WO2023108544A1

WO2023108544A1 - Single-antenna ultra-wideband radar system for imaging application

Info

Publication number: WO2023108544A1
Application number: PCT/CN2021/138820
Authority: WO
Inventors: 陈健毅
Original assignee: 深圳航天科技创新研究院
Priority date: 2021-12-15
Filing date: 2021-12-16
Publication date: 2023-06-22
Also published as: CN114428247B; CN114428247A

Abstract

The present invention relates to a single-antenna ultra-wideband radar system for imaging application. The system comprises a signal transmitting and receiving module, which is used for transmitting, at preset transmission angles, electromagnetic wave signals to a region to be subjected to detection, receiving feedback signals reflected by electromagnetic waves passing through said region, and recording the time when the feedback signal is received at each position; an imaging module, which is used for drawing image information of said region according to the time when the feedback signals are received at various positions, so as to form a pre-drawn image; an extraction module, which is used for extracting historical data of said region, wherein the historical data comprises plate movement information of a terrain, and crustal movements with a magnitude of 3 or greater in said region within a year; and a correction module, which is used for correcting distance information in the image information according to the historical data, so as to form an optimized image. By means of the optimization of a pre-drawn image in one step, an optimized image that is finally displayed by a display module has greater practical guiding significance, thereby improving the accuracy of image acquisition.

Description

Single-antenna ultra-wideband radar system for imaging applications

technical field

The invention relates to the technical field of radar imaging, in particular to a single-antenna ultra-wideband radar system for imaging applications.

Background technique

The research on imaging radar technology in the world is relatively early, and it has been applied in systems such as robot automatic navigation and target recognition. In recent years, some enterprises in our country have also begun to conduct research in this area, and have applied it to various fields, especially for fields that require high precision.

The working principle of the imaging radar system is based on the light beam scanning the target scene, receiving the light radiation reflected by the scene, generating continuous analog signals, and restoring the image of the real-time target scene. It is crucial for the restoration of the target scene.

However, when the existing imaging radar system restores the target scene, the image of the target scene presented is formed based on the analog signal, and there are certain errors, so that the acquired target image is based on environmental factors or weather, climate, There are certain errors in light and other reasons, so that the accuracy of the deduction or inferred information based on the target image is not high.

Contents of the invention

Therefore, the present invention provides a single-antenna ultra-wideband radar system for imaging applications, which can solve the technical problem in the prior art that the accuracy of the target scene image formed based on the analog signal is not high.

To achieve the above object, the present invention provides a single-antenna ultra-wideband radar system for imaging applications, including:

A signal transmitting and receiving module, configured to transmit an electromagnetic wave signal to the area to be detected at a preset emission angle, receive a feedback signal reflected by the electromagnetic wave from the area to be detected, and record the time when each position receives the feedback signal;

The imaging module is used to establish a coordinate system, set a horizontal plane, draw the image information of the area to be detected according to the time of the feedback signal received at each position, and form a pre-drawn image, and the pre-drawn image includes position information and the relationship with the horizontal plane distance information;

An extraction module, configured to extract historical data of the region to be detected, the historical data including basic geomorphological information of the region to be detected, plate movement information of the terrain, and the intensity of occurrence of the region to be detected within a year Crustal movement information above level 3;

A correction module, used to correct the distance information in the image information according to the historical data to form an optimized image;

A display module, configured to present the optimized image on the basis of the pre-drawn image, determine the optimization degree of the pre-drawn image and the optimized image, and compare the obtained optimization degree with a preset correction threshold, if the optimization degree≤ If the threshold is corrected, the display module is used to display the optimized image, and if the degree of optimization is greater than the threshold correction, the image synthesized by the pre-rendered image and the threshold correction is displayed as the optimized image.

Further, when using historical data to correct the distance information in the image information, the first correction coefficient k1, the second correction coefficient k2 and the third correction coefficient k3 are preset, and when the three parameters in the historical information are all When normal, use the first correction coefficient to correct the distance information;

When two of the three parameters are abnormal, the distance information is corrected by using the second correction coefficient k2;

When three of the three parameters are abnormal, the distance information is corrected by using the third correction coefficient k3.

