CN106646416B - A kind of airfield runway foreign matter detecting method - Google Patents
A kind of airfield runway foreign matter detecting method Download PDFInfo
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- CN106646416B CN106646416B CN201611122439.7A CN201611122439A CN106646416B CN 106646416 B CN106646416 B CN 106646416B CN 201611122439 A CN201611122439 A CN 201611122439A CN 106646416 B CN106646416 B CN 106646416B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The present invention discloses a kind of airfield runway foreign matter detecting method, comprising: S1, the FFT transform that finite length is carried out to intermediate-freuqncy signal obtain the frequency spectrum of intermediate-freuqncy signal；S2, according to the frequency of the first spectrum component of spectrum estimation, judge the first spectrum component frequency whether be FFT transform frequency resolution integral multiple: if then using the frequency of the first spectrum component of intermediate-freuqncy signal as the actual frequency of its corresponding target；If otherwise frequency interpolation is carried out to the frequency of the first spectrum component, using frequency interpolation result as the actual frequency of its corresponding target；S3, the amplitude and phase of target are obtained according to the actual frequency of target, and calculates the distance of target；The residual signal that S4, the corresponding cosine signal of actual frequency that intermediate-freuqncy signal is subtracted to target obtain is transferred to step S1, until obtaining the distance of all targets as new intermediate-freuqncy signal.The present invention improves target detection precision.
Description
Technical field
The present invention relates to airport security protection technology fields.More particularly, to a kind of airfield runway foreign matter detecting method.
Background technique
Airfield runway foreign matter (Foreign Object Debris, FOD), refers to certain exotic that may damage aircraft
Matter, clast or object, such as metal parts, crushed stone, paper scrap, leaf.FOD seriously affects the safety of aircraft, according to conservative estimation,
The annual whole world is because of about hundred million dollars of 30-40 of loss caused by FOD.In recent years, with the continuous development of civil aviaton's cause, FOD from
Dynamic monitoring also results in worldwide concern.
Presently, there are FOD monitor system, such as the Tarsier of Britain, the FODetect of Israel, the FOD in the U.S.
The systems such as Finder mainly use millimetre-wave radar or millimetre-wave radar/optics composite mode.Millimetre-wave radar has high-resolution
The advantages of rate and small size, can foreign matter round-the-clock, on the runway of round-the-clock means for automatic monitoring field, compare be adapted for mount to airport race
Near road, the alien material on airfield runway can be accurately detected.It is continuous that above-mentioned FOD monitoring system is all made of linear frequency modulation
The radar transmission power of wave radar system, this system is low, and receiver sensitivity is high, and detection range is remote, no blind range zone, can
Detect Small object.
FOD in the prior art monitoring system detection static target be convert target detection to it is relevant to target range
Frequency parameter estimation.The method of frequency parameter estimation can be divided into two class of time domain and frequency domain, and time domain approach estimation is related to multi-parameter meter
It calculates, and calculation amount is larger, cannot achieve real-time；In comparison, frequency domain method is based primarily upon discrete to time-domain signal progress
Fourier transformation, this can realize acceleration by Fast Fourier Transform (FFT) (FFT), while not be related to multi-parameter inversion problem, because
And detect speed faster, more it is able to satisfy the quick testing requirements of airfield runway foreign matter.
Although the frequency domain estimation method based on FFT has the advantages that quickly to calculate, there are two o'clocks for FFT method itself not
Foot: 1) spectral leakage caused by finite sampling time；2) frequency-distributed bring fence effect.This can all influence Frequency Estimation
Accuracy, and then influence target detection rate.In addition, this method can not detect the weak signal target under strong target jamming.
Accordingly, it is desirable to provide a kind of airfield runway foreign matter detecting method.
Summary of the invention
The purpose of the present invention is to provide a kind of airfield runway foreign matter detecting methods, to improve the weak mesh under strong target jamming
Mark detection probability.
