CN103033808A - Method and device of railway roadblock detection and alarm based on radar return characteristics - Google Patents
Method and device of railway roadblock detection and alarm based on radar return characteristics Download PDFInfo
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Abstract
The invention relates to a method and a device of railway roadblock detection and alarm based on radar return characteristics. When a train drives at a high speed, a radar detector abstracts the radar return characteristics of the front road surface in real time. According to information of the train position supplied by a global position system (GPS) inertial navigation system, a data processing and display and control and warning platform reads previous echo characteristic statistical data of the train at safe driving from a memorizer, and compares the train position information with the previous echo characteristic statistical data. If the echo characteristics have abnormal fluctuation, a system can send out a warning signal, and sufficient processing time is supplied to a driver on the premise of guarantee of a safe brake distance. A millimeter-wave radar related in the railway roadblock detection and alarm device is long in detection distance, and high in resolution ratio, can obtain information of the front road surface through real-time processing of the signals, can not be affected by weather and climate, is simple an practical in system, and can meet requirements for roadblock detection.
Description
Technical field
The invention belongs to the intelligent traffic administration system technical field, be specifically related to a kind of railway roadblock detection based on Echo Characteristics and alarm method and device, mainly formed by millimetre-wave radar detector, GPS and inertial navigation unit, data processing and aobvious control early warning platform.
Background technology
Along with the increasing of China railways net pace of construction and the year by year raising of train speed, the especially quickening of high ferro construction, train traffic safety more and more comes into one's own.Easily send out the location in accident traditionally the staff is set, the mode of utilizing artificial investigation hidden danger be along with the increase of railway total kilometrage can not satisfy the demands, moreover also exists some to monitor and be not suitable for human work's location.
Existing railway Obstacle detection technology mainly contains two classes: a class is at key road segment monitoring equipment to be installed, and another kind of is at motion platform (being train) optical sensor to be installed.
At key road segment monitoring equipment is installed, this class technology can effectively be monitored the road conditions in special location, but for the emergency situations of the non-special road section of sensor installation (such as landslide, rubble flow etc.) not, this class technology may lose efficacy.Therefore in the urgent need to vehicle-mounted obstacle detecting system, when driving, road surface, the place ahead is uninterruptedly surveyed, in time fed back information of road surface.
At motion platform optical sensor is installed, is used the correlation theory of image detection to carry out detection of obstacles.This class technology can realize the fast detecting of dynamic and static barrier, but optical sensor is subjected to weather effect larger, can't satisfy the demand that the high ferro roadblock is surveyed all weather operations.At platform radar detedtor is installed, general technology path is that road pavement is carried out imaging, or barrier is carried out target identification.Imaging mode is owing to exist at velocity reversal and serious be coupling in technical being difficult to apart from the orientation and realize.Target recognition method algorithm is complicated, and operand is large, is difficult to real-time implementation, and discrimination is also lower, technical in addition breakthrough of standby.Except this, the required hardware platform of imaging mode and target recognition method is comparatively complicated, and the increase that this will cause the system research and development manufacturing cost is unfavorable for popularizing of system.
Radar obstacle detecting system traditionally tends to consider to utilize the high-resolution characteristic of radar, and road pavement is carried out imaging, and barrier is identified.Because imaging region is positioned at the train dead ahead, there is serious range-azimuth coupling in the SAR imaging mode and can't imaging.In addition, adopt the mode of radar imagery, the real-time of system can not be guaranteed, and manufacturing cost also can increase because of the increase of system complexity.
Summary of the invention
The technical matters that solves
For fear of the deficiencies in the prior art part, the present invention proposes a kind of railway roadblock detection based on Echo Characteristics and alarm method and device, by real-time millimetre-wave radar echo character and historical statistics echo character are compared, realize round-the-clock detection and alarm to the railway roadblock.
