the length parameter of the first spindle according to the moving speed of the movable platform and the distance dimension accuracy.
  • the length parameter of the first spindle is the first length parameter determined according to the distance dimension accuracy; when the moving speed of the movable platform is the first length parameter In the case of two speeds, the length parameter of the first spindle is the second length parameter determined according to the accuracy of the distance dimension, wherein, if the second speed is greater than the first speed, the second length parameter is greater than the The first length parameter.
  • the length parameter of the first main shaft can be increased to make the wave gate range larger, so as to adapt to the speed of the movable platform.
  • the method of determining the length parameter of the first main shaft according to the moving speed can be any suitable method.
  • the moving speed of the movable platform can be used as a weight, and the distance dimension accuracy can be multiplied to obtain the length parameter of the first main shaft, or, for example, It is also possible to add the movement speed as an offset and the distance dimension precision to obtain the length parameter of the first principal axis.
  • the distance from the target to be judged (such as the second target) to the center can be directly calculated. , no transformation is required.
  • the length parameters of the three main axes of the wave gate are also the length of the radius of the sphere, and the length of the radius is the azimuth dimension accuracy, the pitch
  • the maximum value of the angular precision and the distance dimension precision that is, the radius of the sphere in the range with the largest variation, such as the azimuth dimension precision
  • the pitch dimension accuracy is d* ⁇ , in some radars, usually are larger than ⁇ . Therefore, only the direction dimension needs to be considered
  • the distance accuracy can be compared with the distance dimension accuracy ⁇ , and the maximum value r is taken as the radius of the sphere, which is specifically implemented as the following formula (3):
  • the spherical gate can be improved to an ellipsoid gate with different distances in different directions.
  • the axial direction of the ellipsoid gate needs to be consistent with the current beam pointing or grating pointing direction, and a gate shape consistent with the direction of the aircraft nose cannot be used at every position. Therefore, it is necessary to solve the azimuth expression of the ellipsoid gate according to the current radar beam pointing to determine the range of the ellipsoid gate, as shown in Figure 5.
  • the three principal axes of the ellipsoid are orthogonal to each other.
  • the main axis of the ellipse point to the radar beam vector, the tangential direction of the target azimuth dimension, and the tangential direction of the target elevation dimension, that is, the first main axis points to the radar beam vector.
  • the radar beam vector, the tangential direction of the second principal axis pointing to the azimuth dimension of the target, and the tangential direction of the third principal axis pointing to the elevation dimension of the target the corresponding vector expressions are solved as follows:
  • the beam direction vector emitted from the origin of the radar along the current grating angle can be recorded as: From the property that the three main axes of the ellipsoid are orthogonal to each other, it can be known that the tangential vector along the target azimuth dimension perpendicular to the and The formed plane aOz, where is the vector in the z-axis direction, which can be written as therefore:
  • the formed space represents the transformation from the coordinate system Oxyz of the movable platform (such as an aircraft) to the coordinate system Oabc of the radar gate, that is, the corresponding rotation matrix R:
  • the wave gate shape is an ellipsoid
  • the azimuth dimension precision, the pitch angle precision, and the range dimension precision determine the wave gate range of the wave gate centered on the first target , including: determining the radius of the first main axis of the three main axes of the wave gate pointing to the radar beam vector according to the accuracy of the distance dimension; determining the three main axes of the wave gate according to the accuracy of the azimuth dimension
  • the radius of the second main axis of the tangential vector pointing to the first target azimuth dimension in The radius of the third principal axis of the vector; according to the radius of the first principal axis, the radius of the second principal axis, and the radius of the third principal axis, the equation of the ellipsoid is obtained to determine the range of the wave gate.
  • a length parameter of the first major axis pointing to the radar beam vector among the three major axes of the wave gate is determined, and the length parameter of the first major axis is a direction along the first major axis from The length from the first target to the surface of the cuboid;
  • the azimuth dimension accuracy determine the radius of the second main axis of the tangential vector pointing to the azimuth dimension of the first target among the three main axes of the wave gate, wherein , the length parameter of the second main axis is the length from the first target to the surface of the cuboid along the second main axis; according to the pitch angle accuracy, determine which of the three main axes of the wave gate points to the The radius of the third main axis
  • the method of the present application further includes the following steps S140 and S150: in step S140, obtain the first position information and the second target of the first target in the first coordinate system second position information in the first coordinate system; determining whether the second target is located in the wave of the wave gate according to the first position information, the second position information and the range of the wave gate within the door range. According to the determined wave gate range, it is judged whether the second target is within the wave gate range of the first target, so as to determine whether the second target and the first target can be clustered.
