CN104240422B - Ultrasonic wave space monitoring anti-theft method based on distance images - Google Patents
Ultrasonic wave space monitoring anti-theft method based on distance images Download PDFInfo
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Abstract
An ultrasonic wave space monitoring anti-theft device based on distance images comprises a controller, a warning device connected with the controller, a digital signal processor connected with the controller in a data mode and a waveform generator. The waveform generator can generate narrow pulse signals and linear FM signals and is connected with an ultrasonic wave emitting device. The digital signal processor is connected with an ultrasonic wave receiving device. The ultrasonic wave receiving device separates received ultrasonic wave signals into narrow pulse and linear FM signals which are transmitted to the digital signal processor respectively. The invention further discloses an ultrasonic wave space sampling method and a monitoring anti-theft method based on distance images. By forgetting weighted processing and changing position comparison processing, the misinformation probability is lowered, the problem that the ultrasonic wave high range resolution and the long detection range cannot be achieved at the same time is solved, the ultrasonic wave emitting device and the ultrasonic wave receiving device can be placed on one side of a space, and high application flexibility is achieved.
Description
Technical field
The invention belongs to electronic communication field, relate to the use of the electronic installation that ultrasound wave carries out detecting, be specifically related to one
Ultrasound wave spatial sampling procedures based on Range Profile, monitoring anti-theft device and method.
Background technology
Along with improving constantly of people's living standard, for individual, public property and the antitheft need of some crucial article
Ask and the most day by day highlight.It is generally required to the property of anti-theft protection is usually placed in the space being relatively fixed and closing, such as safety cabinet, storehouse
The positions such as room, car are interior, container.And the existing theft preventing method for the space being relatively fixed and closing, as widely applied at present
Automobile anti-theft method, be by vibration detector determine whether there is people carry out invasion theft.Its ultimate principle is to measure vapour
Whether the vibrations of car exceed certain threshold value, but the vibrations of car external environment, such as fireworks and firecrackers etc., usually make vibration detector report by mistake.
In addition, the also more preferable burglary-resisting system of theftproof performance, its principle is as come by detection air mass flow change, image recognition etc.
Realize antitheft, but its system structure is complicated, cost is the highest, and there is applicable limitation.The side of detection air mass flow change
Method is easily flowed by air in a room and is affected, and image recognition is then easily changed by light to be affected, so it can not extensively be fitted
For automobile, safety cabinet, container, storehouse, need the space that antitheft room etc. is relatively fixed and closes.Antitheft compared to other
Method, is monitored realizing antitheft method by ultrasound wave and has that realization is simple, sensitive monitoring, rate of false alarm spatiality
Low, the advantage of low cost.
In existing space, ultrasonic theft preventing method is two signals by ultrasonic emitting and reception, is made in monitoring space
It is a system, it is thus achieved that a system response, then forms the template of a continuous correction with the response of this system.When invading
Time, its system response can change, and relatively can get different compared with template, is achieved in antitheft.Concrete such as ultrasonic theft-proof
Space method for early warning (CN102110337A) is described.But, the method cardinal principle is that a system, root are regarded as in monitoring space
According to launching signal and receiving signal, obtain system response by deconvolution and be re-used as template matching；And deconvolution calculates actually
Ill-conditioning problem, great variety that small disturbance all may make result occur to estimate [Zeng little Ling. deconvolution with
Deconvolution Algorithm Based on Frequency [J]. electronic surveying and instrument journal, 1989,04:25-33+62].Such as, the propagation of ultrasound wave is vulnerable to temperature
Degree impact, again or other interference all may cause the significant errors that system responds, thus reports by mistake.It addition, accompanying drawing 1 is given
The basic structure of existing ultrasonic anti-stealing device, its transmitting transducer and receive transducer and must be distributed across the two of space exploration
End.This is because when launch reception be placed in homonymy utilize echo to be monitored time, the change outside certain limit also results in echo
The change of information is reported by mistake, and this specifically applies for some to be also provided with installing and limits.
For ultrasonic theft-proof is monitored, also important problem is exactly the contradiction of monitoring distance and monitoring accuracy.
When use have big mean power, big time wide signal form time, it is ensured that the distance of monitoring, but precision of its monitoring namely away from
Can reduce from resolving power.Monitoring accuracy is low be existing ultrasonic theft-proof method the feature of signal cannot be extracted important
Reason.And high-precision ultrasonic listening distance is generally apart from close, such as medical ultrasound investigation, industrial flaw detection inspection
Look into, and the method for this class is difficult to meet the required distance of anti-theft monitoring.There is the pulse signal of big Timed automata feature,
Such as chirp pulse signal, can be got both high range resolution and remote measurement distance by process of pulse-compression.But this
Class signal is relatively big due to pulsewidth, and launches under pulse regime and can not receive simultaneously, and it there will be in-plant blind when detection
District.
Summary of the invention
For overcoming existing ultrasonic theft-proof technology to use Deconvolution Technique easily to report by mistake, exist simultaneously and restriction is installed or exists
The various deficiencies of short-distance blind section, the invention discloses a kind of ultrasound wave spatial sampling procedures based on Range Profile, monitor antitheft
Device and method.
Ultrasound wave SS anti-theft device based on Range Profile of the present invention, it is characterised in that include controller and
The alarm device being connected with controller, also includes digital signal processor and the waveform generator being connected with controller data, institute
State waveform generator and can generate narrow pulse signal and linear FM signal, and be connected with ultrasonic transmission device, described numeral
Signal processor is connected with ultrasonic probe, ultrasonic receiver, and the ultrasonic signal of reception is separated into narrow arteries and veins by described ultrasonic probe, ultrasonic receiver
Punching and linear FM signal, branch is transmitted to digital signal processor.
Preferably, described ultrasonic probe, ultrasonic receiver is received transducer, filter amplifier, separation by the ultrasound wave being sequentially connected with
Change-over circuit forms, and the analogue signal that filter amplifier exports is separated into burst pulse and linear frequency modulation by described separation change-over circuit
Signal, and it is converted into digital signal；Described separation change-over circuit outfan is connected with digital signal processor.
Preferably, described separation change-over circuit is made up of a/d converter and numeral demultiplexing circuit, and digital signal separates
Circuit output end is connected with digital signal processor；Or be made up of analogue signal split circuit and a/d converter, a/d converter is defeated
Go out end to be connected with digital signal processor.