Technical scheme
A kind of railway roadblock based on Echo Characteristics is surveyed and alarm method, it is characterized in that step is as follows:
Step 1: radar is installed in the train front portion, and it is consistent with the train direct of travel to adjust controlling antenna wave beam to point;
Step 2: in the train traveling process, radar is to train working direction emission millimere-wave band linear FM signal, and radar antenna carries out the rf echo signal that receives to obtain intermediate-freuqncy signal after the down-converted;
Step 3: intermediate-freuqncy signal is obtained vision signal after the down coversion again, vision signal is carried out the IQ quadrature sampling after, obtain and passage I/Q, poor passage I/Q four road signals;
Step 4: adopt pulse compression technique and moving-target to detect the MTD technology, simultaneously four road signals are processed;
Step 5: then utilize CFAR CFAR, processing obtains processing with the I/Q two paths of data in four circuit-switched data to step 4, obtain one group and cross permanent target amplitude amp and the corresponding sampling point position m thereof that needs alert thresholding, and the distance that obtains thus between impact point and radar is
C is the light velocity in the formula, f
sBe the systematic sampling frequency;
Step 6: utilize the monopulse angle measurement technique, according to the sampling point position m that obtains in 5, and in the step 3 with passage I/Q, poor passage I/Q four circuit-switched data, the target of relevant position is carried out angle measurement,, obtain the one group angle error sequence corresponding with target amplitude sequence, distance sequence in the step 5;
Step 7: with the target signature information that obtains in step 5 and the step 6: target amplitude, distance, angle error, and the current train position data that report of GPS inertial navigation system, calculate the distance R of the relative train of target inception point
0=R+R
G, R is the distance that radar records, R
GFor the headstock current location calculated according to gps data and the distance of inception point, with R in above-mentioned target signature information and the Ground Penetrating Radar echo character database
0The echo statistical nature data of position are compared:
The number of times that target amplitude in real-time target amplitude in detection time and the Ground Penetrating Radar echo character database is exceeded 10dB reach always report number of times half and when over half, provide reminding driver and process the early warning signal of dangerous situation and show; Be 0.5～0.6 second described detection time.
The establishment step of described Ground Penetrating Radar echo character database:
Step a: radar is installed in the train front portion, and it is consistent with the train direct of travel to adjust controlling antenna wave beam to point;
Step b: in the train traveling process, radar is to train working direction emission millimere-wave band linear FM signal, and radar antenna carries out the rf echo signal that receives to obtain intermediate-freuqncy signal after the down-converted;
Step c: intermediate-freuqncy signal is obtained vision signal after the down coversion again, vision signal is carried out the IQ quadrature sampling after, obtain and passage I/Q, poor passage I/Q four road signals;
Steps d: adopt pulse compression technique and moving-target to detect the MTD technology, simultaneously four road signals are processed;
Step e: then utilize CFAR CFAR, processing obtains processing with the I/Q two paths of data in four circuit-switched data to step 4, obtain one group and cross permanent target amplitude amp and the corresponding sampling point position m thereof that needs alert thresholding, obtain the distance between impact point and radar:
C is the light velocity in the formula, f
sBe the systematic sampling frequency;
Step f: then utilize CFAR CFAR, processing obtains processing with the I/Q two paths of data in four circuit-switched data to step 4, obtain one group and cross permanent target amplitude amp and the corresponding sampling point position m thereof that needs alert thresholding, and the distance that obtains thus between impact point and radar is
C is the light velocity in the formula, f
sBe the systematic sampling frequency;
Step g: all data are stored from the near to the remote by absolute distance, obtain the absolute distance of single sport car, the property data base data message of target amplitude and angle error;
Step h: repeat step 1 ~ step 6 4-5 time, obtain the characteristic library information of each time; The information of a plurality of property data bases is asked assembly average by absolute distance, obtain the template characteristic database; Target amplitude in the described database and the statistical nature of angle error are arranged by absolute distance.
A kind of described railway roadblock detection based on Echo Characteristics and system of alarm method of realizing, the data processing and the demonstration control platform that it is characterized in that comprising GPS inertial navigation integrated navigation locating device, radar detedtor and be attached thereto; Described radar detedtor comprises monopulse antenna, frequency synthesizer, millimeter wave transceiving module, intermediate-frequency receiver and signal processor;
GPS and inertial navigation unit: train is located in real time, and locating information is sent into data processing unit;
Monopulse antenna: receive dimensional orientation radiation and target echo signal electromagnetic energy that milimeter wave detection system transmits, to realize and poor amplitude-comparison monopulse angle measurement;
Frequency synthesizer: for generation of linear FM signal and microwave-based calibration signal, and send into the millimeter wave transceiving module; Produce simultaneously timing reference signal, send into the signal processor subsystem;
Millimeter wave transceiving module: produce the linear FM signal of millimere-wave band, launch by antenna after being amplified to power demand; And will by antenna reception to target echo signal carry out frequency transformation and amplify after send into the intermediate-frequency receiver subsystem;
Intermediate-frequency receiver: to from the millimeter wave transceiving module carry out filtering, amplification and automatic gain control with signal, difference signal, then send into signal processor;
Signal processor and demonstration control platform: the target echo signal that receives is detected, and amplitude, angle and the angle error feature finished echo are extracted; Simultaneously the information after processing is shown.