Further, when correcting the distance information, if the distance information at any position information ≥ horizontal plane, it is recorded as d1i, and if the distance information < horizontal plane, it is recorded as d2i;

When the first correction coefficient k1 corrects the actual distance information d1i, the corrected d1i'=d1i×(1+k1);

When the second correction coefficient k2 corrects the actual distance information d1i, the corrected d1i'=d1i×(1+k2);

When the third correction coefficient k3 corrects the actual distance information d1i, the corrected d1i'=d1i×(1+k3);

When the first correction coefficient k1 corrects the actual distance information d2i, the corrected d2i'=d2i×(1-k1);

When the second correction coefficient k2 corrects the actual distance information d2i, the corrected d2i'=d2i×(1-k2);

When the third correction coefficient k3 corrects the actual distance information d2i, the corrected d2i′=d2i×(1−k3), where k1<k2<k3.

Further, said determining the displayed image according to the comparison result includes:

If the degree of optimization ≤ the correction threshold, the display module is used to display the optimized image, and if the degree of optimization > the correction threshold, the image synthesized by the pre-drawn image and the correction threshold is displayed as the optimized image.

Further, when synthesizing the pre-drawn image and the correction threshold, the pre-drawn image is used as a reference, and the actual distance at each position is increased or decreased on the basis of the pre-drawn image, and the degree of increase or decrease is the correction A threshold, where the correction threshold is an average value of multiple correction thresholds set during image optimization at multiple emission angles.

Further, when making the pre-drawn image, the region to be detected is partitioned into a first partition, a second partition and a third partition, wherein the first partition is set at ±20cm close to the horizontal plane, The second division is an area greater than 20cm, the third division is an area less than 20cm, and the density of coordinate position points in the first division is higher than that of the position points of the second division and the third division. density.

Further, the terrain category information of the area to be detected is preset, and if the area to be detected is a basin, the density of the location points of the third partition is higher than the density of the location points of the second partition, and if the area to be detected is If the area is mountainous, the concentration of location points in the second division is higher than the density of location points in the third division.

Further, the extraction module includes a data storage unit and a data capture unit, the data storage unit is used to store historical information captured by the data capture unit from the Internet, and the data capture unit is preset with The keyword information is used to capture historical data information on the network according to the keyword information, and the keyword information includes three-level earthquake, strong earthquake feeling and loss.

Further, when the data capture unit captures the plate movement information of the terrain, it includes the actual operation information of the captured plate and the predicted plate movement information estimated according to the actual movement information of the plate movement.

Further, the display module is a touch screen, and the signal transmitting and receiving module is a single antenna.

Compared with the prior art, the beneficial effect of the present invention is that, through one optimization of the pre-rendered image, the optimized image finally displayed by the display module is more meaningful for practical guidance, and the accuracy of image acquisition is improved.

In particular, by recording the time of the feedback signal received by each position at different emission angles, and drawing the image information of the area to be detected according to the time of the received feedback signal, in practical applications, if the distance is relatively small If the distance is far away, the time required to receive the feedback signal is longer. If the distance is closer, the time required to receive the feedback signal is shorter. Therefore, based on this feature, the image information of the area to be detected can be drawn to form a pre-drawing The image, based on the pre-drawn image, is also corrected according to the historical data of the area to be detected, so that the final optimized image is an image with an optimized distance, which makes the optimized image more accurate and more in line with the topographical characteristics of the area to be detected The information is displayed and presented by the display module, which greatly improves the accuracy of the optimized image displayed by the display module, and further improves the accuracy of decisions based on the optimized image.

In particular, according to whether the parameters in the historical data are abnormal, and the actual number of abnormal parameters to set the corresponding correction coefficient, and use the correction coefficient to correct the distance information. In practical applications, the impact of historical data on distance information is If there is no abnormality in the historical data, the distance information is corrected with a small first correction coefficient. If there are abnormalities in the parameters in the historical data, it means that the error of the distance information is large, so a larger correction coefficient is required. The correction coefficient corrects the distance information, so as to make the obtained pre-rendered image and the optimized image more accurate, and improve the accuracy of the optimized image displayed by the display module.

