CN107783101B - Rotor unmanned aerial vehicle short-distance anti-collision system signal processing method and device based on combined waveform - Google Patents

Rotor unmanned aerial vehicle short-distance anti-collision system signal processing method and device based on combined waveform Download PDF

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CN107783101B
CN107783101B CN201610726209.5A CN201610726209A CN107783101B CN 107783101 B CN107783101 B CN 107783101B CN 201610726209 A CN201610726209 A CN 201610726209A CN 107783101 B CN107783101 B CN 107783101B
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田雨农
王鑫照
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Dalian Roiland Technology Co Ltd
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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
    • G01S13/584—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 adapted for simultaneous range and velocity measurements
    • 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
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • 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
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes

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Abstract

Rotor unmanned aerial vehicle short distance collision avoidance system signal processing method and device based on combination waveform belongs to radar signal processing field for solve the technical problem of unmanned aerial vehicle anticollision, the technical essential is: for each section of waveform, removing IQ data acquired by A/D, removing direct current after removing front part of data points, performing time-frequency FFT (fast Fourier transform), and converting time-domain data into frequency data; performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, regarding data after CFAR threshold detection, making each data be a distance unit, performing binary accumulation on the data of each distance unit, outputting a first peak point passing through a threshold, and calculating to obtain a phase; and calculating one or more of a difference frequency value of a sawtooth wave band, a Doppler frequency value of a constant frequency band, a relative speed value, a relative distance value and a direction angle.

Description

Rotor unmanned aerial vehicle short-distance anti-collision system signal processing method and device based on combined waveform
Technical Field
The invention belongs to the field of radar signal processing, and relates to a signal processing method and device for a short-distance collision avoidance system of a rotor unmanned aerial vehicle.
Background
In recent years, with the continuous development of technologies, the price of a civil small unmanned aerial vehicle is lower and lower, and the civil small unmanned aerial vehicle is widely applied to the fields of aerial photography, movies, agriculture, real estate, news, fire fighting, rescue, energy, remote sensing mapping, wild animal protection and the like. However, according to statistics of foreign relevant organizations, 10 accidents happen to helicopters in every 10000h of flight, and among various accidents, the accident rate caused by collision with obstacles in low-altitude flight accounts for about 35%, and is far more than other accident reasons. The object threatening the outdoor low-altitude flight safety of the unmanned aerial vehicle mainly comprises natural objects such as trees and the like and artificial objects such as power lines, telegraph poles and buildings, wherein the power lines are small in size and difficult to find by naked eyes, so that the flying safety hazard to the unmanned aerial vehicle is the greatest. The reason for analyzing the frequent collision of the unmanned aerial vehicle on the high-voltage line mainly has two aspects: 1. the size of the high-voltage wire is small, and the high-voltage wire is difficult to identify by naked eyes in high altitude; 2. the current unmanned aerial vehicle possesses crashproof function seldom. In summary, the following steps: the development of the unmanned aerial vehicle collision avoidance system has great application value and practical significance from the safety perspective or the economic perspective.
Disclosure of Invention
In order to solve the technical problem of unmanned aerial vehicle collision avoidance, the invention provides a signal processing device of a rotor unmanned aerial vehicle short-distance collision avoidance system based on a combined waveform.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a rotor unmanned aerial vehicle short distance collision avoidance system signal processing device based on a combined waveform is characterized in that the combined waveform is a combined waveform of a sawtooth wave and a constant frequency wave, a first section of the waveform is a sawtooth wave FMCW, and a second section of the waveform is a constant frequency wave CW;
the processing device comprises:
the conversion module is used for removing the IQ data acquired by the A/D for each section of waveform, removing direct current after removing the front part of data points, performing time-frequency FFT (fast Fourier transform) and converting time-domain data into frequency data;
the threshold detection and binary accumulation module is used for performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, enabling each datum to be a distance unit for the data after the CFAR threshold detection, performing binary accumulation on the datum of each distance unit, outputting a first peak point passing through a threshold, and calculating to obtain a phase;
a parameter calculating module for calculating the difference frequency value, constant frequency Doppler frequency value and relative frequency of sawtooth wave band
Speed value, calculating relative distance value, calculating direction angle.
Further, the method for removing direct current in the conversion module is as follows:
(1) calculating the mean value of I, Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after removing the front part points, and calculating the mean value of I, Q data of the sawtooth wave band of the channel 2 after removing the front part points;
(2) for each I, Q data, subtracting the mean value of the respective I, Q data obtained by the previous step, and finishing the direct current removing mode;
(3) the IQ data DC calculation formula is as follows:
Figure BDA0001091667630000021
wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of remaining data points after removing the front part of data points;
i, Q data after direct current removal are merged into an I + jQ data form, then windowing processing is carried out, and windowing processing is carried out on the data of the first section of sawtooth wave FMCW and the second section of constant frequency wave CW in the channel 1 and the data of the first section of sawtooth wave FMCW in the channel 2.
Further, the binary accumulation method in the threshold detection and binary accumulation module is as follows:
if the data of the distance units pass through the threshold, recording as 1, if the data of the distance units do not pass through the threshold, recording as 0, then performing multi-cycle accumulation, if the number of threshold accumulation 1 of a certain distance unit exceeds K, outputting the coordinate value of the point, otherwise, not outputting the point as a target of passing through the threshold, wherein K represents the number of accumulation 1;
the calculation mode is divided into two steps:
(1) converting the detected output quantity into binary number, wherein the quantization relation is as follows:
Figure BDA0001091667630000022
|xii denotes the magnitude of the modulus after FFT, γiRepresents a threshold value;
(2) the quantization pulses are accumulated for N1 cycles, and if the quantization pulse accumulation number m is N1 cycles,
Figure BDA0001091667630000031
after binary accumulation, when the number of the points meeting the requirement of threshold passing is not unique, only the first peak point of the output threshold is selected.
Further, let the peak coordinate of the first threshold point of the chirp FMCW in channel 1 be p1_ FMCW, the corresponding FFT-transformed data be a _ p1+1j × b _ p1, and the phase be
Figure BDA0001091667630000032
The peak value coordinate of the first threshold point of the constant frequency wave CW is p1_ CW;
let the peak coordinate of the first threshold point of the chirp FMCW in channel 2 be p2_ FMCW, the corresponding FFT-transformed data be a _ p2+1j × b _ p2, and the phase be
Figure BDA0001091667630000033
If the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
wherein: a represents the data value of the I path, b represents the data value of the Q path, a _ p1 represents that in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p1, a _ p2 represents in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p2, b _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p1, b _ p2 represents in the array formed by a + j × b, and the corresponding coordinate of the peak point of the threshold is p 2.
Further, the method for calculating the difference frequency value of the sawtooth waveband is as follows: in the channel 1, the linear frequency modulation sawtooth wave FMCW has the coordinate p1_ FMCW of the point with the maximum threshold point amplitude, and the corresponding difference frequency value is f according to the following ruleb；
The rule is:
if the number of the points with the maximum amplitude of the threshold passing point is obtained, the p1_ fmcw is more than or equal to 1 and less than or equal to 256, and the difference frequency value at the corresponding point is
Figure BDA0001091667630000034
If the maximum point number p1_ fmcw is obtained, 256 < p1_ fmcw is less than or equal to 512, the difference frequency value at the corresponding point
Figure BDA0001091667630000035
fsRepresenting the system sampling frequency.