In order to achieve the above objectives, the present invention adopts the following technical solutions:
A kind of airfield runway foreign matter detecting method, this method comprises the following steps:
S1, the FFT transform that finite length is carried out to the intermediate-freuqncy signal that target echo obtains after mixed, obtain intermediate frequency
The frequency spectrum of signal；
S2, the frequency according to the first spectrum component of the spectrum estimation intermediate-freuqncy signal of intermediate-freuqncy signal, judge the first frequency spectrum point
The frequency of amount whether be FFT transform frequency resolution integral multiple: if then by the frequency of the first spectrum component of intermediate-freuqncy signal
Actual frequency of the rate as the corresponding target of first frequency component；If otherwise carrying out frequency to the frequency of the first spectrum component to insert
Value, using the frequency of the first spectrum component obtained after frequency interpolation as the actual frequency of the corresponding target of first frequency component,
To obtain the actual frequency of the corresponding target of more accurate first frequency component, target detection precision is improved；
S3, the width of the corresponding target of first frequency component is obtained according to the actual frequency of the corresponding target of first frequency component
Degree and phase, and calculate the distance of the corresponding target of first frequency component；
What S4, the corresponding cosine signal of actual frequency that intermediate-freuqncy signal is subtracted to the corresponding target of first frequency component obtained
Residual signal is transferred to step S1 as new intermediate-freuqncy signal, until obtaining the distance of all targets.
Preferably, according to the frequency of the first spectrum component of the spectrum estimation intermediate-freuqncy signal of intermediate-freuqncy signal described in step S2
Formula are as follows:
Wherein, k1For the frequency of the first spectrum component maximum value, fsFor sample frequency, N is the length of FFT transform.
Preferably, the frequency resolution of FFT transform are as follows: Δ f=fs/N。
Preferably, the detailed process of frequency interpolation is carried out in step S2 to the frequency of the first spectrum component are as follows:
The value formula of the actual frequency of target are as follows:
Wherein, δ is that the actual frequency of target deviates the frequency k of the first spectrum component maximum value1Deviation value；
The frequency of first spectrum component and the frequency proportions parameter of adjacent spectral components are as follows:
α1=R { SIF(k1-1)/SIF(k1)}
α2=R { SIF(k1+1)/SIF(k1)}
Wherein, R { } is that representative takes real；
Two estimated values for calculating deviation value δ are as follows:
δ1=α1/(1-α1)
δ2=-α2/(1-α2)
The value of deviation value δ is calculated by two estimated values of deviation value δ are as follows:
The actual frequency of target is calculated in the value formula that will deviate from the actual frequency that value δ substitutes into target
Preferably, the calculation formula of the distance of the corresponding target of first frequency component is calculated in step S3 are as follows:
Wherein, α is chirp rate, and c is the light velocity.
Beneficial effects of the present invention are as follows:
The technical solution of the present invention method using frequency domain interpolation and time domain window function reduces FFT technique itself
Defect, by interpolation using discrete point spectrum information obtain target actual frequency (actual spectrum position), obtain target away from
From, and then can get the location information of target；The weak mesh under strong target jamming is improved using the method for frequency component separation simultaneously
Detection probability is marked, the distance and location information of all targets are obtained by successive ignition.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing；
Fig. 1 shows the flow chart of airfield runway foreign matter detecting method.
Fig. 2 shows frequency interpolation schematic diagrames.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further below with reference to preferred embodiments and drawings
It is bright.Similar component is indicated in attached drawing with identical appended drawing reference.It will be appreciated by those skilled in the art that institute is specific below
The content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.
As shown in Figure 1, a kind of airfield runway foreign matter detecting method disclosed by the invention, includes the following steps:
S1, the FFT transform that finite length is carried out to the intermediate-freuqncy signal that target echo obtains after mixed, obtain intermediate frequency
The frequency spectrum of signal；
S2, the frequency according to the first spectrum component of the spectrum estimation intermediate-freuqncy signal of intermediate-freuqncy signal, judge the first frequency spectrum point
The frequency of amount whether be FFT transform frequency resolution integral multiple: if then by the frequency of the first spectrum component of intermediate-freuqncy signal
Actual frequency of the rate as the corresponding target of first frequency component；If otherwise carrying out frequency to the frequency of the first spectrum component to insert
Value, using the frequency of the first spectrum component obtained after frequency interpolation as the actual frequency of the corresponding target of first frequency component,
To obtain the actual frequency of the corresponding target of more accurate first frequency component, target detection precision is improved；
S3, the width of the corresponding target of first frequency component is obtained according to the actual frequency of the corresponding target of first frequency component
Degree and phase, and calculate the distance of the corresponding target of first frequency component；
What S4, the corresponding cosine signal of actual frequency that intermediate-freuqncy signal is subtracted to the corresponding target of first frequency component obtained
Residual signal is transferred to step S1 as new intermediate-freuqncy signal, until obtaining the distance of all targets.
In the present solution, the detailed process of step S1 are as follows:
FOD monitors the signal model of the transmitting signal (linear frequency modulation continuous wave) of radar are as follows:
Wherein, f0For the initial frequency for emitting signal, α=B/T is the chirp rate for emitting signal, and B is swept bandwidth, T
For frequency sweep cycle,For the first phase for emitting signal.