Beneficial effect
A kind of detection of railway roadblock and alarm method and device based on Echo Characteristics that the present invention proposes, when train is run at high speed, the Echo Characteristics on road surface, radar detedtor extract real-time the place ahead, the train position information that data are processed and aobvious control early warning platform provides according to the GPS inertial navigation system, historical echo character statistics when from storer, reading train safe and travelling, and compare.If unusual situation about rising and falling appears in echo character, system provides alarm signal, is guaranteeing that safety shut-down apart under the prerequisite, provides enough processing times to the driver.Millimetre-wave radar detection range involved in the present invention is far away, and resolution is high, can obtain by the real-time processing of signal the information of road surface in the place ahead, and not be subjected to the impact of weather and climate, and system's simple possible can satisfy the demand of high ferro obstacle detection.
The beneficial effect that the present invention has compared with prior art is:
1) compare with the road surface safety installations of routine, native system is directly installed on the train, can carry out continual detection to road surface, the place ahead in the train driving process, can use when the pavement monitoring facility loses efficacy, and further improves the traffic safety of train.
2) radar involved in the present invention is visited barrier and warning system, employing be the millimeter wave system, system surveys and is not subjected to weather and climatic influences, has the advantages such as round-the-clock, round-the-clock.
3) radar involved in the present invention is visited barrier and warning system, by the Echo Characteristics extract real-time with compare to realize obstacle detection, avoided the problems such as complicated radar imagery, target identification, simplicity of design is conducive to low-cost the realization.
Description of drawings
Fig. 1: the block diagram of system of the present invention;
Fig. 2: the signal processing flow figure of the inventive method;
Fig. 3: echo amplitude synoptic diagram during clear;
Fig. 4: angle error synoptic diagram during clear;
Fig. 5: echo amplitude synoptic diagram when having barrier;
Fig. 6: angle error synoptic diagram when having barrier;
Fig. 7: rail barrier synoptic diagram;
Fig. 8: hinder thing to have front and back echo amplitude statistical property.
Embodiment
Now in conjunction with the embodiments, the invention will be further described for accompanying drawing:
The monitoring of railway roadblock, effective method the most directly perceived is imaging, adjusts road speed by image processing techniques and driver's judgement.Traditional imaging mode is generally optical imagery, comprises infrared imaging, CCD shooting etc.As road condition monitoring, the operating distance that the optical imagery mode can reach at present is enough to satisfy the detection demand.But optical imagery is subjected to weather effect too large, descends at mal-conditions such as rain, mists, and imaging is had a strong impact on.Accordingly, can consider to utilize the round-the-clock effect of millimeter wave, by radar detedtor road conditions be carried out Real-Time Monitoring.
Consider train in operational process, only need to know whether the place ahead exists the barrier that affects traffic safety to get final product, and not need to understand other attributes of barrier.The present invention proposes a kind of method of utilizing Echo Characteristics to compare and carries out roadblock and survey accordingly, main thought is: in the train driving process, the echo character of extract real-time millimetre-wave radar detector (distance, amplitude and Angle Information etc.), the train position information that provides according to GPS and inertial navigation unit, historical echo character statistics when from storer, reading train safe and travelling, and compare.If unusual the fluctuating appears in echo character, show that then there is potential safety hazard in the place ahead, system provides alarm signal.
The system platform that relates in the embodiment of the invention is composed as follows:
System is mainly processed by radar detedtor, data and shows that control platform, GPS and inertial navigation unit form, and Fig. 1 is the block diagram of system.