  • determining whether the second target is located within the wave gate range of the wave gate according to the first position information, the second position information and the wave gate range includes: placing the wave gate The second position information of the second target is converted into third position information in a wave gate coordinate system, wherein the wave gate coordinate system is based on the first target as the origin and the three main axes of the wave gate.
  • the axial directions are respectively the Cartesian coordinate system established by the three coordinate axes, and the axial directions of the three main axes of the gate are respectively directed to the radar beam vector, the tangential vector of the first target azimuth dimension, and the first target elevation dimension. tangential vector; determining whether the second target is located within the range of the wave gate according to the third position information.
  • the second position information of the second surface can be converted into the third position information in the wave gate coordinate system by any suitable method, for example, the conversion of the second position information of the second target into the wave gate
  • the third position information in the coordinate system includes: obtaining a rotation matrix from the first coordinate system to the wave gate coordinate system according to the first position information; according to the rotation matrix, the first position information and For the second location information, obtain the third location information.
  • the first coordinate system can be the movable platform coordinate system Oxyz, for example, when the movable platform is an aircraft, it is the body coordinate system OXYZ, the origin is located at the center of gravity of the aircraft, the X axis is consistent with the longitudinal axis of the aircraft, and points to the front of the aircraft, The Y-axis is perpendicular to the plane of symmetry of the aircraft and points to the right, and the Z-axis is in the plane of symmetry of the aircraft and perpendicular to the longitudinal axis, pointing down or up.
  • the wave gate coordinate system is Oabc, and the rotation matrix can be obtained by any suitable method well known to those skilled in the art.
  • the wave gate shape is spherical, it can be determined whether the second target is within the wave gate range of the first target based on whether the distance between the second target and the first target is greater than the radius r, for example, when less than or equal to r, It is determined that the second target is within the gate range of the first target (that is, the density range), and when it is greater than r, it is determined that the second target is not within the gate range of the first target, so as to further determine whether the two can converge. class etc.
  • determining whether the second target is located within the range of the wave gate according to the third position information includes: substituting the third position information into the ellipsoid equation to solve the equation Obtain a solution result, when the solution result is less than or equal to 1, determine that the second target is located within the gate range of the ellipsoid gate, and when the solution result is greater than 1, determine the second target outside the range of the gate of the ellipsoid.
  • the judgment steps are as follows: First, according to the coordinates of p0, calculate the rotation matrix R from the body coordinate system Oxyz to the radar gate coordinate system Oabc ; Convert the coordinates of the target p1 to the radar gate coordinate system to obtain the coordinates P1' (that is, the third position information), and the calculation process is as shown in the following formula (6):
  • p1 is within the range of the ellipsoid gate of p0, and if it is greater than 1, then p1 is outside the range of the ellipsoid gate of p0.
  • the determining whether the second target is located within the range of the wave gate according to the third position information includes: when the third position information When the absolute value of the first coordinate on the first coordinate axis (eg X axis) is less than or equal to the length parameter of the first main axis, and when the third position information is on the second coordinate axis (eg Y axis) When the absolute value of the second coordinate is less than or equal to the length parameter of the second main axis, and when the absolute value of the third coordinate on the third coordinate axis (for example, the Z axis) in the third position information is less than or equal to the third When the length parameter of the main axis is used, it is determined that the second target is located within the range of the cuboid-shaped wave gate.
  • the third position information When the absolute value of the first coordinate on the first coordinate axis (eg X axis) is less than or equal to the length parameter of the first main axis, and when the third position information is on the second coordinate axi
  • the judging steps are roughly the same as the ellipsoid gate: first, calculate the rotation matrix R from the body coordinate system Oxyz to the radar gate coordinate system Oabc according to the coordinates of p0; then, convert the target p1 coordinates to the radar gate coordinate system, To obtain the coordinate P1', the calculation process is as follows:
  • p1 is within the range of the cuboid gate of p0, otherwise, p1 is outside the range of the cuboid gate of p0.