The transmitting signal of FOD monitoring radar is irradiated to the signal model for the target echo that target back reflection is returned
Are as follows:
Wherein, p is target number,I=1,2 ... p are the echo time delay of i-th of target, riFor i-th of target
To the distance of FOD monitoring radar, c is the light velocity.
The signal model for the intermediate-freuqncy signal that target echo obtains after mixing are as follows:
From formula (3) as can be seen that intermediate-freuqncy signal is formed by stacking by p cosine signal, each cosine signal is corresponding
Frequency are as follows:
In this way, the distance of target is with frequency, there are following relationships
The FFT transform that length is N is carried out to the intermediate-freuqncy signal that formula (3) obtains, obtains the frequency spectrum S of intermediate-freuqncy signalIF(K)。
In the present solution, the detailed process of step S2 are as follows:
According to the frequency of the first spectrum component of the spectrum estimation intermediate-freuqncy signal of intermediate-freuqncy signal
Wherein, k1For the frequency (spectrum position) of the first spectrum component maximum value, fsFor sample frequency；
Judge the frequency of the first spectrum componentWhether be FFT transform frequency resolution Δ f=fsThe integral multiple of/N:
If then by the frequency of the first spectrum component of intermediate-freuqncy signalReality as the corresponding target of first frequency component
Border frequency；
If it is not, then the actual frequency of target can be located at the centre of adjacent two spectral line of discrete spectrum because of the fence effect of FFT,
If the actual frequency of target are as follows:
Wherein, δ is that the actual frequency (actual spectrum position) of target deviates the frequency k of the first spectrum component maximum value1's
Deviation value, as shown in Figure 2.
The estimation method of deviation value δ is given below, main thought is logical using the spectrum information on the first spectrum component both sides
Interpolation is crossed to obtain the optimal value of the actual frequency of target:
The frequency of first spectrum component and the frequency proportions parameter of adjacent spectral components are as follows:
α1=R { SIF(k1-1)/SIF(k1)} (8)
α2=R { SIF(k1+1)/SIF(k1)} (9)
Wherein, R { } is that representative takes real；
Two estimated values for calculating deviation value δ by formula (8), (9) are as follows:
δ1=α1/(1-α1) (10)
δ2=-α2/(1-α2) (11)
It is by the value that deviation value δ is calculated in two estimated values of deviation value δ
It will deviate from value δ and substitute into the actual frequency that target is calculated in formula (7)
In the present solution, the detailed process of step S4 are as follows:
By the actual frequency of the corresponding target of first frequency componentIt substitutes into the frequency spectrum of intermediate-freuqncy signal and obtains first frequency
The amplitude and phase of the corresponding target of component；
And the distance of the corresponding target of first frequency component is calculated, it can be obtained by formula (5) and (6), first frequency component is corresponding
Target distanceCalculation formula are as follows:
Therefore, the spectrum distribution of target can be obtained by carrying out FFT variation to intermediate-freuqncy signal, such as shown in (6), in conjunction with formula
(13) range-to-go can be obtained, and then the location information of target can be obtained by distance.
In the present solution, the detailed process of step S5 are as follows:
From discovery in formula (3), intermediate-freuqncy signal is formed by stacking by multiple cosine signals, can be obtained after FFT is carried out to it
The range value of several frequency components, these frequency components is different, and for weak signal target, corresponding spectrum component just be will receive
Come the interference for target spectrum component of improving oneself, increase detection difficulty, to generate missing inspection.It is general to improve airfield runway Faint target detection
Rate promotes FOD and monitors system detection capability, to the simultaneous scene of strong and weak target, using frequency component separation method come complete
At detection, specifically:
Intermediate-freuqncy signal is subtracted to the actual frequency correspondence for 2) subtracting the corresponding target of first frequency component that step S2 is obtained
Cosine signal obtain residual signal, be transferred to step S1, that is, using residual signal as new intermediate-freuqncy signal, to the residual signal
Carry out again above-mentioned calculating frequency spectrum, estimate intermediate-freuqncy signal the first spectrum component frequency, frequency interpolation, obtain first frequency component
The amplitude and phase of corresponding target and calculate distance and etc., until obtaining the distance of all targets.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention may be used also on the basis of the above description for those of ordinary skill in the art
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is all to belong to this hair
The obvious changes or variations that bright technical solution is extended out are still in the scope of protection of the present invention.