Wherein each subsystem function of radar detedtor is as follows:
Antenna house is avoided physical environment and aerodynamic impact for the protection of antenna feeder and other subsystem, guarantees that detection system can work under the practical service environment; Simultaneously with as far as possible little loss transmission electromagnetic wave.
Antenna feeder is mainly used in dimensional orientation radiation and the reception of target echo signal electromagnetic energy, realization and the poor amplitude-comparison monopulse angle measurement that milimeter wave detection system transmits.
Frequency source is sent into the millimeter wave transceiving module mainly for generation of linear FM signal and microwave-based calibration signal; Produce simultaneously timing reference signal, send into the signal processor subsystem.
The millimeter wave transceiving module produces the linear FM signal of millimere-wave band, goes out by antenna transmission after being amplified to power demand; And will by antenna reception to target echo signal carry out frequency transformation and amplify after send into the intermediate-frequency receiver subsystem.
Intermediate-frequency receiver to from the millimeter wave transceiving module carry out filtering, amplification and automatic gain control with signal, difference signal, then send into signal processor.
Signal processor is mainly used in target echo signal is detected, and finishes the extraction to echo character (such as amplitude, angle and angle error etc.).The signal processor processes flow process as shown in Figure 2.
Data are processed and are shown that control platform, GPS and inertial navigation unit function are as follows:
GPS and inertial navigation unit mainly are that train is located in real time, and locating information are sent into data processing unit.
Data processing unit and show the control platform finishes that pattern control, locating information are proofreaied and correct, database information management, in real time echo character comparison and carry out message exchange etc. with other control system.
The railway roadblock based on Echo Characteristics of the embodiment of the invention is surveyed with the alarming processing process as follows:
1) Ground Penetrating Radar echo character database
Obstacle detection system needs to set up Ground Penetrating Radar echo character database along the train operation circuit before formally putting into effect after train installs.
Concrete steps are: during train operation, radar detedtor wave beam irradiation railway road surface, and the echo character that extracts is transferred to data processing unit, data processing unit is set up Echo Characteristics database by distance along the train operation circuit in conjunction with the positional information of GPS inertial navigation system.By repeatedly operation and more new database, set up road surface echo character staqtistical data base.
Step 1: in the train traveling process, radar is to train working direction emission millimere-wave band linear FM signal, and radar antenna carries out the rf echo signal that receives to obtain intermediate-freuqncy signal after the down-converted;
Step 2: intermediate-freuqncy signal is obtained vision signal after the down coversion again, vision signal is carried out the IQ quadrature sampling after, obtain and passage I/Q, poor passage I/Q four road signals;
Step 3: adopt pulse compression technique and moving-target to detect the MTD technology, simultaneously four road signals are processed;
Step 4: then utilize CFAR CFAR, processing obtains processing with the I/Q two paths of data in four circuit-switched data to step 4, obtain one group and cross permanent target amplitude amp and the corresponding sampling point position m thereof that needs alert thresholding, obtain the distance between impact point and radar:
C is the light velocity in the formula, f
sBe the systematic sampling frequency;
Step 5: then utilize CFAR CFAR, processing obtains processing with the I/Q two paths of data in four circuit-switched data to step 4, obtain one group and cross permanent target amplitude amp and the corresponding sampling point position m thereof that needs alert thresholding, and the distance that obtains thus between impact point and radar is
C is the light velocity in the formula, f
sBe the systematic sampling frequency;
Step 6: all data are stored from the near to the remote by absolute distance, obtain the absolute distance of single sport car, the property data base data message of target amplitude and angle error;
Step 7: repeat step 1 ~ step 6 4-5 time, obtain the characteristic library information of each time; The information of a plurality of property data bases is asked assembly average by absolute distance, obtain the template characteristic database; Target amplitude in the described database and the statistical nature of angle error are arranged by absolute distance.