  • the shape of the gate and the accuracy of the azimuth dimension, the accuracy of the pitch angle, and the accuracy of the distance dimension of the radar are combined to determine the first target as the center of the gate.
  • the gate range can be obtained to obtain a gate that is more in line with the characteristics of the radar, so as to achieve a more refined effective range judgment, which can be used in clustering, track correlation and other occasions, and then can provide more refined clustering results or track correlation results, etc. , to improve the adaptability of the algorithm.
  • FIG. 6 shows a schematic block diagram of the microwave radar in an embodiment of the present application.
  • the radar can be used as the main body of the method for obtaining the point cloud clustering wave gate mentioned above, and is used to realize the method mentioned above.
  • the radar in the embodiment of the present application may be any type of radar, such as a lidar, a rotating radar; the rotating radar may also be a rotating microwave radar.
  • the rotating microwave radar is mainly used as an example, and the specific structure of the laser radar can be any result known to those skilled in the art, which is not limited here.
  • the microwave radar 100 includes: one or more processors 303, an antenna device 101, a signal processing circuit 102, and a processor 103, wherein the antenna device 101 is used for transmitting microwave signals and receiving reflected signals, and the signal processing circuit 102 is electrically connected to the antenna device for processing the reflected signal and converting it into a data signal, and the processor 103 is connected in communication with the signal processing circuit 102 for processing the data sent by the signal processing circuit 102 Signal. Communication between the signal processing circuit 102 and the processor 103 may be performed in a wired or wireless manner.
  • the antenna device 101 may include an array antenna dedicated to transmitting microwave signals (eg, a sending antenna) and an array antenna dedicated to receiving reflected signals (eg, a receiving antenna).
  • the signal processing circuit 102 includes an incident wave inference unit AU.
  • the incident wave inference unit AU infers the distance to the wave source of the incident wave, that is, the target, the relative velocity of the target, and the azimuth (that is, the angle) of the target through a well-known algorithm, and generates a data signal representing the inference result.
  • the antenna device is electrically connected to process the reflected signal and convert it into a data signal, where the data signal includes position information of the reflected target point and the like.
  • the signal processing circuit in the embodiment of the present invention is not limited to a single circuit, but also includes a form in which a combination of multiple circuits is generally understood as one functional element.
  • the signal processing circuit 102 may also be implemented by one or more systems on a chip (SoC).
  • SoC systems on a chip
  • a part or the whole of the signal processing circuit 102 may also be a programmable logic device (PLD), that is, an FPGA (Field-Programmable Gate Array: Field Programmable Gate Array).
  • PLD programmable logic device
  • the signal processing circuit 102 includes multiple arithmetic elements (eg, general purpose logic and multipliers) and multiple storage elements (eg, look-up tables or memory modules).
  • the signal processing circuit 102 may also be a combination of a general-purpose processor and a main storage device.
  • the signal processing circuit 102 may also be a circuit including a processor core and memory. These can function as the signal processing circuit 102 .
  • the components and structures of the microwave radar 100 shown in FIG. 6 are only exemplary and not limiting, and the components of the microwave radar 100 may also have other components and structures as required.
  • the microwave radar 100 further includes a rotation driving device (not shown) for driving the antenna device to rotate; optionally, the rotation driving device includes a motor (not shown) for driving the antenna device to rotate and a An angle sensor (not shown) for sensing the rotation angle of the antenna device.
  • the angle sensor of the microwave radar includes at least one of the following: a grating angle sensor and a Hall sensor.
  • the microwave radar 100 may also include a memory (not shown) for storing various data and executable programs generated in the method for obtaining a point cloud clustering gate, such as system programs for storing radar, various application programs Or algorithms that implement various specific functions.
  • a memory (not shown) for storing various data and executable programs generated in the method for obtaining a point cloud clustering gate, such as system programs for storing radar, various application programs Or algorithms that implement various specific functions.
  • One or more computer program products may be included, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory.
  • Volatile memory may include, for example, random access memory (RAM) and/or cache memory, among others.
  • Non-volatile memory may include, for example, read only memory (ROM), hard disk, flash memory, and the like.
  • the processor 103 may be a central processing unit (CPU), a graphics processing unit (GPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other forms with data processing capabilities and/or instruction execution capabilities and can control other components in microwave radar 100 to perform desired functions.