In particular, based on the actual distance information, according to the location of the actual distance, the actual calculation process of the actual distance is also different, so that the actual distance can be adaptively adjusted according to the actual scene. For the adjustment of the actual distance It is more accurate and efficient, and the precision of the optimized image is higher, which is convenient for quickly obtaining the optimized image, and inferring and processing based on the optimized image to improve the processing accuracy.

In particular, by comparing the relationship between the degree of optimization and the correction threshold, and selecting different images for display, the optimized image actually displayed is more in line with the actual image, and the accuracy of the optimized image is improved.

In particular, by correcting the actual distances at each position one by one, the information at each coordinate of the formed optimized image is corrected, so that the topography of the region to be detected represented by the optimized image is more accurate.

In particular, by partitioning the area to be detected, and using partitions on the vertical height, the partitioning of the area to be detected is more objective and accurate, and different partitions adopt different collection densities, making the processing of optimized images more efficient. Improve processing efficiency.

In particular, by determining the terrain category of the area to be detected, and determining the density of location points in each partition according to the terrain category, in practical applications, if the density of location points in a certain area is high, the image of the area Acquisition is more accurate, and for areas with low density, the description of the area is carried out in a partial way, which makes the formation of the optimized image faster. The single-antenna super The wideband radar system can obtain optimized images with dual indicators of accuracy and efficiency, which improves the acquisition speed of optimized images.

In particular, the capture of historical information on the network is completed by the data capture unit, and the data storage unit is used to store the captured historical information, and the capture of historical data information is performed according to preset keyword information. Crawling realizes the effective extraction of historical data on the network, which greatly improves the extraction efficiency of historical information, facilitates the rapid optimization of pre-drawn images, and improves the optimization efficiency.

In particular, during data capture, in addition to capturing plate operation information that affects geomorphic features, it is also necessary to obtain predicted plate motion information based on actual motion information, making it easier to obtain plate operation information that affects geomorphic features. Comprehensive, improve the comprehensiveness and objectivity of historical information acquisition, and improve the optimization accuracy of optimized images.

In particular, the effective display of the optimized image is achieved by using the touch screen, and the position of the display can be effectively moved or enlarged according to actual needs by using the touch screen, so that the display of the optimized image is more comprehensive and efficient. In addition, Using a single antenna for signal transmission and reception makes image processing more efficient and convenient.

Description of drawings

FIG. 1 is a schematic structural diagram of a single-antenna ultra-wideband radar system for imaging applications provided by an embodiment of the present invention.

Detailed ways

In order to make the objects and advantages of the present invention clearer, the present invention will be further described below in conjunction with the examples; it should be understood that the specific examples described here are only for explaining the present invention, and are not intended to limit the present invention.

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention, and are not intended to limit the protection scope of the present invention.

It should be noted that, in the description of the present invention, terms such as "upper", "lower", "left", "right", "inner", "outer" and other indicated directions or positional relationships are based on the terms shown in the accompanying drawings. The direction or positional relationship shown is only for convenience of description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In addition, it should be noted that, in the description of the present invention, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a It is a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediary, and it may be the internal communication of two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

Please refer to Figure 1, the single-antenna ultra-wideband radar system for imaging applications provided by the embodiment of the present invention includes:

The signal transmitting and receiving module 10 is configured to transmit an electromagnetic wave signal to the area to be detected at a preset emission angle, and receive a feedback signal reflected by the electromagnetic wave through the area to be detected, and record the time when each position receives the feedback signal;

The imaging module 20 is used to establish a coordinate system, set a horizontal plane, draw the image information of the area to be detected according to the time of the feedback signal received at each position, and form a pre-drawn image, and the pre-drawn image includes position information and is related to the horizontal plane distance information;

Extraction module 30, used to extract the historical data of the region to be detected, the historical data includes the basic geomorphological information of the region to be detected, the plate movement information of the terrain and the severe Crustal movement information at level 3 or above;

A correction module 40, configured to correct the distance information in the image information according to the historical data to form an optimized image;

A presentation module 50, configured to present the optimized image on the basis of the pre-rendered image, determine the degree of optimization between the pre-rendered image and the optimized image, compare the obtained degree of optimization with a preset correction threshold, and based on the comparison As a result, the image to be displayed is determined, and the determined image is displayed.