Further, described analogue signal split circuit is by four road power splitters and two signals being connected with four road power splitters
Processing module forms, and each signal processing module includes two mixing branch roads, and route frequency mixer and low-pass filtering are propped up in described mixing
Device forms, and the signal input part of frequency mixer and signal output part connect an outfan and the low-pass filtering of four road power splitters respectively
The input of device；
Described signal processing module also includes local oscillator and 90 degree of phase shifters, the outfan of described local oscillator and 90 degree of phase shifts
The input of device connects, and the outfan of the outfan of described local oscillator and 90 degree of phase shifters is mixed with two mixing branch roads respectively
The local oscillator input of device connects.
Concrete, described ultrasonic probe, ultrasonic receiver and ultrasonic transmission device include the ultrasonic transducer shared and with super
The transmit-receive switch that acoustic wave transducer connects, described ultrasonic probe, ultrasonic receiver also includes filter amplifier and separates change-over circuit, institute
State separation change-over circuit and the analogue signal that filter amplifier exports is separated into burst pulse and linear FM signal, and be converted into number
Word signal；Described separation change-over circuit outfan is connected with digital signal processor；
Described transmit-receive switch have one end of transmitting path and receiving path, transmitting path and receiving path respectively with waveform
The input of generator output and filter amplifier connects, and the other end is all connected with ultrasonic transducer.
Concrete, described waveform generator is by Direct Digital Frequency Synthesizers, frequency mixer, frequency synthesizer and bandpass filtering
Device forms, the outfan of described Direct Digital Frequency Synthesizers and frequency synthesizer respectively with the signal input part of frequency mixer and this
The input that shakes connects, and the outfan of described frequency mixer connects the input of band filter, described controller and Direct Digital frequency
The frequency control terminal of rate synthesizer and sequencing contro end connect, and band filter outfan is the outfan of waveform generator.
The invention also discloses a kind of ultrasound wave spatial sampling procedures based on Range Profile, comprise the steps:
S101. to spatial emission narrow pulse signal to be monitored and linear FM signal；
S102. receive the echo-signal in space to be monitored, be translated into digital baseband signal, and be separated into burst pulse
Echo digital signal and LFM Echo digital signal；
S103. burst pulse echo digital signal is made slip accumulation process；LFM Echo digital signal is carried out arteries and veins
Punching press contracting processes, and pulse compression ratio is D；
S104. the signal after processing in step S103 is divided distance unit, wherein burst pulse distance according to time delay
Element length is its pulse widthτ 1 , linear FM signal distance element length is Δ rLFM, it is divided into N number of；
S105. utilize the distance unit composition nearly monitoring space length belonging to burst pulse echo digital signal as pattern, belong to
In the distance unit of LFM Echo digital signal, theN 1+ 1 to n-th distance unit composition remote monitoring space length picture
Pattern, whereinN 1=int(D), int () is bracket function.
Preferably, described step S103 carries out process of pulse-compression for using Frequency Domain Pulse method or time domain pulse pressure method
Realize,
Described Frequency Domain Pulse particularly as follows:
I, Q two paths of data of LFM Echo digital signal is stored in shift register respectively, with weighting after FFT
Multiplication, its product remakes the data after IFFT i.e. obtains pulse compression；To export after its modulus, i.e. obtain pulse compression knot
Really；Wherein weight coefficient is normalized frequency receptance functionH ( f):
In formula, modulation slopeμ=2πB/τ 2 ；WhereinBFor signal bandwidth,τ 2 For width during linear FM signal；
Described time domain pulse pressure method particularly as follows:
The baseband I of LFM Echo, Q two paths of data s2I(n) and s2Q(n) respectively with sI(n) and sQN () is correlated with
Computing.Wherein related operation coefficient sI(n) and sQN () is respectively real part and the imaginary part of s (n) signal,
s2I(n) and sIResult and s after (n) related operation2Q(n) and sIN after () related operation, result is kept to multiple correlation fortune mutually
Calculate the output of I road, s2Q(n) and sI(n) correlation result and s2I(n) and sQN () correlation result adds up to multiple correlation computing Q
Road exports, squared to multiple correlation computing I, Q two paths of signals and that also evolution obtains after can obtaining multiple correlation computing linear frequency modulation letter
Number output signal:
For pulse compression result；
WhereinBFor signal bandwidth,τ 2 For width during linear FM signal,ArFor signal amplitude, Ts is the sampling interval, and it is to adopt
The inverse of sample rate fs；f1For linear FM signal mid frequency；For initial phase；Pulse compression ratio D=B*τ 2 , after n is for sampling
The sequence number of digital signal, Ts is the sampling interval, and meets relation t=n*Ts, and t is moment time；Tr represents from x time
To the time interval receiving echo.
The invention also discloses a kind of ultrasound wave SS theft preventing method based on Range Profile, comprise the steps:
S1. to the space to be detected under in a safe condition, ultrasound wave spatial sampling procedures based on Range Profile is used to adopt
Collect the monitoring space length near, remote in space to be monitored as pattern is as reference pattern；
S2., under monitoring state, use ultrasound wave spatial sampling procedures based on Range Profile to obtain and far, closely monitor space length
As pattern, make difference with reference pattern respectively and take absolute value, it is thus achieved that offset rear check pattern；
S3. delimit detection threshold, exceed detection threshold judgement sky to be monitored according to offseting in rear check pattern with or without spike
Between whether change；
If S4. changing, change frequency is added 1；
When change frequency is more than 1 but does not arrives alarm threshold value, it is judged that the distance corresponding at spike and previous prison occur
Whether the survey cycle there is the difference of the distance corresponding at spike more than distance threshold, is then to reset change frequency, and updates base
Step S2 is returned after quasi-pattern；Do not reset, return step S2；
Arrive alarm threshold value a detection cycle when change frequency, then report to the police；
If not changing, then update reference pattern；
Described renewal reference pattern particularly as follows:
The Range Profile pattern that this monitoring cycle is obtainedP 0 With frontN pThe Range Profile pattern that-1 time obtainsP i By forget because of
Son weighting is averaging as the reference pattern after updating；
WhereinλFor forgetting factor, λ value is between 0.5 to 1, and the number for weighted average distance picture isN p, i=0,
1 ...,N p-1,N pFor weighted number.
Concrete, the described detection cycle comprises one or more monitoring cycle.
When comprising a monitoring cycle, the final result of determination in monitoring cycle is recorded as change frequency, and system is to change
The operation of number of times is the most cumulative or empties.Change frequency reaches alarm threshold value and then reports to the police.