  • the processor can execute the instructions stored in the memory to execute the method for obtaining point cloud clustering gates described herein. The implementation principles and technical effects are similar. For details, refer to the foregoing description, which will not be repeated here.
  • processor 103 can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware finite state machines (FSMs), digital signal processors (DSPs), or combinations thereof.
  • FSMs hardware finite state machines
  • DSPs digital signal processors
  • an embodiment of the present application further provides a movable platform, the movable platform includes a movable platform body, and the radar can be arranged on the movable platform body.
  • the mobile platform includes an aircraft (eg, an unmanned aerial vehicle), a robot, a vehicle, or a boat.
  • the platform body is the fuselage of the unmanned aerial vehicle, wherein the radar can be arranged on the movable platform body, and one or more radars can be arranged.
  • the platform body is the body of the vehicle.
  • the vehicle may be a self-driving car or a semi-autonomous driving car, which is not limited here.
  • the platform body is the robot.
  • the platform body is the hull.
  • an embodiment of the present invention further provides a computer storage medium, on which a computer program is stored.
  • the computer program is executed by the processor, the method for obtaining a point cloud clustering gate according to the embodiment of the present invention can be implemented.
  • the computer storage medium may include, for example, a memory card for a smartphone, a storage unit for a tablet computer, a hard disk for a personal computer, read only memory (ROM), erasable programmable read only memory (EPROM), portable compact disk Read only memory (CD-ROM), USB memory, or any combination of the above storage media.
  • the computer-readable storage medium can be any combination of one or more computer-readable storage media.
  • One or more computer program instructions may be stored on the computer-readable storage medium, and the processor may execute the program instructions stored in the memory to implement the functions (implemented by the processor) in the embodiments of the present invention described herein and/or other desired functions, for example, to execute the corresponding steps of the method for obtaining a point cloud clustering gate according to an embodiment of the present invention.
  • Various application programs and various data such as various data used and/or generated by the application program, etc., may also be stored in the computer-readable storage medium.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.
  • Various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention.
  • DSP digital signal processor
  • the present invention may also be implemented as apparatus programs (eg, computer programs and computer program products) for performing part or all of the methods described herein.
  • Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

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  • General Engineering & Computer Science (AREA)
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Abstract

L'invention concerne un procédé (400) d'acquisition d'une grille d'onde de regroupement de nuage de points et un radar, une plate-forme mobile et un support de stockage. Le procédé (400) est appliqué à un radar et le radar est disposé sur une plate-forme mobile. Le procédé (400) comprend les étapes consistant à : acquérir une forme de grille d'onde d'une grille d'onde d'une première cible (S110), la forme de grille d'onde comprenant l'une des formes suivantes : une forme sphérique, une forme ellipsoïdale et une forme cuboïde ; acquérir une précision de dimension d'orientation, une précision d'angle de pas et une précision de dimension de distance d'un radar (S120), au moins deux précisions parmi la précision de dimension d'orientation, la précision d'angle de pas et la précision de dimension de distance étant différentes ; et déterminer, sur la base de la forme de grille d'onde, de la précision de dimension d'orientation, de la précision d'angle de pas et de la précision de dimension de distance, une plage de grille d'onde de la grille d'onde centrée sur la première cible (S130). Par conséquent, une grille d'onde conforme aux caractéristiques d'un radar est obtenue, de telle sorte qu'une détermination de plage efficace plus précise est réalisée ; et le procédé est appliqué à des situations telles que le regroupement et l'association de pistes et un résultat de regroupement plus précis ou un résultat d'association de pistes plus précis, etc., peut être fourni, ce qui permet d'améliorer l'adaptabilité d'un algorithme.
PCT/CN2020/140822 2020-12-29 2020-12-29 Procédé d'acquisition d'une grille d'onde de regroupement de nuage de points et radar, plate-forme mobile et support de stockage WO2022141048A1 (fr)

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CN202080070979.3A CN114631035A (zh) 2020-12-29 2020-12-29 获取点云聚类波门的方法、雷达、可移动平台和存储介质
PCT/CN2020/140822 WO2022141048A1 (fr) 2020-12-29 2020-12-29 Procédé d'acquisition d'une grille d'onde de regroupement de nuage de points et radar, plate-forme mobile et support de stockage

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