CN105891818A - High-precision radar velocity measuring system and velocity measuring method - Google Patents
High-precision radar velocity measuring system and velocity measuring method Download PDFInfo
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- CN105891818A CN105891818A CN201610262101.5A CN201610262101A CN105891818A CN 105891818 A CN105891818 A CN 105891818A CN 201610262101 A CN201610262101 A CN 201610262101A CN 105891818 A CN105891818 A CN 105891818A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a high-precision radar velocity measuring system and velocity measuring method. The high-precision radar velocity measuring system includes a 24.15G continuous wave radar antenna; a back-end digital signal processing unit includes a signal conditioning circuit, a main controller, a 5V to 3.3V circuit, RS485 serial communication, RS232 serial communication and a 5V power supply; the 24.15G continuous wave radar antenna continuously transmits 24.15G sine wave signals and processes feedback signals to obtain a Doppler frequency difference; the signals enter into the signal conditioning circuit in the back-end digital signal processing unit for filtering and amplification processing, and the filtered and amplified signals are sent into an ADC port of the main controller; the main controller conducts Fourier transform of the signals into speed and direction of movement information of a vehicle, and triggers a camera to take photos if the vehicle drives over the speed limit. The invention is high in load capacity and reliable in operation; and has a high test precision and achieves real-time camera capture of violation vehicle license plate, and a host computer is capable of real-time monitoring, and plays an important role in reduction of the occurrence of traffic accidents.
Description
Technical field
The present invention relates to road traffic technical field, especially a kind of High Accuracy Radar velocity-measuring system and the side of testing the speed
Method.
Background technology
In prior art, photoelectric velocity measurement, coil test the speed and radar velocity measurement is the major way to vehicle speed measuring.
Coil tests the speed and is embedded in below highway, and when vehicle is by coil, vehicle makes coil deform upon, detector
Change calculations according to coil magnetic field goes out car speed, but the method construction and later maintenance cost are high, and installs
Time can cause systemic breakdown, be not suitable for popularization and application on a large scale；Photoelectric velocity measurement is relatively simple to install, and works as vehicle
When low speed passes through, certainty of measurement is higher, but when speed reaches more than 150km/h, precision is low, tests the speed and is limited in scope；Thunder
Reaching tests the speed is the major way that detection overspeed of vehicle travels at present, but most of radar velocity measurement system utilizes single-chip microcomputer
As master controller, the method using counting frequency discrimination, test circuit is complicated for it, measure function singleness, precision not
Height, seriously limits application and the popularization of product.
Summary of the invention
The technical problem to be solved is, it is provided that a kind of High Accuracy Radar velocity-measuring system rational in infrastructure
And speed-measuring method, measuring accuracy is high, it is achieved photographic head real-time capture violation vehicle car plate and the merit of ipc monitor
Energy.
For solving above-mentioned technical problem, the present invention provides a kind of High Accuracy Radar velocity-measuring system, including front radio-frequency
Unit and back-end digital signal processing unit；Front radio-frequency unit includes 24.15G continuous wave radar antenna；After
End digital signal processing unit includes that signal conditioning circuit, master controller, 5V turn 3.3V circuit, RS485 string
Port communications, RS232 serial communication and 5V power supply；5V power supply provides the electricity of 5V to respectively system modules
Pressure, 5V turns 3.3V circuit and the voltage that 5V power supply provides is converted to 3.3V voltage to be supplied to signal condition electric
Road, is communicated with RS232 serial communication by RS485 serial communication between 5V power supply and master controller；
24.15G continuous wave radar antenna continuously transmits 24.15G sine wave signal, at the signal that will feed back
Reason, obtains Doppler frequency difference；Signal enters the signal conditioning circuit in back-end digital signal processing unit, to letter
Number be filtered, processing and amplifying, filter, amplify after signal sent into the ADC port of master controller；Master control
Device processed carries out Fourier transformation to signal, is converted into speed and the direction of motion information of vehicle, if hypervelocity, triggers
Take pictures photographic head.
Preferably, signal is filtered using bandpass filtering by signal conditioning circuit, and bandpass range is
100Hz-18KHz, the scope of testing the speed is 1km/h-400km/h.