When comprising multiple monitoring cycle, system update record current and adjacent before multiple monitoring cycles judgement knot
Really；Whether the result of determination in each monitoring cycle is recorded as changing and spatial variations position.In the case of changing,
System by record each spatial variations position centered by, occur in statistical distance thresholding spatial variations monitoring the cycle
Number；Alarm threshold value alarm is met or exceeded when there is monitoring number of cycles.
The present invention does not use the method for deconvolution to obtain spatiality to avoid the shakiness that system is brought by ill-conditioning problem
Fixing sound；Process reduce misinformation probability by forgeing weighting process and change location comparison；Solve ultrasound wave high range resolution
The problem that can not get both with remote detection range, is ensureing on the premise of monitoring distance, it is provided that monitoring accuracy echo can be made to believe
Number it is further analyzed and processes；Making detection range controlled thus the most monitored extraneous interference, thus R-T unit can
It is positioned at side, space, there is higher application flexibility.
Accompanying drawing explanation
The existing general ultrasonic anti-stealing device structure chart of Fig. 1
The system composition schematic diagram of Fig. 2 present invention
A kind of Signal separator of Fig. 3 realize structure chart
The schematic flow sheet in Fig. 4 mono-monitoring cycle
The concrete signal handling process in Fig. 5 the inventive method one monitoring cycle
Fig. 6 burst pulse, linear FM signal mixed signal structural representation
Fig. 7 linear FM signal time-domain digital process of pulse-compression schematic diagram
Fig. 8 one-dimensional range profile SS and monitoring range control schematic diagram
Fig. 9 embodiment 1 ultrasound wave SS anti-theft device scheme of installation
A kind of waveform generator of a kind of ultrasound wave SS anti-theft device embodiment 1 that Figure 10 present invention is corresponding
Internal structure frame
The transmitting of normalization amplitude and echo waveform in mono-cycle of Figure 11
Before and after Figure 12 spatial variations, the moment closely monitors Range Profile and the check pattern in space
Before and after Figure 13 spatial variations, the moment far monitors Range Profile and the check pattern in space
Check pattern after the cut-off of Figure 14 Range Profile and detection threshold schematic diagram
The system construction drawing of the embodiment 2 that Figure 15 present invention is corresponding
A kind of waveform generator of a kind of ultrasound wave SS anti-theft device embodiment 2 that Figure 16 present invention is corresponding interior
Portion's structure
The digital down converter 11 of a kind of ultrasound wave SS anti-theft device embodiment 2 that Figure 17 present invention is corresponding interior
Portion's structure
The linear FM signal pulse pressure of a kind of ultrasound wave SS anti-theft device embodiment 2 that Figure 18 present invention is corresponding
Contracting schematic diagram
The detection cycle of the embodiment 2 that Figure 19 present invention is corresponding and the schematic diagram in monitoring cycle
Intrusion detection flow process in one monitoring cycle of the embodiment 2 that Figure 20 present invention is corresponding
The system construction drawing of the embodiment 3 that Figure 21 present invention is corresponding
The Signal separator of the embodiment 3 that Figure 22 present invention is corresponding realize structure chart
Detailed description of the invention
The invention provides a kind of ultrasound wave SS anti-theft device based on Range Profile, including controller and with control
The alarm device that device connects, also includes digital signal processor and the waveform generator being connected with controller data, described waveform
Generator can generate narrow pulse signal and linear FM signal, and is connected with ultrasonic transmission device, at described digital signal
Reason device is connected with ultrasonic probe, ultrasonic receiver, and the ultrasonic signal of reception is separated into burst pulse and line by described ultrasonic probe, ultrasonic receiver
Property FM signal, branch transmit to digital signal processor.
Wherein ultrasonic transmission device converts for the burst pulse produced by waveform generator and chirp pulse signal
For ultrasonic emitting, ultrasonic probe, ultrasonic receiver receives the ultrasound wave returned in space, and is the signal of telecommunication by Ultrasonic transformation.By this
The signal of telecommunication is split up into narrow pulse signal and linear FM signal, and transforms to baseband digital signal by Digital Down Convert respectively.
Two-way baseband digital signal is sent in digital signal processor and is processed.
Two-way baseband digital signal is processed by digital signal processor respectively, it is thus achieved that monitoring space length picture remote, near.
By current distance as pattern respectively monitoring spatial contrast Range Profile pattern remote, near with system record offset, judge according to thresholding
Change with or without spatiality, and notification controller spatial variations information.According to the instruction of controller, update or do not update contrast away from
From as pattern.
Controller produces and signal processing for the signal controlling digital signal processor and waveform generator, reports to the police
Device, when judging that invasion occurs, sends alarm signal.
As Fig. 2 provides a kind of detailed description of the invention schematic diagram of ultrasound wave SS anti-theft device of the present invention, return
Ripple ultrasound wave receives transducer 3_2 by ultrasound wave and is converted into the signal of telecommunication, and this signal is first filtered through low-noise amplifier/wave filter 4
Ripple is converted into digital signal by A/D 5 after amplifying again, then is split up into linear FM signal branch road, burst pulse by demultiplexer 6
Signal branch, and transform to baseband signal output.Accompanying drawing 3 gives the internal structure block diagram of a kind of signal separator 6.Its by
Two digital down converter (DDC) compositions, respectively DDC_1 and DDC_2.The mid frequency of DDC_1 and burst pulse carrier frequencyf 0Phase
With, the mid frequency of DDC_2 and linear FM signal mid frequencyf 1Identical.It addition, signal separator 6 can also be in digital-to-analogue
Realize by analog circuit mode before converter.
The two-way digital baseband signal of receiving portion output processes in digital signal processor 7.Digital signal processor 7
First the linear FM signal entered is made digital pulse-compression to process, and divides range gate unit, far monitored space away from
From picture；The narrow pulse signal entered is made slip accumulation process, and divides range gate unit, closely monitored space length picture.
Secondly, two groups of Range Profile patterns are offseted with the contrast Range Profile pattern recorded respectively, detects spatiality according to detection threshold
Whether change.Finally, notification controller 1 spatial variations information, controller 1 make according to spatial variations information before
Judging, control system updates contrast Range Profile pattern or does not update contrast Range Profile pattern.