Further, the method for calculating the doppler frequency value of the constant frequency band is as follows: in the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the threshold point, and the corresponding doppler frequency f is calculated according to the following ruled；
The rules are as follows: if a 512-point FFT transformation is performed,
the number x of points is more than or equal to 1 and less than or equal to 256, the target is judged to be close, and the Doppler frequency on the corresponding point is judged
Figure BDA0001091667630000041
The number x of points is more than 256 and less than or equal to 512, the target is judged to be far away, and the Doppler frequency on the corresponding point is judged
Figure BDA0001091667630000042
Further, the method for calculating the relative velocity value is as follows: according to the calculated Doppler frequency value fdCalculating the velocity v of the target, the velocity formula of the calculated target is
Figure BDA0001091667630000043
Where c is the speed of light and f is the center frequency.
Further, the method for calculating the relative distance value is as follows: calculating the Doppler frequency value f according to the constant frequency banddAnd the difference frequency value f obtained from the sawtooth bandbCalculating the distance R of the target according to the formula
Figure BDA0001091667630000044
Wherein T is the period and B is the modulation bandAnd (4) wide.
Further, the phase difference is calculated by the phase calculated by the chirp sawtooth wave band in the channel 1 and the channel 2 respectively, according to the formula:
Figure BDA0001091667630000045
calculating to obtain a phase difference delta psi;
according to the angle calculation formula
Figure BDA0001091667630000046
And calculating the azimuth angle of the target, wherein d is the distance between the antennas, and lambda is the wavelength of the radar wave.
The device further comprises a filtering tracking module, which performs filtering tracking and predicts the distance and velocity values at the next measurement time, preferably, the filtering uses an α - β filter, and the prediction equation of a constant gain filter is X (k +1/k) ═ Φ X (k/k);
the filter equation is
X(k+1/k+1)＝X(k+1/k)+K[Z(k+1)-H(k+1/k)]；
Wherein X (k/k) is a filter value at the time k, X (k +1/k) is a predicted value of the time k to the next time, and Z (k) is an observed value at the time k;
when the target motion equation adopts a constant velocity model, the constant gain matrix K is [ alpha, beta/T ]]TIts state transition matrix
Figure BDA0001091667630000051
The measurement matrix of the model is H ═ 1, 0]；
Figure BDA0001091667630000052
Figure BDA0001091667630000053
Wherein: alpha is more than 0 and less than 1, beta is more than 0 and less than 1.
Has the advantages that:
1. the invention provides a waveform design for realizing an unmanned aerial vehicle short-distance anti-collision millimeter wave radar system based on a combined waveform of a sawtooth wave and a constant frequency wave;
2. the invention provides a short-distance anti-collision millimeter wave radar signal processing system of a rotor unmanned aerial vehicle, which is designed by adopting a millimeter wave radar, and can realize the detection of the relative distance and the relative speed of a single target and the detection function of the direction angle of the target.
Drawings
FIG. 1 is a diagram of frequency variations of a sawtooth FMCW wave and a constant frequency CW wave in a frequency sweep period;
figure 2 rotor unmanned aerial vehicle short distance collision avoidance system signal processing flow chart.
Detailed Description
Example 1: a signal processing method of a rotor unmanned aerial vehicle short-distance anti-collision system based on a combined waveform is characterized in that the radar center frequency f is 24.125GHz, the combined waveform is a combined waveform of a sawtooth wave and a constant frequency wave, the emission waveform selects the combined waveform of the sawtooth wave and the constant frequency wave, the first section of the waveform is the sawtooth wave, the period is 10ms, the working frequency change range is changed from 24.025GHz to 24.225GHz, and the bandwidth is 200 MHz. The second section selects constant frequency wave with a period of 10ms and a working frequency of 24.125 GHz. The transmit waveform is shown in fig. 1.
The processing method comprises the following steps:
s1, removing direct current from IQ data acquired by A/D (analog to digital) for each section of waveform after removing front part of data points, performing time-frequency FFT (fast Fourier transform) and converting time-domain data into frequency data;
as a technical scheme: the FFT method of the time frequency in step S1 is: and performing time-frequency 512-point FFT on IQ data acquired by a first sawtooth wave FMCW and a second constant frequency wave CW in the channel 1 and performing time-frequency 512-point FFT on IQ data acquired by a second constant frequency wave CW and an A/D in the channel 2.
The removing of the front part of data points is to remove the front part of data points collected by the AD first in the data collected by the AD, generally at 50-70 points, for example, if 700 points are collected, the first 50 points are removed, and the data from 51 to 700 are subjected to dc conversion and FFT conversion. The partial point to be removed has two reasons, namely, the data is the abnormal partial data caused by the pulse generated by the voltage when the waveform is changed, and the second reason is the distance ambiguity. This part is not the reason for the reduction in range resolution as described above, but rather the linearity of the transmitted waveform, which causes this reduction in resolution.
The dc removal method in step S1 is:
(1) calculating the mean value of I, Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after removing the front part points, and calculating the mean value of I, Q data of the sawtooth wave band of the channel 2 after removing the front part points;
(2) for each I, Q data, subtracting the mean value of the respective I, Q data obtained by the previous step, and finishing the direct current removing mode;
(3) the IQ data DC calculation formula is as follows:
Figure BDA0001091667630000061
wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of remaining data points after removing the front part of data points;
i, Q data after direct current removal are merged into an I + jQ data form, then windowing processing is carried out, and windowing processing is carried out on the data of the first section of sawtooth wave FMCW and the second section of constant frequency wave CW in the channel 1 and the data of the first section of sawtooth wave FMCW in the channel 2. A Hanning window or a Hamming window and the like can be selected to reduce side lobes, so that the detection performance of the target is improved; the hanning window will cause the main lobe to widen and decrease, but the side lobes will decrease significantly.
The Hanning window calculation formula is:
Figure BDA0001091667630000071
s2, performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, enabling each data to be a distance unit for the data after the CFAR threshold detection, performing binary accumulation on the data of each distance unit, outputting a first peak point passing through a threshold, and calculating to obtain a phase;
as a technical solution, the binary accumulation method of step S2 is:
if the data of the distance unit passes the threshold, marking as 1, if the data of the distance unit does not pass the threshold, marking as 0, then performing multi-cycle accumulation, if the number of threshold accumulation 1 of a certain distance unit exceeds K, the meaning of K represents the number of accumulation 1, the point of passing the threshold is marked as 1, when the number of accumulation 1 reaches K, outputting the coordinate value of the point, otherwise, not outputting the coordinate value as the target of passing the threshold;
the calculation mode is divided into two steps:
(1) converting the detected output quantity into binary number, wherein the quantization relation is as follows:
Figure BDA0001091667630000072
where N represents 512;
|xii denotes the magnitude of the modulus after FFT, γiIndicating a threshold value. That is, the value of the modulus exceeding the threshold is recorded as 1, and the value of the modulus not exceeding the threshold is recorded as 0.