Preferably, 24.15G continuous wave radar antenna include agitator, reception antenna, transmitting antenna, first
Frequency mixer, the second frequency mixer and three-mixer；It is f that agitator sends a frequencytraTransmitting signal, its
In an emitted antenna in road launch, a road be split into two-way respectively enter I, Q place passage second mix
Frequently, in device and three-mixer, the signal of Q passage the most also needs the phase shift through 90 °；Reception antenna
The echo-signal received, after low noise amplification processes, through the two paths of signals of the first frequency mixer with shunting in real time
Being mixed, the signal obtained after mixing, again through intermediate frequency filtering processing and amplifying, finally gives I, Q two-way intermediate frequency
Signal, all carries the velocity information of detection target in I, Q two-way IF output signal.
Preferably, I, Q two-way intermediate-freuqncy signal all includes a Doppler frequency difference fD, the meter of Doppler frequency difference
Calculation formula isWherein, fD is Doppler frequency difference, and f0 is the transmitting frequency of radar antenna
Rate, v is the velocity interval of object, and c0 is the light velocity；α be motion actual direction and sensor target line it
Between angle.
Preferably, the IF amplifier circuit that Doppler frequency difference is built via TLV2374 amplifier, send into main
Controller chip STM32F407.
A kind of High Accuracy Radar speed-measuring method, comprises the steps:
(1) 12 ADC that master controller carries gather n time domain data, and n time domain data is filtered by FIR
Carry out n point FFT computing after ripple, obtain velocity amplitude and directional information；
(2) step (1) is repeated, obtains m velocity amplitude, calculate these values difference each other, if poor
Value less than the threshold value set, then exports the draw value of multiple velocity amplitude；
(3) if difference is more than the threshold value set, then the data collected are carried out transform, calculate transform defeated
Go out and find out immediate numerical value, as values for actual speed with FFT output；
(4) velocity amplitude and the directional information of output are judged, if hypervelocity, then trigger photographic head and take pictures.
Preferably, the value of n is 2048, and the value of m is 3.
The invention have the benefit that system load ability is strong, reliable；Measuring accuracy is high, it is achieved shooting
Head real-time capture violation vehicle car plate, and host computer can monitor in real time, to reducing traffic accidents
Play an important role, there is the highest promotional value.
Accompanying drawing explanation
Fig. 1 is the total system schematic diagram of the present invention.
Fig. 2 is the 24.15G continuous wave radar inner antenna structural representation of the present invention.
Fig. 3 is the method flow schematic diagram of the present invention.
Detailed description of the invention
Such as Fig. 1, a kind of High Accuracy Radar velocity-measuring system, including 24.15G continuous wave radar antenna；Rear terminal number
Word signal processing unit includes that signal conditioning circuit, master controller, 5V turn 3.3V circuit, RS485 serial ports leads to
Letter, RS232 serial communication and 5V power supply；5V power supply provides the voltage of 5V to respectively system modules,
5V turns 3.3V circuit and the voltage that 5V power supply provides is converted to 3.3V voltage is supplied to signal conditioning circuit,
Communicated with RS232 serial communication by RS485 serial communication between 5V power supply and master controller；
24.15G continuous wave radar antenna continuously transmits 24.15G sine wave signal, at the signal that will feed back
Reason, obtains Doppler frequency difference；Signal enters the signal conditioning circuit in back-end digital signal processing unit, to letter
Number be filtered, processing and amplifying, filter, amplify after signal sent into the ADC port of master controller；Master control
Device processed carries out Fourier transformation to signal, is converted into speed and the direction of motion information of vehicle, if hypervelocity, triggers
Take pictures photographic head.
Signal is filtered using bandpass filtering by signal conditioning circuit, and bandpass range is 100Hz-18KHz,
The scope of testing the speed is 1km/h-400km/h.
As in figure 2 it is shown, 24.15G continuous wave radar antenna include agitator, reception antenna, transmitting antenna,
First frequency mixer, the second frequency mixer and three-mixer；It is f that agitator sends a frequencytraTransmitting signal,
Wherein an emitted antenna in road is launched, and a road is split into two-way and respectively enters the second of I, Q place passage
In frequency mixer and three-mixer, the signal of Q passage the most also needs the phase shift through 90 °；Receive sky
The echo-signal that line receives, after low noise amplification processes, through the two-way letter of the first frequency mixer with shunting in real time
Number being mixed, the signal obtained after mixing, again through intermediate frequency filtering processing and amplifying, finally gives in I, Q two-way
Frequently signal, all carries the velocity information of detection target in I, Q two-way IF output signal.
I, Q two-way intermediate-freuqncy signal all includes a Doppler frequency difference fD, and the computing formula of Doppler frequency difference isWherein, fD is Doppler frequency difference, and f0 is the tranmitting frequency of radar antenna, and v is
The velocity interval of object, c0 is the light velocity；α is the angle between actual direction and the sensor target line of motion
Degree.