Controller 1 controls the system handling process in a monitoring cycle, including controlling a sequential monitoring the cycle, produces
Control word makes waveform generator 2 produce linear FM signal and narrow pulse signal, and noise, interference judge and report to the police judgement again.Control
After device 1 processed obtains the spatial variations information that digital signal processor 7 judges, spatial variations information is judged again, thus ties
The handling process after the most decisive and the most resolute fixed number word signal processor 7, update contrast Range Profile pattern.When meeting certain condition
Time, controller 1 notifies that alarm module 8 is reported to the police.
Wherein, in described emitting portion, receiving portion depending on the ultrasonic transducer number structure according to monitoring space.Send out
Penetrate part and receiving portion ultrasonic transducer can share, it is also possible to be respectively described system and be equipped with.
In the detailed description of the invention shown in Fig. 2, described ultrasonic probe, ultrasonic receiver is received by the ultrasound wave being sequentially connected with and changes
Energy device, filter amplifier, separation change-over circuit composition, the analogue signal that filter amplifier exports is divided by described separation change-over circuit
From for burst pulse and linear FM signal, and it is converted into digital signal；At described separation change-over circuit outfan and digital signal
Reason device connects.
Described separation change-over circuit can be made up of a/d converter and numeral demultiplexing circuit, digital signal split circuit
Outfan is connected with digital signal processor；First by a/d converter, the analogue signal of reception is converted to digital signal carry out again
Signal separator；Can also be made up of analogue signal split circuit and a/d converter, a/d converter outfan and Digital Signal Processing
Device connects, and first passes through analogue signal split circuit and analogue signal is separated into burst pulse and linear FM signal, is then converted to number
Word signal.
The invention also discloses a kind of method that ultrasound wave SS based on Range Profile is antitheft, produce including Range Profile
Method and a kind of intrusion detection method based on Range Profile.Fig. 4 gives the schematic flow sheet in a monitoring cycle, and it is at one
Monitoring cyclic flow concrete echo signal processing in, Range Profile produce as in Fig. 5 5a part shown in, based on Range Profile enter
Invade detection as shown in 5b part.
Ultrasound wave SS theft preventing method of the present invention is based on sampling side between a kind of ultrasonic air based on Range Profile
Method, comprises the steps:
S101. to spatial emission narrow pulse signal to be monitored and linear FM signal；
By controller, waveform generator write control word, control waveform generator and produce the linear frequency modulation signal of telecommunication and one
Narrow pulse electrical signals, two signals of telecommunication all should be in supersonic range.By ultrasonic transducer, this signal is converted into ultrasound wave send out
It is mapped to monitor space.
Launch linear FM signal and narrow pulse signal composite signal structure as shown in Figure 6, with Fig. 6 b combining form
Signal as a example by.If the pulse period isT, signal amplitude is A, and burst pulse pulsewidth isτ 1, burst pulse carrier frequencyf 0, linearly adjust
Frequently pulse center frequencies isf 1, pulse width isτ 2, modulation slopeμ =2πB/τ 2 ,BFor bandwidth,tFor the time,φ 0For first phase,
Burst pulse carrier frequencyf 0With chirp mid frequencyf 1, bandwidth B should meet
Represent and be not belonging to later span
Then launch signal siT () is represented by:
In formula, rect () represents rectangular function:
S102. receive the echo-signal in space to be monitored, be translated into digital baseband signal, and be separated into burst pulse echo
Digital signal and LFM Echo digital signal；
By ultrasonic transducer, the Ultrasonic transformation that monitoring space returns is electric echo signal and passes through low-noise amplifier
The signal in signal frequency range is obtained with frequency-selecting filter.For easy analysis, ignore the impact of noise and clutter, in preferable feelings
Under condition, if single goal is at opposite sets air line distance R, echo-signal is tr relative to launching the time delay that signal produces, then one
In the individual cycle, echo-signal is represented by:
In formula, tr=2R/c, c are ultrasonic velocity, and R is the target position relative to device, ArFor echo amplitude.
Being discrete digital signal by A/D by signal intensity, sample frequency isf s, entering signal separates afterwards.Signal divides
From one realize structure, as shown in Figure 3, narrow pulse signal and linear FM signal are made at corresponding Digital Down Convert
Reason.Numerically-controlled oscillator NCO_1 produces signal and is respectively cos (ω1N) with sin (ω1N), wherein ω1=2πf 0/f s, signal returns
Other and NCO_1 generation the two paths of signals of wavelength-division is mixed, after wave digital lowpass filter, it is thus achieved that the complex radical burst pulse of I, Q passage
Signal.
I channel signal is:
Q channel signal is:
I.e. isolated burst pulse baseband complex signal s1(n), it has a following form:
Numerically-controlled oscillator NCO_2 produces signal and is respectively cos (ω2N) with sin (ω2N), wherein ω2=2πf 1/f s,
The two paths of signals mixing that signal echo produces with NCO_2 respectively, after wave digital lowpass filter, it is thus achieved that the complex radical of I, Q passage
Narrow pulse signal.
I channel signal is:
Q channel signal is:
I.e. linear frequency modulation baseband complex signal s of isolated2(n),
S103. burst pulse echo digital signal is made slip accumulation process；LFM Echo digital signal is carried out arteries and veins
Punching press contracting processes, and pulse compression ratio isD；
After Signal separator, two-way baseband complex signal is input in digital signal processor.Digital signal processor is to burst pulse
Signal makees slip accumulation process.To linear frequency modulation baseband complex signals 2T () carries out process of pulse-compression
IfDFor pulse compression ratio,D=τ 2 B.Cumulative process of sliding count take int (D), int() it is bracket function.Slide
Accumulation process be really narrow pulse signal carried out int (D) put Fourier transformation and export the signal of 0 frequency.Due to burst pulse
Baseband signal is 0 frequency, and after carrying out slip accumulation process, signal to noise ratio improves 10lg (int (D)) dB.Be located at that the n moment inputs is narrow
Pulse baseband signal is x (n), and after slip accumulation process, n moment output signal is:
The process of pulse-compression of linear frequency modulation baseband signal can use multiple correlation computing to realize, i.e. Time-Domain Pulse Compression, as
Shown in accompanying drawing 7.The baseband I of LFM Echo, Q two paths of data s2I(n) and s2Q(n) respectively with sI(n) and sQN () carries out phase
Close computing.The wherein coefficient s of related operationI(n) and sQThe real part of (n) respectively s (n) signal and imaginary part:
s2I(n) and sIResult and s after (n) related operation2Q(n) and sIN after () related operation, result is kept to multiple correlation fortune mutually
Calculate the output of I road, s2Q(n) and sI(n) correlation result and s2I(n) and sQN () correlation result adds up to multiple correlation computing Q
Road exports, squared to multiple correlation computing I, Q two paths of signals and that also evolution obtains after can obtaining multiple correlation computing linear frequency modulation letter
Number output signal is:
It is pulse compression result, wherein modulation slopeμ =2πB/τ 2 ；BFor signal bandwidth,τ 2 For linear FM signal
Shi Kuan；ArFor signal amplitude；Ts is the sampling interval, and it is the inverse of sample rate f s；f1For linear FM signal mid frequency；
For initial phase；D is pulse compression ratio D=B*τ 2 , whereinBFor signal bandwidth,τ 2 For width during linear FM signal；N is sampling
The sequence number of rear digital signal, meets relation t=n*Ts, and t is moment time, and Ts is the sampling interval；Tr represents from x time
Rise, to the time interval receiving echo.Meeting relation tr=2*R/c, wherein R is target range, and c is velocity of wave propagation, is approximately
The light velocity.