(2) The quantization pulses are accumulated for N1 cycles, and if the quantization pulse accumulation number m is N1 cycles,
Figure BDA0001091667630000073
the meaning of K represents the number of accumulated 1, the point of passing the threshold is marked as 1, the whole process represents a period, the coordinate of the point of passing the threshold is counted once in each period, the threshold is represented as 1, the value is 0 if not, and N1 periods are continuously counted. One cycle before this is a value, and now N1 cycles must be accumulated before the output of the high value is satisfied.
After binary accumulation, when the number of points meeting the requirement of threshold crossing is large, only the first peak point of the output threshold crossing is selected, mainly considering that the object which has the largest danger degree to the unmanned plane and is closest to the unmanned plane is selected, so the maximum peak points of all the threshold crossing are not found, but the peak value of the first threshold crossing is selected;
in step 2, let the peak coordinate of the first threshold crossing point of the chirped sawtooth FMCW in channel 1 be p1_ FMCW, the corresponding FFT-transformed data be a _ p1+1j × b _ p1, and the phase be
Figure BDA0001091667630000081
Wherein: a represents the data value of the I path, b represents the data value of the Q path, a _ p1 represents that in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p1, a _ p2 represents in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p2, b _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p1, b _ p2 represents in the array formed by a + j × b, and the corresponding coordinate of the peak point of the threshold is p 2.
The peak coordinate of the first threshold point of the constant frequency wave CW is p1_ CW, the peak coordinate of the first threshold point of the chirp frequency modulated sawtooth wave FMCW in the channel 2 is p2_ FMCW, the corresponding FFT-transformed data is a _ p2+1j b _ p2, and the phase is p
Figure BDA0001091667630000082
If the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
the method for calculating the difference frequency value of the sawtooth wave band comprises the following steps: in the channel 1, the linear frequency modulation sawtooth wave FMCW has the coordinate p1_ FMCW of the point with the maximum threshold point amplitude, and the corresponding difference frequency value is f according to the following ruleb，
The rule is:
if the number of the points with the maximum amplitude of the threshold passing point is obtained, the p1_ fmcw is more than or equal to 1 and less than or equal to 256, and the difference frequency value at the corresponding point is
Figure BDA0001091667630000083
fsRepresenting the magnitude of the system sampling rate;
if the maximum point number p1_ fmcw is obtained, 256 < p1_ fmcw is less than or equal to 512, the difference frequency value at the corresponding point
Figure BDA0001091667630000084
The method for calculating the Doppler frequency value of the constant frequency band comprises the following steps: in the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the threshold point, and the corresponding doppler frequency f is calculated according to the following ruled；
The rules are as follows:
if a 512-point FFT transformation is performed,
the number x of points is more than or equal to 1 and less than or equal to 256, the target is judged to be close, and the Doppler frequency on the corresponding point is judged
Figure BDA0001091667630000085
The number x of points is more than 256 and less than or equal to 512, the target is judged to be far away, and the Doppler frequency on the corresponding point is judged
Figure BDA0001091667630000091
And S3, calculating one or more of a difference frequency value of a sawtooth wave band, a Doppler frequency value of a constant frequency band, a relative speed value, a relative distance value and a direction angle.
As one technical solution, the method for calculating the relative velocity value is: according to the calculated Doppler frequency value fdCalculating the velocity v of the target by the formula
Figure BDA0001091667630000092
Where c is the speed of light, and c is 3 × 108F is the center frequency, and f is 24.125 GHz.
The method for calculating the relative distance value is as follows: calculating the Doppler frequency value f according to the constant frequency banddAnd the difference frequency value f obtained from the sawtooth bandbCalculating the distance R of the target according to the formula
Figure BDA0001091667630000093
Wherein, T is a period, T is 10ms, B is a bandwidth, and B is 200 MHz.
Calculating the phase difference of the phase difference through the phase calculated by the linear frequency modulation sawtooth wave bands in the channel 1 and the channel 2 respectively, and calculating according to a calculation formula
Figure BDA0001091667630000094
Obtaining a phase difference delta psi;
according to the formula for calculating the angle,
Figure BDA0001091667630000095
and calculating the azimuth angle of the target, wherein d is the distance between the antennas, and lambda is the wavelength of the radar wave.
As a technical scheme, the method further comprises the step S4 of filtering and tracking, and predicting the distance and the speed value at the next measurement moment.
After the unmanned aerial vehicle short-distance anti-collision millimeter wave radar system finishes the resolving process of the relative speed, the relative distance and the corresponding azimuth angle of the single target, a filtering and tracking module is needed. Because the system output data has a high refresh rate and the variation of distance, speed and the like is small in a short time, the system can be approximately regarded as uniform motion, the variation rate of the height can be estimated through a certain algorithm, and the distance, the speed value and the like at the next measurement moment can be predicted. The tracking and predicting method is the premise and the basis of the self-adaptive tracking and tracking filter. The main methods currently include linear autoregressive filtering, wiener filtering, weighted least squares filtering, alpha-beta and alpha-beta-gamma filtering, kalman filtering, simplified kalman filtering, and the like.
The present invention recommends the use of an alpha-beta filter. The alpha-beta filter is suitable for the condition that the change rate of the tracking error is relatively uniform, so that the alpha-beta filter is basically suitable for the flight scene of the unmanned aerial vehicle.
In the α - β filter, the prediction equation of the constant gain filter is X (K +1/K) ═ Φ X (K/K), and the filter equation is X (K +1/K +1) ═ X (K +1/K) + K [ Z (K +1) -H (K +1/K) ], where X (K/K) is a filtered value at time K, X (K +1/K) is a predicted value at time K to the next time, and Z (K) is an observed value at time K.
When the target motion equation adopts a constant velocity model, the constant gain matrix K is [ alpha, beta/T ]]TIts state transition matrix
Figure BDA0001091667630000101
The measurement matrix of the model is H ═ 1, 0]. The alpha-beta filter is a constant gain filter satisfying the long gain matrix K, the state transition matrix phi and the measurement matrix H described by the above expressions, i.e. the constant gain filter
Figure BDA0001091667630000102
Figure BDA0001091667630000103
The selection of the parameters a and β in the a- β filter is relevant for the response of the tracking, the convergence speed and the tracking stability. Generally, 0 < alpha < 1, 0 < beta < 1 are required. In engineering, the values of alpha and beta can be calculated according to a formula, namely
Figure BDA0001091667630000104
And
Figure BDA0001091667630000105
where k is the number of times, and α and β take different values as k changes, in practice, these two parameters tend to be constant.
The target speed and distance of single settlement can be filtered, tracked and predicted through the alpha-beta filter. The target tracking can be better realized, the output data is smoother, the appearance of abnormal values is reduced, and the stability of the system is effectively improved.
The existing signal processing method generally adopts AD-FFT-threshold-calculation, and AD-de-direct current-windowing-FFT-threshold-binary accumulation-calculation-prediction tracking is added in the new processing method. More links are added. Especially de-dc and binary accumulation prediction and tracking.