Claims (2)
1. a kind of airfield runway foreign matter detecting method, which is characterized in that this method comprises the following steps:
S1, the FFT transform that finite length is carried out to the intermediate-freuqncy signal that target echo obtains after mixed, obtain intermediate-freuqncy signal
Frequency spectrum；
S2, the frequency according to the first spectrum component of the spectrum estimation intermediate-freuqncy signal of intermediate-freuqncy signal, judge the first spectrum component
Frequency whether be FFT transform frequency resolution integral multiple: if then the frequency of the first spectrum component of intermediate-freuqncy signal is made
For the actual frequency of the corresponding target of first frequency component；It, will if otherwise carrying out frequency interpolation to the frequency of the first spectrum component
Actual frequency of the frequency of the first spectrum component obtained after frequency interpolation as the corresponding target of first frequency component；
S3, the amplitude that the corresponding target of first frequency component is obtained according to the actual frequency of the corresponding target of first frequency component and
Phase, and calculate the distance of the corresponding target of first frequency component；
The residue that S4, the corresponding cosine signal of actual frequency that intermediate-freuqncy signal is subtracted to the corresponding target of first frequency component obtain
Signal is transferred to step S1 as new intermediate-freuqncy signal, until obtaining the distance of all targets；
According to the formula of the frequency of the first spectrum component of the spectrum estimation intermediate-freuqncy signal of intermediate-freuqncy signal described in step S2 are as follows:
Wherein, k1For the frequency of the first spectrum component maximum value, fsFor sample frequency, N is the length of FFT transform；FFT transform
Frequency resolution are as follows: Δ f=fs/N；
The detailed process of frequency interpolation is carried out in step S2 to the frequency of the first spectrum component are as follows:
The value formula of the actual frequency of target are as follows:
Wherein, δ is that the actual frequency of target deviates the frequency k of the first spectrum component maximum value1Deviation value；
The frequency of first spectrum component and the frequency proportions parameter of adjacent spectral components are as follows:
α1=R { SIF(k1-1)/SIF(k1)}
α2=R { SIF(k1+1)/SIF(k1)}
Wherein, R { } is that representative takes real；
Two estimated values for calculating deviation value δ are as follows:
δ1=α1/(1-α1)
δ2=-α2/(1-α2)
The value of deviation value δ is calculated by two estimated values of deviation value δ are as follows:
The actual frequency of target is calculated in the value formula that will deviate from the actual frequency that value δ substitutes into target
2. airfield runway foreign matter detecting method according to claim 1, which is characterized in that calculate first frequency in step S3
The calculation formula of the distance of the corresponding target of component are as follows:
Wherein, α is chirp rate, and c is the light velocity.
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| EP0886149B1 (en) * | 1997-06-18 | 2004-09-08 | Honda Giken Kogyo Kabushiki Kaisha | Frequency-modulated continuous-wave radar system |
| CN103777199A (en) * | 2014-02-24 | 2014-05-07 | 中国科学院电子学研究所 | Distance measuring method of frequency modulated continuous wave radar system |
| CN105301591A (en) * | 2015-10-22 | 2016-02-03 | 上海无线电设备研究所 | Road traffic monitoring radar and realization method thereof |
| CN105549110A (en) * | 2015-12-08 | 2016-05-04 | 北京无线电计量测试研究所 | Airport runway foreign object debris detection device and airport runway foreign object debris detection method |
-
2016
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Patent Citations (4)
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|---|---|---|---|---|
| EP0886149B1 (en) * | 1997-06-18 | 2004-09-08 | Honda Giken Kogyo Kabushiki Kaisha | Frequency-modulated continuous-wave radar system |
| CN103777199A (en) * | 2014-02-24 | 2014-05-07 | 中国科学院电子学研究所 | Distance measuring method of frequency modulated continuous wave radar system |
| CN105301591A (en) * | 2015-10-22 | 2016-02-03 | 上海无线电设备研究所 | Road traffic monitoring radar and realization method thereof |
| CN105549110A (en) * | 2015-12-08 | 2016-05-04 | 北京无线电计量测试研究所 | Airport runway foreign object debris detection device and airport runway foreign object debris detection method |
Non-Patent Citations (2)
| Title |
|---|
| Foreign Objects Debris Detection (FOD) on Airport Runways Using a Broadband 78 GHz Sensor;P. Feil et al.;《2008 38th European Microwave Conference》;20081031;全文 |
| 多目标环境下跑道异物监测雷达的CFAR检测技术;吴静 等;《光电工程》;20131031;第40卷(第10期);第42-47页 |
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