Carrying out process of pulse-compression can also use Frequency Domain Pulse to realize, it is achieved method linear frequency modulation as shown in Figure 18 returns
I, Q two paths of data of ripple digital signal is stored in shift register respectively, after FFT with deposit weighting in memory
Multiplication, the IFFT of its product is i.e. the data after pulse compression.Shifted the depositing of these data exports after modulus, is s3
Pulse pressure output result represented by (n) formula.Wherein the weight coefficient in memorizer is normalized frequency receptance functionH(f):
In formula, modulation slopeμ =2πB/τ 2 , whereinBFor signal bandwidth,τ 2 For width during linear FM signal.
S104. the signal after processing in step S103 is divided distance unit, wherein burst pulse distance according to time delay
Element length is its pulse widthτ 1 , linear FM signal distance element length is Δ rLFM, it is divided into N number of；
Distance unit is the relation according to echo-signal detection range Yu time delay, prolongs according to the time in echo-signal
The signal element divided late.The space distribution information of the echo-signal correspondence different distance in different distance unit.Distance unit
Length, namely signal correspondence divide distance unit time delay relevant with range resolution.Range resolution determines system and indulges
To the minimal size that can differentiate object.The range resolution of burst pulse is determined by pulsewidth, the range resolution of linear frequency modulation rippleBy its signal bandwidthBDetermine:
From zero moment, respectively the linear frequency modulation baseband signal after burst pulse baseband signal and pulse compression is pressed echo
Time delay divides distance unit.Burst pulse distance element length is its pulse widthτ 1 , chirp pulse signal distance is single
The a length of Δ r of unitLFM。
Owing to narrow pulse signal is that the benefit to the detection of linear FM signal near region is blind, burst pulse distance dividing elementsMIndividual, thenMShould meetM τ 1≥τ 2,τ 2 For linear FM signal pulse width.Linear FM signal range gate dividing elementsNIt is individual,N
Should meetN ΔrLFM ≤ cT/ 2, T are the pulse repetition period, and c is ultrasonic velocity.Linear FM signal range gate unit
NumberNAlso the maximum space scope that the method can be monitored is determinedRmax,
Interference outside to certain limit and noise, by command range unit numberNOr unit of adjusting the distance carries out selectivity
Process, can be filtered, as shown in Figure 8.
S105. utilize the distance unit composition nearly monitoring space length belonging to burst pulse echo digital signal as pattern, belong to
In the distance unit of LFM Echo digital signal, theN 1+ 1 to n-th distance unit composition remote monitoring space length picture
Pattern, whereinN 1=int(D), int () is bracket function.
Step S101-S105 gives a kind of range image acquisition method utilizing ultrasound wave.
Ultrasound wave SS theft preventing method based on Range Profile of the present invention utilizes said method to perform intrusion detection,
Specifically comprise the following steps that
S1. to the space to be detected under in a safe condition, the above-mentioned method of sampling is used to gather the near, remote of space to be monitored
Monitoring space length is as pattern is as reference pattern；
S2. under monitoring state, use the above-mentioned method of sampling to obtain far, closely monitor space length as pattern, respectively with benchmark
Pattern is made difference and is taken absolute value, it is thus achieved that offset rear check pattern；
S3. delimit detection threshold, exceed detection threshold judgement sky to be monitored according to offseting in rear check pattern with or without spike
Between whether change；
Described detection threshold delimited according to the noise in pulse compression ratio D of system and actual environment.Typically take with noise
Under the conditions of benchmark is-10dB, taking the value in the range of-10+10lg (int (D)) the positive and negative 1dB of dB is thresholding.
If S4. changing, change frequency is added 1；
When change frequency is more than 1 but does not arrives alarm threshold value, it is judged that occur whether the distance corresponding at spike is more than
Distance threshold, is that change frequency then resets, and updates return step S2 after reference pattern；Do not reset, return step S2；
Described alarm threshold value is change frequency set in advance, when described distance threshold is for change, presets different prison
Survey the difference of the distance unit that periodic spikes occurs.Difference is the least represents that the range difference that both spatial variations occur is the least, meaning
And cause peak value occurs and non-noise, but intrusion object, distance difference is the biggest, is likely to noise and causes.
When change frequency arrives alarm threshold value, then report to the police；
If not changing, then update reference pattern；
Described renewal reference pattern particularly as follows:
The Range Profile pattern that this is obtainedP 0 With frontN pThe Range Profile pattern that-1 time obtainsP i Weight by forgetting factor
It is averaging as the reference pattern after updating；
WhereinλFor forgetting factor, λ value is between 0 to 1, and the number for weighted average distance picture isN p, i=0,
1 ...,N p-1,N pFor weighted number.
Work as forgetting factorλWhen taking 1, be equivalent to the right of routineN pIndividual Range Profile pattern is averaging, now distance in early days
As pattern and nearest Range Profile pattern are affected may be very different by variations in temperature, true feelings after being averaging, can not be reflected
Condition.Take forgetting factorλWhen being 1/2, it is approximately equivalent to the contrast Range Profile pattern of current Range Profile pattern of each cycle and record
Being averaging, variations in temperature impact in early days obtains the biggest suppression, but the infrequent noise of current period Range Profile pattern and interference are right
Newly generated contrast Range Profile can produce considerable influence.λ span should according to real space situation (0.5,1] interval become
Change, when temperature relative constancy, take the value near 1, when variations in temperature is violent, take less value.
For convenience of understanding, several more specifically embodiments given below.