The advantages of DC removal are: because the direct current data can raise the nearby threshold value, the data of the target nearby the direct current is subjected to direct current
Certain interference exists during threshold detection, so that the detection probability of the target can be effectively improved by adopting a direct current removing mode.
The advantages of windowing: a Hanning window or a Hamming window and the like are selected to reduce side lobes, so that the detection performance of the target is improved; the hanning window will cause the main lobe to widen and decrease, but the side lobes will decrease significantly.
The use of binary cumulative benefits: the points which pass the threshold can be more stable, the threshold is not jumped back among some points, and the reliability of the system is improved.
Example 2: as a technical solution supplement of embodiment 1, in this embodiment, a continuous wave system is adopted for a radar system with a center frequency of 24GHz or 77GHz, a waveform is formed by combining an FMCW waveform modulated by a sawtooth wave and a CW signal modulated by a constant frequency wave, and a signal processing method of an anti-collision system of a rotor unmanned aerial vehicle is implemented according to the modulated waveform.
According to rotor unmanned aerial vehicle's maximum flying speed, the distance scope of unmanned aerial vehicle anticollision is for designing 2m ~ 30m, so this system is mainly the design of many rotor unmanned aerial vehicle to the anticollision signal processing of the environment object of single target in this distance scope, and the place ahead barrier is mainly for people, the detection of target distance such as tree, wall, net and high-voltage line, speed and position.
The embodiment provides a system parameter scheme capable of realizing unmanned aerial vehicle collision avoidance, and relevant parameters can be selected subsequently according to application scene requirements or product performance requirements.
The radar center frequency f designed by the embodiment is 24.125 GHz. The emission waveform is a combined waveform of a sawtooth wave and a constant frequency wave. The first section of the waveform is a sawtooth wave, the period is 10ms, the working frequency variation range is from 24.025GHz to 24.225GHz, and the bandwidth is 200 MHz. The second section selects constant frequency wave with a period of 10ms and a working frequency of 24.125 GHz. The transmit waveform is shown in fig. 1.
So this embodiment has adopted the mode of binary channels, realizes rotor unmanned aerial vehicle range finding, the function of testing the speed to and the angle measurement function.
A signal processing flow chart of the short-distance collision avoidance system of the rotor unmanned aerial vehicle based on the combined waveform is shown in FIG. 2;
the method comprises the following concrete implementation steps:
1. and performing DC removal processing on IQ data acquired by A/D of each section of waveform. Because the direct current data can raise the nearby threshold value, certain interference exists when the data of the target nearby the direct current is subjected to threshold detection, and the detection probability of the target can be effectively improved by adopting a direct current removing mode.
The direct current removing method comprises the following steps:
(1) calculating the mean value of I, Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after removing the front part points, and calculating the mean value of I, Q data of the sawtooth wave band of the channel 2 after removing the front part points;
(2) and for each I, Q data, subtracting the average value of the I, Q data obtained by the previous step, and completing the direct current removing mode.
(3) The IQ data DC calculation formula is as follows:
Figure BDA0001091667630000121
wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of data points left after removing the former part of data points.
I, Q data after direct current removal are combined into an I + jQ data form, then windowing processing is carried out, windowing processing is carried out on the data of the first section of sawtooth wave FMCW, the second section of constant frequency wave CW in the channel 1 and the data of the first section of sawtooth wave FMCW in the channel 2, and a Hanning window or a Hamming window and the like can be selected to reduce side lobes, so that the detection performance of the target is improved; the hanning window will cause the main lobe to widen and decrease, but the side lobes will decrease significantly.
The Hanning window calculation formula is:
Figure BDA0001091667630000122
2. performing time-frequency 512-point FFT on the data subjected to direct current removal and windowing respectively for a first sawtooth wave FMCW section and a second constant frequency wave CW section in the channel 1, and performing time-frequency 512-point FFT on the data subjected to direct current removal and windowing respectively for the first sawtooth wave FMCW section in the channel 2;
3. and performing CFAR threshold detection on the complex modulus values after waveform FFT conversion of each section, outputting a first peak point of a threshold, mainly considering that the object which has the largest risk degree to the unmanned plane and is closest to the unmanned plane is the object, so that the maximum value of all the threshold is not found, and the peak value of the first threshold is selected. The threshold detection selectable unit averagely selects the threshold detection method of the small CFAR, and the specific threshold method can be selected according to the actual application scene.
4. And making each datum as a distance unit for the data after the CFAR threshold detection. And performing binary accumulation on the data of each distance unit, namely recording as 1 if the data of the distance unit passes a threshold, and recording as 0 if the data of the distance unit does not pass the threshold. And then carrying out multi-period accumulation, if the number of the threshold accumulation 1 of a certain distance unit exceeds K, outputting the coordinate value of the point, and otherwise, outputting the point as a target which passes the threshold.
The calculation mode is divided into two steps:
(1) converting the detected output quantity into binary number, wherein the quantization relation is as follows:
Figure BDA0001091667630000131
where N represents 512;
(2) the quantization pulses are accumulated for N1 cycles, and if the quantization pulse accumulation number m is N1 cycles,
Figure BDA0001091667630000132
after binary accumulation, when the number of points meeting the requirement of threshold crossing is large, only the first peak point of the output threshold crossing is selected, mainly considering that the object which has the largest danger degree to the unmanned plane and is closest to the unmanned plane is considered, so the maximum peak points of all the threshold crossing are not found, but the peak value of the first threshold crossing is selected.
Let the peak coordinate of the first threshold crossing point of the chirp FMCW in channel 1 be p1_ FMCW, the corresponding post-FFT data be a _ p1+1j × b _ p1, and the phase be
Figure BDA0001091667630000133
The peak coordinate of the first threshold-crossing point of the constant frequency wave CW is p1_ CW, the peak coordinate of the first threshold-crossing point of the chirp sawtooth wave FMCW in the channel 2 is p2_ FMCW, the corresponding FFT data is a _ p2+1j × b _ p2, and the phase is
Figure BDA0001091667630000134
If the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
5. and calculating to obtain the difference frequency value of the sawtooth wave band.
In the channel 1, the linear frequency modulation sawtooth wave FMCW, the coordinate p1_ FMCW of the point with the maximum threshold point amplitude value, according to the following rule, the corresponding difference frequency value is fb. That is, if the maximum number of points obtained is p1_ fmcw is less than or equal to 1 and less than or equal to 256, the difference frequency value at the corresponding point
Figure BDA0001091667630000135
If the number of the points is 256 < p1_ fmcw < 512, the difference frequency value of the corresponding point
Figure BDA0001091667630000136
6. And calculating to obtain the Doppler frequency value of the constant frequency band.
In the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the over-threshold point, and the corresponding multiple points are calculated according to the following ruleAt a frequency f of the Pullerd. If the FFT of 512 points is performed, the number of the points is more than or equal to 1 and less than or equal to 256, the target is judged to be close to, and the Doppler frequency on the corresponding point is judged
Figure BDA0001091667630000137
If the number of points is 256 < x ≦ 512, the target is determined to be far away, and the Doppler frequency at the corresponding point is determined
Figure BDA0001091667630000141
7. A relative velocity value is calculated.
According to the obtained Doppler frequency value fdCalculating the velocity v of the target by the formula
Figure BDA0001091667630000142
Where c is the speed of light, and c is 3 × 108F is the center frequency f is 24.125 GHz;
8. a relative distance value is calculated.