Specifically, the function of the signal transmitting and receiving module in the embodiment of the present invention is to transmit electromagnetic wave signals to the area to be detected at a preset emission angle. In practical applications, different emission angles can transmit electromagnetic wave signals to the area to be detected, but based on The transmitted signals at different angles have different feedback signals when they pass through the area to be detected. Therefore, by recording the time of the feedback signal received by each position at different angles of transmission, and according to the received feedback signal The time to draw the image information of the area to be detected, in practical applications, if the distance is far away, the time required to receive the feedback signal is longer, and if the distance is closer, the time required to receive the feedback signal is shorter , so based on this feature, the image information of the area to be detected can be drawn to form a pre-drawn image. On the basis of the pre-drawn image, it is also corrected according to the historical data of the area to be detected, so that the final optimized image is an image with an optimized distance , so that the accuracy of the optimized image is higher, and it is more in line with the topographic feature information of the area to be detected. The display module is used to display and present, which greatly improves the accuracy of the optimized image displayed by the display module, and further improves the accuracy of decisions based on the optimized image. sex.

Specifically, the embodiment of the present invention optimizes the pre-rendered image once, so that the optimized image finally displayed by the display module is more meaningful for practical guidance and improves the accuracy of image acquisition.

Specifically, when using historical data to correct distance information in image information, a first correction coefficient k1, a second correction coefficient k2, and a third correction coefficient k3 are preset. When the three parameters in the historical information When both are normal, use the first correction coefficient to correct the distance information;

Specifically, the embodiment of the present invention sets the corresponding correction coefficient according to whether the parameters in the historical data are abnormal, and the actual number of abnormal parameters, and uses the correction coefficient to correct the distance information. In practical applications, the historical data The influence on the distance information exists. If there is no abnormality in the historical data, the distance information is corrected with a small first correction coefficient. If the parameters in the historical data are abnormal, it means that the distance information has a large error. Therefore, it is necessary to use a large correction coefficient to correct the distance information, so as to make the obtained pre-drawn image and optimized image more accurate, and improve the accuracy of the optimized image displayed by the display module.

Specifically, when correcting the distance information, if the distance information at any position information ≥ the horizontal plane, it is recorded as d1i, and if the distance information < the horizontal plane, it is recorded as d2i;

Specifically, in the embodiment of the present invention, based on the actual distance information, according to the location of the actual distance, the actual calculation process of the actual distance is also different, so that the actual distance can be adaptively adjusted according to the actual scene , the adjustment of the actual distance is more accurate and efficient, and the precision of the optimized image is higher, which facilitates the quick acquisition of the optimized image, and inference and processing based on the optimized image to improve the processing accuracy.

Specifically, said determining the displayed image according to the comparison result includes:

If the degree of optimization ≤ the correction threshold, the display module is used to display the optimized image, and if the degree of optimization > the correction threshold, the image synthesized by the pre-rendered image and the correction threshold is displayed as the optimized image.

Specifically, the embodiment of the present invention compares the relationship between the optimization degree and the correction threshold, and selects different images for display, so that the optimized image actually displayed is more in line with the actual image, and the accuracy of the optimized image is improved.

Specifically, when synthesizing the pre-drawn image and the modified threshold, the pre-drawn image is used as a reference, and the actual distance at each position is increased or decreased on the basis of the pre-drawn image, and the degree of increase or decrease is as follows A correction threshold, where the correction threshold is an average value of multiple correction thresholds set during image optimization at multiple emission angles.