Embodiment 1
Fig. 2 is a kind of implementation of the present invention.In the present embodiment, controller 1 writes control word to waveform generator 2
Linear FM signal needed for producing and narrow pulse signal.Linear FM signal, narrow pulse signal combining form such as Fig. 6 b institute
Show.Such as the internal structure block diagram that Figure 10 is a kind of waveform generator, its middle controller 1 is by direct to sequential, the DDS(of clock
Digital frequency synthesizer) frequency control wordK1, pulse-modulator control wordK2It is controlled so that it is produce desire bandwidth model
The linear FM signal enclosed and the narrow pulse signal of base band.After base band narrow pulse signal passes through up-conversion, then pass through bandpass filtering
Device filtering i.e. obtains carrier wave and isf 0Burst pulse radiofrequency signal, wherein the local oscillation signal needed for up-conversion is produced by frequency synthesizer
Raw.Linear FM signal filters off spurious components through band filter, i.e. can get mid frequency and isf 1, carry a width ofBRadio frequency
Signal.Linear frequency modulation radiofrequency signal and burst pulse radiofrequency signal two paths of signals export to ultrasonic waves after being combined into a road by combiner
Energy device 3_1, is converted into ultrasonic wave direction spatial emission to be monitored.
Ultrasonic transformation in space is the signal of telecommunication by ultrasonic transducer 3_2, and exports low-noise amplifier and choosing
Frequently in wave filter 4.Signal separator 6 is entered after being changed to digital signal by A/D transducer 5 sampling.As it is shown on figure 3, enter
The signal entering signal separator 6 is the mixing real signal of burst pulse and linear FM signal, this signal input respectively DDC_1 and
In DDC_2.In DDC_1 local oscillator use digital oscillator (NCO), its produce mid frequency be f0(burst pulse mid frequency) two
Road orthogonal sine signal, filters high fdrequency component by low pass filter after being mixed with input signal, finally obtains the base of burst pulse
Band digital signal.The mid frequency f1 that sinusoidal signal mid frequency is linear FM signal that in DDC_2, NCO produces, by low pass
Wave filter obtains the baseband digital signal of linear FM signal after filtering high fdrequency component.Export by DDC_1 is burst pulse base band
Complex signal, DDC_2 export is linear frequency modulation baseband complex signal.
The two paths of signals of signal separator 6 output enters digital signal processor 7.Digital signal processor 7 is controlled
Device 1 controls, and first the linear FM signal received is made digital pulse-compression and processes, and divide range gate unit；To entrance
Narrow pulse signal divide range gate unit.Secondly, by two groups of range gate unit synthesizing one-dimensional Range Profile patterns.Again, will be away from
Offset from as the contrast Range Profile pattern of pattern with record, whether change according to Threshold detection spatiality.Finally, according to
Whether spatiality changes, and does not changes, the contrast Range Profile pattern updated record；Change then records change location, and notifies
Controller 1.
Controller 1 obtains the result of determination of digital signal processor 7, according to result of determination, record change location information and
Change cumulative frequency determines the handling process after digital signal processor 7, i.e. updates contrast Range Profile pattern or enters next
The monitoring cycle contrasts again.When spatial variations cumulative frequency exceedes certain value, controller 1 notifies that alarm module is reported to the police.
The present embodiment device can be used for the anti-theft monitoring in automobile, is installed on corner on automobile rear, such as accompanying drawing 9 institute
Showing, according to general interior space size, the maximum monitoring range of anti-theft device is located at 2.5m.The present embodiment uses linear frequency modulation arteries and veins
Rush signal center frequencyf 1=25KHz, signal bandwidth is B=5KHz, pulsewidth τ2=1ms；Narrow pulse signal carrier frequencyf 0 =
40KHz, pulsewidth τ1=0.1ms；The mixed signal pulse period takes T=20ms, signal amplitude A=1v, and sample rate isf s =100KHz is right
Answer the sampling intervalT s =10μs.Can be obtained by above parameter and closely monitor space length image distance is 1.7cm from cell size, far monitors sky
Spacing is 3.4cm as size.If after offseting, the distance element number having more than thresholding spatial variations differs more than 10 for phase
Away from far.Set Weighted distance as numberN pBeing 10, forgetting factor isλBeing 0.8, the threshold value of the change cumulative frequency of warning is 3.
Echo baseband signal is made to have white Gaussian noise, signal to noise ratioSNRDuring=10dB, the parameter of target setting is as follows: main target is two
Arranging seat and steering wheel and instrument board, two row's seats are respectively at 0.1m and 1.1m, and steering wheel and instrument board are at 1.8m.Occur
Car in invasion in distance 1.6m front-row seats position.
According to ultrasound wave SS theft preventing method based on Range Profile, there is a following result:
Accompanying drawing 11 gives transmitting and the echo waveform of normalization amplitude in a cycle.
Accompanying drawing 12 gives Range Profile and the check pattern that the moment before and after spatial variations closely monitors space.
Before and after accompanying drawing 13 spatial variations, the moment far monitors Range Profile and the check pattern in space.
Accompanying drawing 14 gives the check pattern after Range Profile cut-off and detection threshold schematic diagram.
In figure, solid line is thresholding schematic diagram, detection threshold can determine that and there occurs spatial variations near 1.6m position, inspection
Mapping case occurs more than the spike of thresholding.To the numerical value outside monitoring space, it can be made to be equal to a certain numerical value less than detection threshold,
The result of spatiality monitoring would not be affected.
Embodiment 2
Figure 15 is that another of the present invention is embodied as implementation.In the present embodiment, described ultrasonic probe, ultrasonic receiver and
Ultrasonic transmission device includes public ultrasonic transducer and the transmit-receive switch being connected with ultrasonic transducer, described ultrasound wave
Receive device also include filter amplifier and separate change-over circuit, the simulation that filter amplifier is exported by described separation change-over circuit
Signal separator is burst pulse and linear FM signal, and is converted into digital signal；Described separation change-over circuit outfan and numeral
Signal processor connects；
Described transmit-receive switch have one end of transmitting path and receiving path, transmitting path and receiving path respectively with waveform
The input of generator output and filter amplifier connects, and the other end is all connected with ultrasonic transducer.