The IF amplifier circuit that Doppler frequency difference is built via TLV2374 amplifier, sends into master controller core
Sheet STM32F407, TLV2374 amplifier has Width funtion working range, as little as 2.7V, and bandwidth of operation is up to
3M, is fully able to meet system application.
As it is shown on figure 3, a kind of High Accuracy Radar speed-measuring method, comprise the steps:
(1) 12 ADC that master controller carries gather n time domain data, and n time domain data is filtered by FIR
Carry out n point FFT computing after ripple, obtain velocity amplitude and directional information；
(2) step (1) is repeated, obtains m velocity amplitude, calculate these values difference each other, if poor
Value less than the threshold value set, then exports the draw value of multiple velocity amplitude；
(3) if difference is more than the threshold value set, then the data collected are carried out transform, calculate transform defeated
Go out and find out immediate numerical value, as values for actual speed with FFT output；
(4) velocity amplitude and the directional information of output are judged, if hypervelocity, then trigger photographic head and take pictures.
Compare through test of many times, select 1024 FFT, need ADC owing to obtaining movement direction of object information
Two passages gather simultaneously, then compare the phase place of these two groups of data, and therefore the value of n elects 2048 points as, weight
The multiple number of times m calculated elects 3 as, and during the actual test in upper road, range rate error is less than 1%.
Although the present invention is illustrated with regard to preferred implementation and described, but those skilled in the art should manage
Solve, without departing from scope defined by the claims of the present invention, the present invention can be carried out various change and
Amendment.
Claims (7)
1. a High Accuracy Radar velocity-measuring system, it is characterised in that including: front radio-frequency unit and back-end digital letter
Number processing unit；Front radio-frequency unit includes 24.15G continuous wave radar antenna；Back-end digital signal processing
Unit includes that signal conditioning circuit, master controller, 5V turn 3.3V circuit, RS485 serial communication, RS232
Serial communication and 5V power supply；5V power supply provides the voltage of 5V to respectively system modules, and 5V turns
The voltage that 5V power supply provides is converted to 3.3V voltage and is supplied to signal conditioning circuit, 5V by 3.3V circuit
Communicated with RS232 serial communication by RS485 serial communication between power supply and master controller；
24.15G continuous wave radar antenna continuously transmits 24.15G sine wave signal, is entered by the signal fed back
Row processes, and obtains Doppler frequency difference；Signal enters the signal condition electricity in back-end digital signal processing unit
Road, is filtered signal, processing and amplifying, filter, amplify after signal sent into the ADC of master controller
Port；Master controller carries out Fourier transformation to signal, is converted into speed and the direction of motion information of vehicle,
If hypervelocity, trigger photographic head of taking pictures.
2. High Accuracy Radar velocity-measuring system as claimed in claim 1, it is characterised in that signal conditioning circuit is to letter
Number being filtered using bandpass filtering, bandpass range is 100Hz-18KHz, and the scope of testing the speed is
1km/h-400km/h。
3. High Accuracy Radar velocity-measuring system as claimed in claim 1, it is characterised in that 24.15G continuous wave radar
Antenna includes that agitator, reception antenna, transmitting antenna, the first frequency mixer, the second frequency mixer and the 3rd are mixed
Frequently device；It is f that agitator sends a frequencytraTransmitting signal, wherein an emitted antenna in road is launched,
One tunnel is split in the second frequency mixer and the three-mixer that two-way respectively enters I, Q place passage, and Q leads to
The signal in road the most also needs the phase shift through 90 °；The echo-signal that reception antenna receives, through low
After noise processing and amplifying, it is mixed with the two paths of signals shunted in real time through the first frequency mixer, after mixing
The signal arrived, again through intermediate frequency filtering processing and amplifying, finally gives I, Q two-way intermediate-freuqncy signal, I, Q two-way
IF output signal all carries the velocity information of detection target.
4. High Accuracy Radar velocity-measuring system as claimed in claim 3, it is characterised in that I, Q two-way intermediate-freuqncy signal
All including a Doppler frequency difference fD, the computing formula of Doppler frequency difference is
Wherein, fD is Doppler frequency difference, and f0 is the tranmitting frequency of radar antenna, and v is the velocity interval of object,
C0 is the light velocity；α is the angle between actual direction and the sensor target line of motion.