Specifically, the embodiment of the present invention corrects the actual distance at each position one by one, so that the information at each coordinate of the formed optimized image is corrected, so that the topography of the area to be detected represented by the optimized image is more accurate .

Specifically, when making a pre-drawn image, the area to be detected is partitioned into a first partition, a second partition, and a third partition, wherein the first partition is set at ±20cm close to the horizontal plane. , the second division is an area greater than 20cm, the third division is an area less than 20cm, and the density of coordinate position points in the first division is higher than the position points of the second division and the third division density.

Specifically, the embodiment of the present invention partitions the region to be detected, and adopts the partition on the vertical height, so that the partition of the region to be detected is more objective and accurate, and different partitions adopt different collection densities, so that for the optimized image The processing is more efficient and the processing efficiency is improved.

Specifically, the terrain category information of the area to be detected is preset, and if the area to be detected is a basin, the density of the location points of the third partition is higher than the density of the location points of the second partition. If the detection area is a mountainous area, the density of the location points in the second subregion is higher than the density of the location points in the third partition.

Specifically, the embodiment of the present invention determines the terrain category of the area to be detected, and determines the density of location points in each partition according to the terrain category. In practical applications, if the density of location points in a certain area is high, The image acquisition for this area is more accurate, and for the area with low density, the description of the area is carried out in a partial way, so that the formation of the optimized image is faster. The single-antenna ultra-wideband radar system for imaging applications can obtain optimized images with dual indicators of accuracy and efficiency, which improves the acquisition speed of optimized images.

Specifically, the extraction module includes a data storage unit and a data capture unit, the data storage unit is used to store historical information captured by the data capture unit from the network, and the data capture unit presets There is keyword information, which is used to capture historical data information on the network according to the keyword information, and the keyword information includes three-level earthquake, strong shaking, and loss.

Specifically, the embodiment of the present invention completes the capture of historical information on the network through the data capture unit, and the data storage unit is used to store the captured historical information. The set keyword information is captured to realize the effective extraction of historical data on the network, which greatly improves the extraction efficiency of historical information, facilitates the rapid optimization of pre-drawn images, and improves the optimization efficiency.

Specifically, when the data capture unit captures the plate movement information of the terrain, it includes the actual operation information of the captured plate and the predicted plate movement information estimated according to the actual movement information of the plate movement.

Specifically, in the embodiment of the present invention, when capturing data, in addition to capturing the block operation information that affects the geomorphic features, it is also necessary to obtain the predicted block motion information based on the actual motion information, so that for the block that affects the topographic features The acquisition of operation information is more comprehensive, the comprehensiveness and objectivity of historical information acquisition are improved, and the optimization accuracy of optimized images is improved.

Specifically, the display module is a touch screen, and the signal transmitting and receiving module is a single antenna.

Specifically, the embodiments of the present invention realize the effective display of optimized images by using a touch screen, and the touch screen can be used to effectively move or zoom in on the display position according to actual needs, so that the display of optimized images is more accurate. In order to be comprehensive and efficient, a single antenna is used for signal transmission and reception, which makes the image processing process more efficient and convenient.

So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings, but those skilled in the art will easily understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to related technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention; for those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

A single-antenna ultra-wideband radar system for imaging applications, characterized in that it comprises:

A signal transmitting and receiving module, configured to transmit an electromagnetic wave signal to the area to be detected at a preset emission angle, receive a feedback signal reflected by the electromagnetic wave from the area to be detected, and record the time when each position receives the feedback signal;

The imaging module is used to establish a coordinate system, set a horizontal plane, draw the image information of the area to be detected according to the time of the feedback signal received at each position, and form a pre-drawn image, and the pre-drawn image includes position information and the relationship with the horizontal plane distance information;

The extraction module is used to extract the historical data of the region to be detected, the historical data includes the basic geomorphological information of the region to be detected, the plate movement information of the terrain, and the intensity of occurrence of the region to be detected within one year Crustal movement information above level 3;

A correction module, used to correct the distance information in the image information according to the historical data to form an optimized image;