Other apparatus structures are the most in the same manner as in Example 1.The present embodiment uses single linear FM signal, is surpassed by one
Acoustic wave transducer realizes launching and receiving, transmit-receive switch 10 realize transceiver insulation, and the signal separator 6 in embodiment 1 replaces
Being changed to digital down converter 11, the intermediate frequency (IF) Linear FM signal of input is converted into linear frequency modulation numeral base by digital down converter 11
Band signal exports.The detailed description of the invention of same section just repeats no more at this.Difference portion detailed description of the invention is as follows:
Accompanying drawing 16 gives the internal structure of waveform generator 9, and its middle controller 1 is by the sequential of clock, the frequency of DDS
Rate control wordKIt is controlled so that it is produce the base band linear FM signal of desire bandwidth scope.Base band chirp is believed
Number by after up-conversion, more i.e. obtain mid frequency by band filter BPF filtering and bef 1, with the linear frequency modulation arteries and veins of a width of B
Rushing radiofrequency signal, wherein the local oscillation signal needed for up-conversion is produced by frequency synthesizer.Linear frequency modulation radiofrequency signal is by transmitting-receiving
After switch 10, output is to ultrasonic transducer 3, is converted into ultrasonic wave direction spatial emission to be monitored.
Accompanying drawing 17 gives the internal structure of Digital Down Convert (DDC) 11, and numerically-controlled oscillator NCO produces signal respectively
For cos (ω0N) with sin (ω0N), wherein ω0=2πf 1/f s.The two paths of signals mixing that signal echo produces with NCO respectively, logical
After crossing wave digital lowpass filter, it is thus achieved that the complex base band linear FM signal of I, Q passage.
Complex base band linear FM signal is made process of pulse-compression by signal processor 7, and pulse compression here uses frequency domain arteries and veins
Compacting is existing, it is achieved method is as shown in Figure 18.I, Q two paths of data of LFM Echo digital signal is stored in shift LD respectively
In device, being multiplied with the weight coefficient deposited in memory after FFT, the IFFT of its product is i.e. the number after pulse compression
According to.Shifted the depositing of these data exports after modulus, iss 3Pulse pressure output result represented by (n) formula.Wherein in memorizer
Weight coefficient be normalized frequency receptance function H (f):
In formula, modulation slopeμ =2πB/τ 2 。
After output pulse compression, signal has same form with signal in embodiment 1.
SS theft preventing method corresponding to the present embodiment compared with Example 1, in step 11 to step 13, is i.e. being sentenced
Fixed, renewal exists different, as shown in Figure 19 from alarm portion.At defined in the SS theft preventing method of the present embodiment one
The detection cycle is that multiple continuous print monitors the cycle.System update record current and adjacent before multiple monitoring cycles judgement knot
Really；Whether the result of determination in each monitoring cycle is recorded as changing and spatial variations position.In the case of changing,
System by record each spatial variations position centered by, occur in statistical distance thresholding spatial variations monitoring the cycle
Number；When there is monitoring number of cycles and meeting or exceeding alarm threshold value, report to the police.
Its concrete handling process is as shown in attached 20.
Step 10: when determining spatiality and may change, performs this step and step 11, otherwise skips this step
With step 11.Digital signal processor notification controller exist change once, controller record the currently monitored mechanical periodicity away from
From numbering.And eliminate the result monitoring the cycle in the detection cycle existed the earliest.
Step 11: controller changes in contrast distance element number, if all changes distance element number is corresponding in distance
Position wide apart, then be judged to influence of noise, spatiality is unchanged.At a distance of being closely then determined with change.Here distance is sentenced
Fixed according to practical situation setting.
Step 13: controller obtains the result in this monitoring cycle.Thus obtain the detection cycle result updated.According to inspection
Surveying cycle result, when the number in the monitoring cycle of Existential Space change exceedes certain threshold value, notice is reported to the police；Otherwise enter next
The individual monitoring cycle.
The present embodiment, for indoor anti-theft monitoring, can be used for the anti-theft monitoring of the position such as room, warehouse.If room-size is
6m, then the maximum monitoring range of anti-theft device is located at 6m.The present embodiment uses chirp pulse signal mid frequencyf 1 =
25KHz, signal bandwidth is B=5KHz, pulsewidthτ 2 =1ms；The signal pulse cycle takesT=40ms, signal amplitude A=1v, sample rate isf s =100KHz, the corresponding sampling intervalT s =10μs.Can be obtained closely monitoring space length image distance by above parameter from cell size is
1.7cm, remote monitoring space length is 3.4cm as size.If after offseting, distance threshold is the distance element number phase of spatial variations
Differ from 10.Set Weighted distance as numberN pBeing 10, forgetting factor isλBeing 0.95, the threshold value of warning is 3, a detection cycle bag
Containing 5 monitoring cycles.
The present embodiment uses single linear FM signal, there is blind area in 20cm, but for the theft-proof space in room
For size, this blind area can be ignored.Judging again in this embodiment, update and the monitoring theft preventing method of alarm portion amendment,
Can reduce misinformation probability further and improve probability of detection, but the time that burglary-resisting system detection is once is elongated, real-time is
Decline.
Embodiment 3
Accompanying drawing 21 is a kind of implementation of the present invention.The present embodiment equipment therefor divisor weighted-voltage D/A converter 5, Signal separator fill
Put outside 6.Other apparatus structures are the most in the same manner as in Example 1.The present embodiment uses signal form and Range Profile production method and reality
Execute example 1 identical, in the method that intrusion detection and alarm portion can use embodiment 1, it is possible to the method using embodiment 2.Identical
The detailed description of the invention of part just repeats no more at this, and difference portion detailed description of the invention is as follows:
Accompanying drawing 22 gives the simulated implementation structure of signal separator 6.
Analogue signal split circuit in accompanying drawing 22 is by four road power splitters and two signals being connected with four road power splitters
Reason module composition, each signal processing module includes two mixing branch roads, and route frequency mixer and low pass filter are propped up in described mixing
Composition, the signal input part of frequency mixer and signal output part connect an outfan and the low pass filter of four road power splitters respectively
Input；
Described signal processing module also includes local oscillator and 90 degree of phase shifters, the outfan of described local oscillator and 90 degree of phase shifts
The input of device connects, and the outfan of the outfan of described local oscillator and 90 degree of phase shifters is mixed with two mixing branch roads respectively
The local oscillator input of device connects.
The mode using simulation in this structure carries out quadrature demodulation and is separated into linear FM signal and narrow arteries and veins signal
Rushing signal, the principle of Signal separator, is that after mixed signal is mixed with local oscillator, narrow pulse signal and linear FM signal are respectively respectively
Become baseband signal from branch road, and due to the difference of both frequencies, other components after mixing can be filtered by the wave filter of each branch road
Removing, the residue output of last each branch road is single linear frequency modulation baseband signal or burst pulse baseband signal.Zai You tetra-road A/D will
Analogue signal is converted into digital signal.Process afterwards is similar to front embodiment.