Calculating the Doppler frequency value f according to the constant frequency banddAnd the difference frequency value f obtained from the sawtooth bandbAnd calculating the distance R of the target. The distance is calculated by the formula
Figure BDA0001091667630000143
Wherein, T is 10ms, B is bandwidth, and B is 200 MHz.
9. The direction angle is calculated.
As can be seen from description 2, the phase difference is calculated by the phase calculated by the chirp sawtooth wave band in channel 1 and channel 2, respectively, according to the calculation formula
Figure BDA0001091667630000144
The phase difference is obtained as Δ ψ.
According to the formula for calculating the angle,
Figure BDA0001091667630000145
calculating the azimuth angle of the target, wherein d is the distance between the antennas。
The signal processing of the unmanned aerial vehicle short-distance anti-collision millimeter wave radar system based on the combined waveform of the sawtooth wave and the constant frequency wave is completed through the steps, and the resolving process of the relative speed, the relative distance and the corresponding azimuth angle of the single target is completed.
After the unmanned aerial vehicle short-distance anti-collision millimeter wave radar system finishes the resolving process of the relative speed, the relative distance and the corresponding azimuth angle of the single target, a filtering and tracking module is needed. Because the system output data has a high refresh rate and the variation of distance, speed and the like is small in a short time, the system can be approximately regarded as uniform motion, the variation rate of the height can be estimated through a certain algorithm, and the distance, the speed value and the like at the next measurement moment can be predicted. The tracking and predicting method is the premise and the basis of the self-adaptive tracking and tracking filter. The main methods currently include linear autoregressive filtering, wiener filtering, weighted least squares filtering, alpha-beta and alpha-beta-gamma filtering, kalman filtering, simplified kalman filtering, and the like.
The present invention recommends the use of an alpha-beta filter. The alpha-beta filter is suitable for the condition that the change rate of the tracking error is relatively uniform, so that the alpha-beta filter is basically suitable for the flight scene of the unmanned aerial vehicle.
In the α - β filter, the prediction equation of the constant gain filter is X (K +1/K) ═ Φ X (K/K), and the filter equation is X (K +1/K +1) ═ X (K +1/K) + K [ Z (K +1) -H (K +1/K) ], where X (K/K) is a filtered value at time K, X (K +1/K) is a predicted value at time K to the next time, and Z (K) is an observed value at time K.
When the target motion equation adopts a constant velocity model, the constant gain matrix K is [ alpha, beta/T ]]TIts state transition matrix
Figure BDA0001091667630000151
The measurement matrix of the model is H ═ 1, 0]. The alpha-beta filter is a constant gain filter satisfying the long gain matrix K, the state transition matrix phi and the measurement matrix H described by the above expressions, i.e. the constant gain filter
Figure BDA0001091667630000152
Figure BDA0001091667630000153
The selection of the parameters a and β in the a- β filter is relevant for the response of the tracking, the convergence speed and the tracking stability. Generally, 0 < alpha < 1, 0 < beta < 1 are required. In engineering, the values of alpha and beta can be calculated according to a formula, namely
Figure BDA0001091667630000154
And
Figure BDA0001091667630000155
where k is the number of times, and α and β take different values as k changes, in practice, these two parameters tend to be constant.
The target speed and distance of single settlement can be filtered, tracked and predicted through the alpha-beta filter. The target tracking can be better realized, the output data is smoother, the appearance of abnormal values is reduced, and the stability of the system is effectively improved.
Example 3: as a device corresponding to the technical scheme of the method of embodiment 1 or 2, the embodiment discloses a signal processing device of a short-distance collision avoidance system of a rotary wing unmanned aerial vehicle based on a combined waveform, wherein the combined waveform is a combined waveform of a sawtooth wave and a constant frequency wave, a first section of the waveform is a sawtooth wave FMCW, and a second section of the waveform is a constant frequency wave CW;
the processing device comprises:
the conversion module is used for removing the IQ data acquired by the A/D for each section of waveform, removing direct current after removing the front part of data points, performing time-frequency FFT (fast Fourier transform) and converting time-domain data into frequency data;
the threshold detection and binary accumulation module is used for performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, enabling each datum to be a distance unit for the data after the CFAR threshold detection, performing binary accumulation on the datum of each distance unit, outputting a first peak point passing through a threshold, and calculating to obtain a phase;
a parameter calculating module for calculating the difference frequency value, constant frequency Doppler frequency value and relative frequency of sawtooth wave band
Speed value, calculating relative distance value, calculating direction angle.
The method for removing direct current in the conversion module comprises the following steps:
(1) calculating the mean value of I, Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after removing the front part points, and calculating the mean value of I, Q data of the sawtooth wave band of the channel 2 after removing the front part points;
(2) for each I, Q data, subtracting the mean value of the respective I, Q data obtained by the previous step, and finishing the direct current removing mode;
(3) the IQ data DC calculation formula is as follows:
Figure BDA0001091667630000161
wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of remaining data points after removing the front part of data points;
i, Q data after direct current removal are merged into an I + jQ data form, then windowing processing is carried out, and windowing processing is carried out on the data of the first section of sawtooth wave FMCW and the second section of constant frequency wave CW in the channel 1 and the data of the first section of sawtooth wave FMCW in the channel 2.
The binary accumulation method in the threshold detection and binary accumulation module is as follows:
if the data of the distance units pass through the threshold, recording as 1, if the data of the distance units do not pass through the threshold, recording as 0, then performing multi-cycle accumulation, if the number of threshold accumulation 1 of a certain distance unit exceeds K, outputting the coordinate value of the point, otherwise, not outputting the point as a target of passing through the threshold, wherein K represents the number of accumulation 1;
the calculation mode is divided into two steps:
(3) converting the detected output quantity into binary number, wherein the quantization relation is as follows:
Figure BDA0001091667630000162
|xii denotes the magnitude of the modulus after FFT, γiRepresents a threshold value;
(4) the quantization pulses are accumulated for N1 cycles, and if the quantization pulse accumulation number m is N1 cycles,
Figure BDA0001091667630000171
after binary accumulation, when the number of the points meeting the requirement of threshold passing is not unique, only the first peak point of the output threshold is selected.
Let the peak coordinate of the first threshold point of the chirp FMCW in channel 1 be p1_ FMCW, the corresponding FFT-transformed data be a _ p1+1j × b _ p1, and the phase be
Figure BDA0001091667630000172
The peak value coordinate of the first threshold point of the constant frequency wave CW is p1_ CW;
let the peak coordinate of the first threshold point of the chirp FMCW in channel 2 be p2_ FMCW, the corresponding FFT-transformed data be a _ p2+1j × b _ p2, and the phase be
Figure BDA0001091667630000173
If the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
wherein: a represents the data value of the I path, b represents the data value of the Q path, a _ p1 represents that in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p1, a _ p2 represents in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p2, b _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p1, b _ p2 represents in the array formed by a + j × b, and the corresponding coordinate of the peak point of the threshold is p 2.