At the middle database that utilizes device of the present invention and set up of advancing, the railway roadblock is surveyed and alarm:
Step 1: radar is installed in the train front portion, and it is consistent with the train direct of travel to adjust controlling antenna wave beam to point;
Step 2: in the train traveling process, radar is to train working direction emission millimere-wave band linear FM signal, and it mainly is to finish in the signal processing of radar detedtor that Echo Characteristics extracts, treatment scheme as shown in Figure 2:
Radar echo signal forms and passage I, Q behind antenna reception, transceiver module down coversion, the reception of intermediate-frequency receiver intermediate frequency and IQ quadrature sampling, poor passage I, Q four tunnel vision signal entering signal processors;
Step 4: signal processor at first carries out direct current correction, pulse compression and moving-target to four road signals and detects (MTD) Check processing;
Step 5: signal processor continues to utilize CFAR CFAR, processing obtains processing with the I/Q two paths of data in four circuit-switched data to step 4, obtain one group and cross permanent target amplitude amp and the corresponding sampling point position m thereof that needs alert thresholding, and the distance that obtains thus between impact point and radar is
C is the light velocity in the formula, f
sBe the systematic sampling frequency;
Step 6: signal processor utilizes the monopulse angle measurement technique, according to the sampling point position m that obtains in 5, with in the step 3 with passage I/Q, poor passage I/Q four circuit-switched data, target to the relevant position is carried out angle measurement,, obtain the one group angle error sequence corresponding with target amplitude sequence, distance sequence in the step 5;
Step 7: signal processor is with the target signature information that obtains in step 5 and the step 6: target amplitude, distance, angle error, and the current train position data that report of GPS inertial navigation system, calculate the distance R of the relative train of target inception point
0=R+R
G, R is the distance that radar records, R
GFor the headstock current location calculated according to gps data and the distance of inception point, with R in above-mentioned target signature information and the Ground Penetrating Radar echo character database
0The echo statistical nature data of position are compared:
The number of times that target amplitude in real-time target amplitude in detection time and the Ground Penetrating Radar echo character database is exceeded 10dB reach always report number of times half and when over half, provide reminding driver and process the early warning signal of dangerous situation and show; Be 0.5～0.6 second described detection time.
When clear exists in the rail, article two, rail lays respectively at the position of main beam center both sides same distance, both sides rail energy equivalence, echo amplitude in the radar return in the range gate in the wave beam irradiation area rises and falls less, the Azimuth measurement of synthetic target is considered as zero degree nearly, as shown in Figure 3, Figure 4.
If when having barrier, as shown in Figure 7, will cause different variations to echo according to the barrier position.Increasing near the reflex amplitude of detector direction owing to barrier, direction can cause echo amplitude in certain distance slightly to reduce because barrier can shelter from a part of rail dorsad.The simultaneously existence of barrier also can cause the variation of Azimuth measurement error.Square iron rail energy near barrier is more, when being combined into a target, can cause the side that target is partial to barrier, so the target angle error will depart from zero degree this moment, such as Fig. 5, shown in Figure 6.The left figure of Fig. 8 is the template database of setting up under the accessible condition, use be the radar return amplitude characteristic, the radar return amplitude when the right figure of Fig. 8 is the test platform real time execution.
3) database update and maintenance
After system put into effect, Echo Characteristics data during the record train operation after train is reached terminal, after the data rejecting of dangerous situation section occurring, adopted average weighted mode, and original template database is upgraded and maintenance.
Claims (3)
1. the railway roadblock based on Echo Characteristics is surveyed and alarm method, it is characterized in that step is as follows:
Step 1: radar is installed in the train front portion, and it is consistent with the train direct of travel to adjust controlling antenna wave beam to point;
Step 2: in the train traveling process, radar is to train working direction emission millimere-wave band linear FM signal, and radar antenna carries out the rf echo signal that receives to obtain intermediate-freuqncy signal after the down-converted;
Step 3: intermediate-freuqncy signal is obtained vision signal after the down coversion again, vision signal is carried out the IQ quadrature sampling after, obtain and passage I/Q, poor passage I/Q four road signals;
Step 4: adopt pulse compression technique and moving-target to detect the MTD technology, simultaneously four road signals are processed;
Step 5: then utilize CFAR CFAR, processing obtains processing with the I/Q two paths of data in four circuit-switched data to step 4, obtain one group and cross permanent target amplitude amp and the corresponding sampling point position m thereof that needs alert thresholding, and the distance that obtains thus between impact point and radar is
C is the light velocity in the formula, f
sBe the systematic sampling frequency;
Step 6: utilize the monopulse angle measurement technique, according to the sampling point position m that obtains in 5, and in the step 3 with passage I/Q, poor passage I/Q four circuit-switched data, the target of relevant position is carried out angle measurement,, obtain the one group angle error sequence corresponding with target amplitude sequence, distance sequence in the step 5;
Step 7: with the target signature information that obtains in step 5 and the step 6: target amplitude, distance, angle error, and the current train position data that report of GPS inertial navigation system, calculate the distance R of the relative train of target inception point
0=R+R
G, R is the distance that radar records, R
GFor the headstock current location calculated according to gps data and the distance of inception point, with R in above-mentioned target signature information and the Ground Penetrating Radar echo character database
0The echo statistical nature data of position are compared:
The number of times that target amplitude in real-time target amplitude in detection time and the Ground Penetrating Radar echo character database is exceeded 10dB reach always report number of times half and when over half, provide reminding driver and process the early warning signal of dangerous situation and show; Be 0.5～0.6 second described detection time.