A/D sample rate is required lower by the present embodiment, realizes cost with the mode frequency conversion of simulation the lowest, but passage is orthogonal
Property is compared poor, has certain impact to signal processing below.
Previously described each preferred embodiment for the present invention, if the preferred implementation in each preferred embodiment
Not being the most contradictory or premised on a certain preferred implementation, each preferred implementation can any stack combinations
Use, the design parameter in described embodiment and embodiment merely to clearly state the invention proof procedure of inventor, and
Being not used to limit the scope of patent protection of the present invention, the scope of patent protection of the present invention is still as the criterion with its claims, all
It is the equivalent structure change using the description of the present invention and accompanying drawing content to be made, in like manner should be included in the protection model of the present invention
In enclosing.
Claims (2)
1. ultrasound wave SS theft preventing method based on Range Profile, comprises the steps:
S1. to the space to be detected under in a safe condition, ultrasound wave spatial sampling procedures collection based on Range Profile is used to treat
The monitoring space length near, remote in monitoring space is as pattern is as reference pattern；
S2., under monitoring state, ultrasound wave spatial sampling procedures based on Range Profile is used to obtain monitoring space length picture figure remote, near
Case, makees difference with reference pattern respectively and takes absolute value, it is thus achieved that offset rear check pattern；
S3. delimit detection threshold, according to offset in rear check pattern with or without spike exceed detection threshold judge space to be monitored be
No change；
If S4. changing, change frequency is added 1；
When change frequency is more than 1 but does not arrives alarm threshold value, it is judged that the distance corresponding at spike and previous monitoring week occur
Whether phase there is the difference of the distance corresponding at spike more than distance threshold, is then to reset change frequency, and updates reference map
Step S2 is returned after case；Do not reset, return step S2；
Arrive alarm threshold value a detection cycle when change frequency, then report to the police；
If not changing, then update reference pattern；
Described renewal reference pattern particularly as follows:
The Range Profile pattern that this monitoring cycle is obtainedP 0 With frontN pThe Range Profile pattern that-1 time obtainsP i Weight by forgetting factor
It is averaging as the reference pattern after updating；
WhereinλFor forgetting factor, λ value is between 0.5 to 1, and the number for weighted average distance picture isN p, i=0,
1 ...,N p-1,N pFor weighted number；
Described ultrasound wave spatial sampling procedures based on Range Profile comprises the steps:
S101. to spatial emission narrow pulse signal to be monitored and linear FM signal；
S102. receive the echo-signal in space to be monitored, be translated into digital baseband signal, and be separated into burst pulse echo
Digital signal and LFM Echo digital signal；
S103. burst pulse echo digital signal is made slip accumulation process, i.e. narrow pulse signal is carried out int (D) some Fourier
Converting and export the signal of 0 frequency, after slip accumulation process, n moment output signal is:
, wherein,DFor pulse compression ratio,D =τ 2 B,Cumulative process of sliding count take int (D),
Int() being bracket function, x (n) is the burst pulse baseband signal inputted in the n moment；
LFM Echo digital signal is carried out process of pulse-compression, and pulse compression ratio is D；
S104. the signal after processing in step S103 is divided distance unit, wherein burst pulse distance unit according to time delay
Its pulse width a length ofτ 1 , linear FM signal distance element length is Δ rLFM, it is divided into N number of；
S105. utilize the distance unit composition nearly monitoring space length belonging to burst pulse echo digital signal as pattern, belong to line
In the distance unit of property frequency modulation echo digital signal,N 1+ 1 arrives n-th apart from unit composition remote monitoring space length as pattern,
WhereinN 1=int(D), int () is bracket function；
Described step S103 carries out process of pulse-compression realize for employing Frequency Domain Pulse method or time domain pulse pressure method,
Described Frequency Domain Pulse particularly as follows:
I, Q two paths of data of LFM Echo digital signal is stored in shift register respectively, with weight coefficient after FFT
Being multiplied, its product remakes the data after IFFT i.e. obtains pulse compression；By exporting after its modulus, i.e. obtain pulse compression result；
Wherein weight coefficient is normalized frequency receptance functionH ( f ):
In formula, modulation slopeμ =2πB/τ 2 ；WhereinBFor signal bandwidth,τ 2 For width during linear FM signal；
Described time domain pulse pressure method particularly as follows:
The baseband I of LFM Echo, Q two paths of data s2I(n) and s2Q(n) respectively with sI(n) and sQN () carries out related operation,
Wherein related operation coefficient sI(n) and sQN () is respectively real part and the imaginary part of s (n) signal,
s2I(n) and sIResult and s after (n) related operation2Q(n) and sIN after () related operation, result is kept to multiple correlation computing I road mutually
Output, s2Q(n) and sI(n) correlation result and s2I(n) and sQN () correlation result adds up to multiple correlation computing Q road defeated
Going out, squared to multiple correlation computing I, Q two paths of signals and that also evolution obtains after can obtaining multiple correlation computing linear FM signal is defeated
Go out signal:
For pulse compression result；
WhereinBFor signal bandwidth,τ 2 For width during linear FM signal,A rFor signal amplitude, Ts is the sampling interval, and it is sampling
The inverse of rate fs；f1For linear FM signal mid frequency；For initial phase；Pulse compression ratio D=B*τ 2 , n is numeral after sampling
The sequence number of signal, Ts is the sampling interval, and meets relation t=n*Ts, and t is moment time；Tr represents and plays receipts from x time
Time interval to echo.
2. ultrasound wave SS theft preventing method based on Range Profile as claimed in claim 1, it is characterised in that described detection week
Phase comprises one or more monitoring cycle；
When comprising a monitoring cycle, the final result of determination in monitoring cycle is recorded as change frequency, and system is to change frequency
Operation only cumulative or empty, change frequency reaches alarm threshold value and then reports to the police；
When comprising multiple monitoring cycle, system update record current and adjacent before the result of determination in multiple monitoring cycles；
Whether the result of determination in each monitoring cycle is recorded as changing and spatial variations position；In the case of changing, it is
Unite by record each spatial variations position centered by, occur in statistical distance thresholding spatial variations monitoring the cycle
Number；Alarm threshold value alarm is met or exceeded when there is monitoring number of cycles.
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