The calculation sawtooth wave bandThe method of the difference frequency value is as follows: in the channel 1, the linear frequency modulation sawtooth wave FMCW has the coordinate p1_ FMCW of the point with the maximum threshold point amplitude, and the corresponding difference frequency value is f according to the following ruleb；
The rule is:
if the number of the points with the maximum amplitude of the threshold passing point is obtained, the p1_ fmcw is more than or equal to 1 and less than or equal to 256, and the difference frequency value at the corresponding point is
Figure BDA0001091667630000174
If the maximum point number p1_ fmcw is obtained, 256 < p1_ fmcw is less than or equal to 512, the difference frequency value at the corresponding point
Figure BDA0001091667630000175
fsRepresenting the system sampling frequency.
The method for calculating the Doppler frequency value of the constant frequency band comprises the following steps: in the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the threshold point, and the corresponding doppler frequency f is calculated according to the following ruled(ii) a The rules are as follows: if a 512-point FFT transformation is performed,
the number x of points is more than or equal to 1 and less than or equal to 256, the target is judged to be close, and the Doppler frequency on the corresponding point is judged
Figure BDA0001091667630000181
The number x of points is more than 256 and less than or equal to 512, the target is judged to be far away, and the Doppler frequency on the corresponding point is judged
Figure BDA0001091667630000182
The method for calculating the relative velocity value is as follows: according to the calculated Doppler frequency value fdCalculating the velocity v of the target, the velocity formula of the calculated target is
Figure BDA0001091667630000183
Where c is the speed of light and f is the center frequency.
The method for calculating the relative distance value is as follows: calculating the Doppler frequency value f according to the constant frequency banddAnd the difference frequency value f obtained from the sawtooth bandbCalculating the distance R of the target according to the formula
Figure BDA0001091667630000184
Wherein T is the period and B is the bandwidth.
Calculating the phase difference of the phases respectively calculated by the linear frequency modulation sawtooth wave bands in the channel 1 and the channel 2 according to a formula:
Figure BDA0001091667630000185
calculating to obtain a phase difference delta psi;
according to the angle calculation formula
Figure BDA0001091667630000186
And calculating the azimuth angle of the target, wherein d is the distance between the antennas, and lambda is the wavelength of the radar wave.
The device also comprises a filtering tracking module which carries out filtering tracking and predicts the distance and speed value at the next measurement moment, preferably, the filtering uses an alpha-beta filter, and the prediction equation of a constant gain filter is X (k +1/k) ═ PhiX (k/k);
the filter equation is
X(k+1/k+1)＝X(k+1/k)+K[Z(k+1)-H(k+1/k)]；
Wherein X (k/k) is a filter value at the time k, X (k +1/k) is a predicted value of the time k to the next time, and Z (k) is an observed value at the time k;
when the target motion equation adopts a constant velocity model, the constant gain matrix K is [ alpha, beta/T ]]TIts state transition matrix
Figure BDA0001091667630000191
The measurement matrix of the model is H ═ 1, 0]；
Figure BDA0001091667630000192
Figure BDA0001091667630000193
Wherein: alpha is more than 0 and less than 1, beta is more than 0 and less than 1.
Example 4: for the peak processing in the above solutions, this embodiment provides a peak processing method applied to the signal of the unmanned aerial vehicle:
setting a peak point threshold factor α for limiting the absolute value of the difference between the detected threshold-crossing maximum peak point and the maximum peak point appearing in the previous cycle, so that the absolute value of the difference is not greater than the peak point threshold factor α:
the expression is as follows:
|L_max(k)-L_max(k-1)|≤α；
Figure BDA0001091667630000194
wherein: l _ max (k) is the maximum peak point coordinate of the threshold passing of the k period, L _ max (k-1) is the maximum peak point coordinate of the last period, and k represents the kth moment; v. ofmaxThe maximum flight speed of the unmanned aerial vehicle is shown, lambda is the wavelength of the millimeter wave radar, fs is the sampling rate, and N is the number of points of FFT;
if the absolute value difference value of the threshold-crossing maximum peak point at the moment k and the threshold-crossing maximum peak point at the moment k-1 is within the set range of the threshold factor alpha of the peak point, the peak point of the kth period is considered to be effective; and if the threshold-crossing maximum peak point exceeds the set peak point threshold factor alpha at the moment k, replacing the peak point output at the moment k with the peak point at the moment k-1.
As explained in the above technical means, in a time unit of an adjacent period, if the peak point calculated in the current period and the peak point in the previous period do not change in the adjacent period, the peak point will remain unchanged in the adjacent period, but the peak point will remain unchanged in the adjacent periodIf the horizontal flight speed of the unmanned aerial vehicle changes in the time of the adjacent period, the peak point of the current period can be caused to change to a certain extent in the peak point of the previous period, if the unmanned aerial vehicle is close to the target, the number of points of the current period can be smaller than the number of points of the previous period, if the unmanned aerial vehicle is far away from the target, the number of points of the current period can be larger than the number of points of the previous period, the change range of the peak point is the designed peak point threshold value factor alpha, the value range selected by the factor mainly depends on the maximum flight speed of the unmanned aerial vehicle in the adjacent period, namely the formula
Figure BDA0001091667630000201
Wherein v ismaxThe maximum flight speed of the unmanned aerial vehicle is shown, lambda is the millimeter wave radar wavelength, fs is the sampling rate, and N is the number of points of FFT.
However, if the flight environment of the unmanned rotorcraft changes suddenly, the number of peak points corresponding to the threshold may also continuously exceed the designed threshold factor. If the correction is not carried out, after mutation occurs, the threshold-crossing maximum peak point detected in each period exceeds the set threshold factor, and the threshold-crossing maximum peak point coordinate is corrected to the peak point coordinate at the last moment every time, namely, the value before mutation is also kept by the same value, and the value after mutation cannot be adapted. In order to improve the adaptability of the unmanned aerial vehicle to various environments, a peak point mutation accumulation factor phi is introduced for the unmanned aerial vehicle.
And setting a peak point sudden change accumulation factor phi, wherein the peak point sudden change accumulation factor phi is defined as that if b periods are continuously carried out from the moment k, the value range of b is 5-10, and the threshold-crossing maximum peak point is compared with the threshold-crossing maximum peak point of the previous period and exceeds a threshold factor a, the threshold-crossing maximum peak point calculated at the moment k + b is taken as the threshold-crossing maximum peak point at the moment. In order to ensure the real-time performance of tracking, the value of b is 5-10.
And after the threshold-crossing maximum peak point is obtained in the last step, in order to improve the precision of the measurement of the table system value, a spectrum maximum estimation algorithm for improving the distance measurement precision is provided.