5. High Accuracy Radar velocity-measuring system as claimed in claim 4, it is characterised in that Doppler frequency difference via
The IF amplifier circuit that TLV2374 amplifier is built, sends into master controller chip STM32F407.
6. a High Accuracy Radar speed-measuring method, comprises the steps:
(1) 12 ADC that master controller carries gather n time domain data, and n time domain data is filtered by FIR
Carry out n point FFT computing after ripple, obtain velocity amplitude and directional information；
(2) step (1) is repeated, obtains m velocity amplitude, calculate these values difference each other, if poor
Value less than the threshold value set, then exports the draw value of multiple velocity amplitude；
(3) if difference is more than the threshold value set, then the data collected are carried out transform, calculate transform defeated
Go out and find out immediate numerical value, as values for actual speed with FFT output；
(4) velocity amplitude and the directional information of output are judged, if hypervelocity, then trigger photographic head and take pictures.
7. High Accuracy Radar speed-measuring method as claimed in claim 6, it is characterised in that: the value of n is 2048, m
Value be 3.
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| CN201610262101.5A CN105891818A (en) | 2016-04-22 | 2016-04-22 | High-precision radar velocity measuring system and velocity measuring method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107123176A (en) * | 2017-04-27 | 2017-09-01 | 成都凌点科技有限公司 | Supervising device with radar function |
| CN108535718A (en) * | 2018-04-03 | 2018-09-14 | 芜湖航飞科技股份有限公司 | Trailer-mounted radar velocity-measuring system based on DSP |
| CN108801660A (en) * | 2017-04-27 | 2018-11-13 | 南京理工大学 | A kind of test in laboratory device and method of bullet train emergency braking performance |
| CN109031220A (en) * | 2018-07-23 | 2018-12-18 | 惠州市华阳光电技术有限公司 | A kind of Radar cross-section redaction filtering method and its circuit |
| CN110058221A (en) * | 2018-10-19 | 2019-07-26 | 陕西长岭电子科技有限责任公司 | Doppler radar low speed speed-measuring method |
| CN110832341A (en) * | 2018-12-27 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Vehicle speed calculation method, system, device and storage medium |
| CN111551937A (en) * | 2020-05-18 | 2020-08-18 | 西安电子科技大学 | Vehicle speed detection system applying double-Doppler microwave radar sensor |
| CN112741618A (en) * | 2020-12-22 | 2021-05-04 | 浙江大学 | Tongue posture detection system and method based on FMCW radar |
| CN113325416A (en) * | 2021-06-05 | 2021-08-31 | 快趣网络科技发展(上海)有限公司 | Golf radar sensor measuring unit |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107123176A (en) * | 2017-04-27 | 2017-09-01 | 成都凌点科技有限公司 | Supervising device with radar function |
| CN108801660A (en) * | 2017-04-27 | 2018-11-13 | 南京理工大学 | A kind of test in laboratory device and method of bullet train emergency braking performance |
| CN108801660B (en) * | 2017-04-27 | 2020-06-19 | 南京理工大学 | Laboratory detection device and method for emergency braking performance of high-speed train |
| CN108535718A (en) * | 2018-04-03 | 2018-09-14 | 芜湖航飞科技股份有限公司 | Trailer-mounted radar velocity-measuring system based on DSP |
| CN109031220A (en) * | 2018-07-23 | 2018-12-18 | 惠州市华阳光电技术有限公司 | A kind of Radar cross-section redaction filtering method and its circuit |
| CN110058221A (en) * | 2018-10-19 | 2019-07-26 | 陕西长岭电子科技有限责任公司 | Doppler radar low speed speed-measuring method |
| CN110832341A (en) * | 2018-12-27 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Vehicle speed calculation method, system, device and storage medium |
| CN110832341B (en) * | 2018-12-27 | 2024-06-11 | 深圳市卓驭科技有限公司 | Vehicle speed calculation method, system, equipment and storage medium |
| CN111551937A (en) * | 2020-05-18 | 2020-08-18 | 西安电子科技大学 | Vehicle speed detection system applying double-Doppler microwave radar sensor |
| CN111551937B (en) * | 2020-05-18 | 2023-03-24 | 西安电子科技大学 | Vehicle speed detection system applying double-Doppler microwave radar sensor |
| CN112741618A (en) * | 2020-12-22 | 2021-05-04 | 浙江大学 | Tongue posture detection system and method based on FMCW radar |
| CN113325416A (en) * | 2021-06-05 | 2021-08-31 | 快趣网络科技发展(上海)有限公司 | Golf radar sensor measuring unit |
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Application publication date: 20160824 |