2. described railway roadblock based on Echo Characteristics is surveyed and alarm method according to claim 1, it is characterized in that:
The establishment step of described Ground Penetrating Radar echo character database:
Step a: radar is installed in the train front portion, and it is consistent with the train direct of travel to adjust controlling antenna wave beam to point;
Step b: in the train traveling process, radar is to train working direction emission millimere-wave band linear FM signal, and radar antenna carries out the rf echo signal that receives to obtain intermediate-freuqncy signal after the down-converted;
Step c: intermediate-freuqncy signal is obtained vision signal after the down coversion again, vision signal is carried out the IQ quadrature sampling after, obtain and passage I/Q, poor passage I/Q four road signals;
Steps d: adopt pulse compression technique and moving-target to detect the MTD technology, simultaneously four road signals are processed;
Step e: then utilize CFAR CFAR, processing obtains processing with the I/Q two paths of data in four circuit-switched data to step 4, obtain one group and cross permanent target amplitude amp and the corresponding sampling point position m thereof that needs alert thresholding, obtain the distance between impact point and radar:
C is the light velocity in the formula, f
sBe the systematic sampling frequency;
Step f: then utilize CFAR CFAR, processing obtains processing with the I/Q two paths of data in four circuit-switched data to step 4, obtain one group and cross permanent target amplitude amp and the corresponding sampling point position m thereof that needs alert thresholding, and the distance that obtains thus between impact point and radar is
C is the light velocity in the formula, f
sBe the systematic sampling frequency;
Step g: all data are stored from the near to the remote by absolute distance, obtain the absolute distance of single sport car, the property data base data message of target amplitude and angle error;
Step h: repeat step 1 ~ step 6 4-5 time, obtain the characteristic library information of each time; The information of a plurality of property data bases is asked assembly average by absolute distance, obtain the template characteristic database; Target amplitude in the described database and the statistical nature of angle error are arranged by absolute distance.
3. realize that each described railway roadblock based on Echo Characteristics of claim 1 ~ 2 is surveyed and the system of alarm method, the data processing and the demonstration control platform that it is characterized in that comprising GPS inertial navigation integrated navigation locating device, radar detedtor and be attached thereto for one kind; Described radar detedtor comprises monopulse antenna, frequency synthesizer, millimeter wave transceiving module, intermediate-frequency receiver and signal processor;
GPS and inertial navigation unit: train is located in real time, and locating information is sent into data processing unit;
Monopulse antenna: receive dimensional orientation radiation and target echo signal electromagnetic energy that milimeter wave detection system transmits, to realize and poor amplitude-comparison monopulse angle measurement;
Frequency synthesizer: for generation of linear FM signal and microwave-based calibration signal, and send into the millimeter wave transceiving module; Produce simultaneously timing reference signal, send into the signal processor subsystem;
Millimeter wave transceiving module: produce the linear FM signal of millimere-wave band, launch by antenna after being amplified to power demand; And will by antenna reception to target echo signal carry out frequency transformation and amplify after send into the intermediate-frequency receiver subsystem;
Intermediate-frequency receiver: to from the millimeter wave transceiving module carry out filtering, amplification and automatic gain control with signal, difference signal, then send into signal processor;
Signal processor and demonstration control platform: the target echo signal that receives is detected, and amplitude, angle and the angle error feature finished echo are extracted; Simultaneously the information after processing is shown.
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