A display module, configured to present the optimized image on the basis of the pre-drawn image, determine the optimization degree of the pre-drawn image and the optimized image, and compare the obtained optimization degree with a preset correction threshold, if the optimization degree≤ If the threshold is corrected, the display module is used to display the optimized image, and if the degree of optimization is greater than the threshold correction, the image synthesized by the pre-rendered image and the threshold correction is displayed as the optimized image.
The single-antenna ultra-wideband radar system for imaging applications according to claim 1, wherein,

When using the historical data to correct the distance information in the image information, the first correction coefficient k1, the second correction coefficient k2 and the third correction coefficient k3 are preset. When the three parameters in the historical information are normal, Correcting the distance information by using the first correction coefficient;

When two of the three parameters are abnormal, the distance information is corrected by using the second correction coefficient k2;

When three of the three parameters are abnormal, the distance information is corrected by using the third correction coefficient k3.
The single-antenna ultra-wideband radar system for imaging applications according to claim 2, wherein,

When correcting the distance information, if the distance information at any position information ≥ horizontal plane, it is recorded as d1 i, and if the distance information < horizontal plane, it is recorded as d2 i;

When the first correction coefficient k1 corrects the actual distance information d1 i, the corrected d1 i'=d1 i×(1+k1);

When the second correction coefficient k2 corrects the actual distance information d1 i, the corrected d1 i′=d1 i×(1+k2);

When the third correction coefficient k3 corrects the actual distance information d1 i, the corrected d1 i'=d1 i×(1+k3);

When the first correction coefficient k1 corrects the actual distance information d2 i, the corrected d2 i'=d2 i×(1-k1);

When the second correction coefficient k2 corrects the actual distance information d2 i, the corrected d2 i′=d2 i×(1-k2);

When the third correction coefficient k3 corrects the actual distance information d2 i, the corrected d2 i'=d2 i * (1-k3), wherein k1<k2<k3.
The single-antenna ultra-wideband radar system for imaging applications according to claim 3, wherein,

The determining of the displayed image according to the comparison result includes:

If the degree of optimization ≤ the correction threshold, the display module is used to display the optimized image, and if the degree of optimization > the correction threshold, the image synthesized by the pre-rendered image and the correction threshold is displayed as the optimized image.
The single-antenna ultra-wideband radar system for imaging applications according to claim 4, wherein when the pre-drawn image and the correction threshold are synthesized, the pre-drawn image is used as a reference, and the The actual distance at each position is increased or decreased, and the degree of increase or decrease is the correction threshold, and the correction threshold is an average value of multiple correction thresholds set during image optimization at multiple emission angles.
The single-antenna ultra-wideband radar system for imaging applications according to claim 5, wherein, when making a pre-drawn image, the area to be detected is partitioned, and a first partition and a second partition are provided. and the third division, wherein the first division is set at ±20cm close to the horizontal plane, the second division is an area greater than 20cm, the third division is an area less than 20cm, and the coordinates in the first division The density of location points is higher than the density of location points in the second and third subregions.
The single-antenna ultra-wideband radar system for imaging applications according to claim 6, wherein the terrain category information of the region to be detected is preset, and if the region to be detected is a basin, the third subregion The density of the location points is higher than the density of the location points of the second partition, if the area to be detected is mountainous, the density of the location points of the second partition is higher than the density of the location points of the third partition .
The single-antenna ultra-wideband radar system for imaging applications according to claim 7, wherein the extraction module includes a data storage unit and a data capture unit, and the data storage unit is used to store the data capture The historical information captured by the unit from the network, the data capture unit is preset with keyword information to capture historical data information on the network according to the keyword information, the keyword information includes three earthquakes , strong shock and loss.
The single-antenna ultra-wideband radar system for imaging applications according to claim 8, wherein when the data capture unit captures the plate movement information of the terrain, it includes the actual operation information of the captured plate and Predicted plate movement information inferred based on the actual movement information of the plate movement.
The single-antenna ultra-wideband radar system for imaging applications according to claim 9, wherein the display module is a touch screen, and the signal transmitting and receiving module is a single antenna.