Ideally, the frequency spectrum of the echo difference frequency signal has only one spectral line, but actually, in the using process, due to the barrier effect existing in sampling, the spectral line with the maximum amplitude of the discrete frequency spectrum inevitably shifts the position of a spectral peak, so that a certain error exists between the distance value calculated by the peak point and the actual distance. When a spectral peak is shifted, the central spectral line corresponding to the main lobe peak will be shifted to the left or to the right. If the left peak value is larger than the right peak value in the left and right peak values of the threshold-crossing maximum value peak value point, the position of the central spectral line is between the maximum peak value point and the left peak value point, otherwise, the position is between the maximum peak value point and the right peak value point.
Because the spectrum obtained by FFT calculation samples continuous distance spectrum at equal intervals, the maximum point of the spectrum amplitude is necessarily positioned in the main lobe of the curve, and the main lobe has two sampling points. Setting the coordinates of the threshold-crossing maximum peak point A1 as (a1, k1), wherein a1 represents the value of the threshold-crossing maximum peak point, and k1 represents the amplitude value corresponding to the threshold-crossing peak point; the coordinates of the secondary peak points are A3(A3, k3), the coordinate of the central peak point A is (amax, kmax), and e is amax-a1, the point A1, the coordinate of the point A2 symmetric to the point A is (a2, k1) is (a1+2e, k1), and the zero point A4 of the complex envelope is (a4, k1) is (A3+ e, 0);
wherein: a2, a3 and a4 are the values of the over-threshold maximum peak point of the corresponding point, and k3 and k4 are the amplitude values corresponding to the over-threshold peak point of the corresponding point;
a2, A3 and A4 are approximately a straight line, and the linear relationship is as follows:
Figure BDA0001091667630000211
order to
Figure BDA0001091667630000212
Then
Figure BDA0001091667630000213
Setting the error E and the deviation EComparing if | e | non conducting fume<E, the value of the over-threshold peak point at the moment is the value of the required central peak point, if the deviation E is greater than the set error E,
Figure BDA0001091667630000215
beta is a correction factor, the value range is 1.5-1.9, and the correction factor is selected from the following reasons: due to the initial time
Figure BDA0001091667630000214
The coordinate of the point a symmetric point a2 is (a2, k1) — (a1+2E, k1), the abscissa of the point a is symmetric to the abscissa of the point a2 about the maximum peak point under the initial condition, that is, the coordinate of the point a2 is a1+2E, if the deviation E is greater than the set error E, it means that the coordinate of the point a2 is selected too large, that is, the maximum peak point is between a1+2E, and the 2-fold deviation E needs to be reduced. The value principle of the correction factor beta can be selected according to the required E value, if the required precision of E is not high, the correction factor beta can be selected to be 1.9 for correction, if the required precision of E is high, multiple iterations are possibly required to meet the requirement, the correction factor beta needs to be selected to be as small as possible, and 1.5 can be selected for correction. The value of e calculated by the correction factor is changed to calculate the value amax of the central peak point as a1+ e.
As another embodiment, the method further comprises the steps of: distance tracking: setting a threshold factor epsilon, which is used for limiting the absolute value of the difference between the current distance data H (k) and the distance data H (k-1) appearing in the previous period, so that the absolute value of the difference is not larger than the threshold factor epsilon;
the expression is as follows:
the value of | H (k) | -H (k-1) | is less than or equal to epsilon, and the value range of epsilon is 0.8-1.3;
if the absolute value difference value of the data at the k moment and the absolute value difference value at the k-1 moment are within the range of the set threshold factor epsilon, the peak point of the k-th period is considered to be effective; if the data at time k exceeds the set threshold factor epsilon, the data output at time k is replaced with the data at time k-1.
And setting a sudden change accumulation factor theta, wherein the sudden change accumulation factor theta is defined in that if b periods are continued from the time k, and the data are compared with the data of the previous period and exceed a threshold factor theta, the data obtained by resolving the current time are taken as the data of the current time at the time k + b.
As an embodiment, specifically, in the embodiment, for the distance data which is not subjected to the distance tracking or is subjected to the distance tracking, when outputting, the distance value is output by using a sliding window algorithm for the distance data which is output once;
the data at time k is equal to N in the sliding windowcThe average value of the values after the maximum value and the minimum value are removed is used as the final data output, and the calculation formula is
Figure BDA0001091667630000221
Wherein N iscRepresenting the number of data points employed by the sliding window.
By adopting the peak value tracking algorithm and the tracking algorithm, the abnormal phenomenon of one or more times of data calculation caused by single or multiple times of peak value searching errors can be effectively avoided, for example, in the single peak value searching process, peak value jumping occurs, the peak value difference value between adjacent periods is large, and simultaneously, the large jumping occurs caused by the jumping with the peak value, namely, the jumping range caused by the peak value jumping in the period is far larger than the distance change range caused by one period caused by the speed of the unmanned aerial vehicle. Therefore, the peak tracking and tracking can effectively avoid abnormal values caused by the abnormal peaks, and the stability of the tracked data is effectively improved.
The above description is only for the purpose of creating a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.

Claims (10)

1. A rotor unmanned aerial vehicle short distance collision avoidance system signal processing device based on a combined waveform is characterized in that the combined waveform is a combined waveform of a sawtooth wave and a constant frequency wave, a first section of the waveform is a sawtooth wave FMCW, and a second section of the waveform is a constant frequency wave CW;
the processing device comprises:
the conversion module is used for removing the IQ data acquired by the A/D for each section of waveform, removing direct current after removing the front part of data points, performing time-frequency FFT (fast Fourier transform) and converting time-domain data into frequency data;
the threshold detection and binary accumulation module is used for performing CFAR threshold detection on the complex modulus values of each section of waveform after FFT conversion, enabling each datum to be a distance unit for the data after the CFAR threshold detection, performing binary accumulation on the datum of each distance unit, outputting a first peak point passing through a threshold, and calculating to obtain a phase;
the parameter calculation module is used for calculating one or more of a difference frequency value of a sawtooth wave band, a Doppler frequency value of a constant frequency band, a relative speed value, a relative distance value and a direction angle;
the processing of the peak point in the threshold detection is to set a peak point threshold factor α, which is used to limit the absolute value of the difference between the detected maximum peak point passing the threshold and the maximum peak point appearing in the previous period, so that the absolute value of the difference is not greater than the peak point threshold factor α:
the expression is as follows:
|L_max(k)-L_max(k-1)|≤α；
Figure FDA0002945131120000011
wherein: l _ max (k) is the maximum peak point coordinate of the threshold passing of the k period, L _ max (k-1) is the maximum peak point coordinate of the last period, and k represents the kth moment; v. ofmaxThe maximum flight speed of the unmanned aerial vehicle is determined, lambda is the wavelength of the millimeter wave radar, fs is the sampling rate, N is the number of points of FFT (fast Fourier transform), and the object of FFT is sawtooth wave data after windowing;
if the absolute value difference value of the threshold-crossing maximum peak point at the moment k and the threshold-crossing maximum peak point at the moment k-1 is within the set range of the threshold factor alpha of the peak point, the peak point of the kth period is considered to be effective; and if the threshold-crossing maximum peak point exceeds the set peak point threshold factor alpha at the moment k, replacing the peak point output at the moment k with the peak point at the moment k-1.
2. A rotor-unmanned aerial vehicle short-range collision avoidance system signal processing apparatus based on a combined waveform of claim 1, wherein the dc removal method in the conversion module is:
(1) calculating the mean value of I, Q data of the sawtooth wave band and the constant frequency wave band of the channel 1 after removing the front part points, and calculating the mean value of I, Q data of the sawtooth wave band of the channel 2 after removing the front part points;
(2) for each I, Q data, subtracting the mean value of the respective I, Q data obtained by the previous step, and finishing the direct current removing mode;
(3) the IQ data DC calculation formula is as follows:
Figure FDA0002945131120000021
wherein, I represents I path data, I 'is data after removing direct current, Q represents Q path data, Q' is data after removing direct current, and N represents the number of remaining data points after removing the front part of data points;
i, Q data after direct current removal are merged into an I + jQ data form, then windowing processing is carried out, and windowing processing is carried out on the data of the first section of sawtooth wave FMCW and the second section of constant frequency wave CW in the channel 1 and the data of the first section of sawtooth wave FMCW in the channel 2.
3. A rotor-unmanned aerial vehicle short-range collision avoidance system signal processing apparatus based on a combined waveform of claim 1, wherein the binary accumulation in the threshold detection and binary accumulation module is by:
if the data of the distance units pass through the threshold, recording as 1, if the data of the distance units do not pass through the threshold, recording as 0, then performing multi-cycle accumulation, if the number of threshold accumulation 1 of a certain distance unit exceeds K, outputting the coordinate value of the point, otherwise, not outputting the point as a target of passing through the threshold, wherein K represents the number of accumulation 1;
the calculation mode is divided into two steps:
(1) converting the detected output quantity into binary number, wherein the quantization relation is as follows:
Figure FDA0002945131120000022
|xii denotes the magnitude of the modulus after FFT, γiRepresents a threshold value;
(2) the quantization pulses are accumulated for N1 cycles, and if the quantization pulse accumulation number m is N1 cycles,
Figure FDA0002945131120000031
after binary accumulation, when the number of the points meeting the requirement of threshold passing is not unique, only the first peak point of the output threshold is selected.
4. The rotor-unmanned aerial vehicle short-range collision avoidance system signal processing apparatus based on combined waveforms of claim 1,
let the peak coordinate of the first threshold point of the chirp FMCW in channel 1 be p1_ FMCW, the corresponding FFT-transformed data be a _ p1+1j × b _ p1, and the phase be
Figure FDA0002945131120000032
The peak value coordinate of the first threshold point of the constant frequency wave CW is p1_ CW;
setting a first threshold of a linear frequency modulation sawtooth wave FMCW in a channel 2The peak coordinate of the point is p2_ fmcw, the corresponding FFT transformed data is a _ p2+1j × b _ p2, and the phase is
Figure FDA0002945131120000033
If the position point of the threshold is equal to 1, the position point is regarded as a direct current component and is not used as a target for judgment;
wherein: a represents the data value of the I path, b represents the data value of the Q path, a _ p1 represents that in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p1, a _ p2 represents in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p2, b _ p1 represents in the array formed by a + j × b, the corresponding coordinate of the peak point of the threshold is p1, b _ p2 represents in the array formed by a + j × b, and the corresponding coordinate of the peak point of the threshold is p 2.
5. A rotary wing drone short range collision avoidance system signal processing apparatus based on a combined waveform according to claim 1, wherein the method of calculating the difference frequency value of the sawtooth band is: in the channel 1, the linear frequency modulation sawtooth wave FMCW has the coordinate p1_ FMCW of the point with the maximum threshold point amplitude, and the corresponding difference frequency value is f according to the following ruleb；
The rule is:
if the number of the points with the maximum amplitude of the threshold passing point is obtained, the p1_ fmcw is more than or equal to 1 and less than or equal to 256, and the difference frequency value at the corresponding point is
Figure FDA0002945131120000034
If the maximum point number p1_ fmcw is obtained, 256 < p1_ fmcw is less than or equal to 512, the difference frequency value at the corresponding point
Figure FDA0002945131120000041
fsRepresenting the system sampling frequency.
6. The combined waveform based on of claim 1The signal processing device of the short-distance anti-collision system of the rotor unmanned aerial vehicle is characterized in that the method for calculating the Doppler frequency value of the constant frequency band is as follows: in the channel 1, the constant frequency wave CW, the coordinate p1_ CW of the point with the maximum amplitude of the threshold point, and the corresponding doppler frequency f is calculated according to the following ruled；
The rules are as follows: if a 512-point FFT transformation is performed,
the number x of points is more than or equal to 1 and less than or equal to 256, the target is judged to be close, and the Doppler frequency on the corresponding point is judged
Figure FDA0002945131120000042
The number x of points is more than 256 and less than or equal to 512, the target is judged to be far away, and the Doppler frequency on the corresponding point is judged
Figure FDA0002945131120000043
7. A rotary-wing drone short-range collision avoidance system signal processing apparatus based on combined waveforms according to claim 1, wherein the method of calculating the relative velocity values is: according to the calculated Doppler frequency value fdCalculating the velocity v of the target, the velocity formula of the calculated target is
Figure FDA0002945131120000044
Where c is the speed of light and f is the center frequency.
8. A rotary-wing drone short-range collision avoidance system signal processing apparatus based on a combined waveform according to claim 1, wherein the method of calculating the relative distance value is: calculating the Doppler frequency value f according to the constant frequency banddAnd the difference frequency value f obtained from the sawtooth bandbCalculating the distance R of the target according to the formula
Figure FDA0002945131120000045
Wherein T is the period and B is the toneAnd the frequency band is wide.
9. A rotor-unmanned aerial vehicle short-range collision avoidance system signal processing apparatus based on a combined waveform of claim 2, wherein the phase difference is calculated from the phase calculated by passing through the chirped sawtooth band in channel 1 and channel 2, respectively, according to the formula:
Figure FDA0002945131120000051
calculating to obtain a phase difference delta psi;
according to the angle calculation formula
Figure FDA0002945131120000052
And calculating the azimuth angle of the target, wherein d is the distance between the antennas, and lambda is the wavelength of the radar wave.
10. The signal processing device of a short-distance collision avoidance system for a rotary-wing unmanned aerial vehicle based on a combined waveform according to claim 1, further comprising a filtering tracking module for performing filtering tracking and predicting a distance and a speed value at a next measurement time, wherein the filtering preferably uses an α - β filter, and a prediction equation of a constant gain filter is X (k +1/k) ═ Φ X (k/k);
the filter equation is
X(k+1/k+1)＝X(k+1/k)+K[Z(k+1)-H(k+1/k)]；
Wherein X (k/k) is a filter value at the time k, X (k +1/k) is a predicted value of the time k to the next time, and Z (k) is an observed value at the time k;
when the target motion equation adopts a constant velocity model, the constant gain matrix K is [ alpha, beta/T ]]TIts state transition matrix
Figure FDA0002945131120000053
The measurement matrix of the model is H ═ 1, 0]；
Figure FDA0002945131120000054
Figure FDA0002945131120000055
Wherein: alpha is more than 0 and less than 1, beta is more than 0 and less than 1.
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