CN108107433A - One kind is used for the pinpoint method of millimetre-wave radar system - Google Patents
One kind is used for the pinpoint method of millimetre-wave radar system Download PDFInfo
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- CN108107433A CN108107433A CN201711265369.5A CN201711265369A CN108107433A CN 108107433 A CN108107433 A CN 108107433A CN 201711265369 A CN201711265369 A CN 201711265369A CN 108107433 A CN108107433 A CN 108107433A
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- radar system
- millimetre
- wave radar
- positioning accuracy
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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
- G01S13/88—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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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention discloses a kind of pinpoint method of millimetre-wave radar system, comprises the following steps：Determine the positioning accuracy of azimuth rotating platform；According to the specific requirement of radar system, sampling angle interval and the scanning range of radar system are determined；According to positioning accuracy, sampling angle interval and scanning range, the angle position that radar system needs are calibrated is determined.The location information of the pinpoint method combination azimuth rotating platform Real-time Feedback of millimetre-wave radar system of the present invention realizes the accurate positionin of millimetre-wave radar system by adjusting the angle position of triggering millimeter-wave signal.
Description
Technical field
The present invention relates to radar detection technique fields.It is accurately fixed for millimetre-wave radar system more particularly, to one kind
The method of position.
Background technology
Foreign body detection system for airfield runway is mainly different to airfield runway using millimeter wave broadband linear FM signal (LFMCW)
Object is detected, and carrying out pulse to the target echo of millimeter-wave signal compresses to obtain the location information of foreign matter.It runs on current airport
Road exotic fragment automatic checkout system is broadly divided into radar sensing system and optical imagery detecting system.
In millimetre-wave radar detecting system, using millimetre-wave radar sensor as point of observation, choose in three dimensions
One direction of observation forms a sight when point of observation is observed along direction of observation, by emitting millimeter wave under every sight
Signal acquisition foreign matter position simultaneously forms image data, after repeating the above process, after synthesizing the image data obtained under every sight
Obtain two-dimentional millimetre-wave radar image.The foreign bodies detection algorithm used in the case of general is background subtraction, i.e., with no target
Existing millimeter-wave image is as empty background, and scan image after empty background image difference with being detected, and therefore, the method is to milli
The positioning accuracy request of metric wave system attitude turntable is higher, it is desirable that makes scan image and empty background image corresponding as far as possible
Sight is consistent, and therefore, how to be accurately directly related to final detection to the positioning of millimetre-wave radar system attitude turntable
As a result.
Current azimuth rotating platform due to when the problem of mechanical structure and machining accuracy, rotates can there are constant error, because
This is, it is necessary to which a kind of be used for the pinpoint method of millimetre-wave radar system attitude turntable.
The content of the invention
It is an object of the invention to provide a kind of pinpoint method of millimetre-wave radar system, in milimeter wave detection system
When being detected, make scan image accurately corresponding with background image by this method, improve the accuracy and stabilization of testing result
Property.
In order to achieve the above objectives, the present invention uses following technical proposals：
The present invention provides a kind of pinpoint methods of millimetre-wave radar system, comprise the following steps：
S10 determines the positioning accuracy of azimuth rotating platform；
S20 determines sampling angle interval and the scanning range of radar system according to the specific requirement of radar system；
S30 determines the angle position that radar system needs are calibrated according to positioning accuracy, sampling angle interval and scanning range
It puts.
Further, the positioning accuracy of the step S10 azimuth rotating platforms in the production of azimuth rotating platform just it has been determined that passing through
Product description can obtain.
Further, the sampling angle interval of the step S20 radar systems is determined according to the directional diagram of antenna.
Further, the angle information that the step S30 radar systems are mainly turned round by azimuth rotating platform determines after judging
No transmitting radar signal.
Further, set in the present invention positioning accuracy asSampling angle at intervals ofScanning range is L, every k
A sampled point redefines the angle position of radar system calibration, then the angle position that radar system needs are calibrated is respectivelyWherein, n, k for positive integer and
Beneficial effects of the present invention are as follows：
The location information of the pinpoint method combination azimuth rotating platform Real-time Feedback of millimetre-wave radar system of the present invention, passes through
Realize the accurate positionin of millimetre-wave radar system in the angle position of adjustment triggering millimeter-wave signal.
Description of the drawings
The specific embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 shows the perfect condition scanning schematic diagram of radar system.
Fig. 2 shows the actual conditions scanning schematic diagram of radar system.
Fig. 3 shows the schematic diagram of distributed airfield runway foreign object debris detection system, wherein, 1 runs for distributed airport
The a certain sensor unit of road exotic fragment automatic checkout system, 2 be airfield runway, and dash area is swept for sensor unit
Retouch scope.
Fig. 4 shows the pinpoint method flow diagram of millimetre-wave radar system.
Specific embodiment
In order to illustrate more clearly of the present invention, the present invention is done further with reference to preferred embodiments and drawings
It is bright.Similar component is indicated with identical reference numeral in attached drawing.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.
The perfect condition scanning of radar system is as shown in Figure 1, it is assumed that and radar system is completed once to sample No. 1 position, this
When azimuth rotating platform return value beIt, can be approximate since the rotation angle stepping of azimuth rotating platform is much smaller than radar sampling angle interval
Think that azimuth rotating platform returns angle information in real time, be when returning to angleSecond of sampling (i.e. position 2) of Shi Jinhang,
Then on the basis of position 2, whenShi Jinhang third time samplings (i.e. position 3), successively iteration completion scanning.
The actual conditions scanning of radar system is as shown in Figure 2, it is assumed that radar system is in R1 (No. 1 Chong Die with R1 positions) number position
It puts completion once to sample, since turntable is there are certain position error, during actual scanning, be completed for the second time the R2 of position at
Sampling, the angle value that turntable returns at this time areAnd
It completes third time at the R3 of position to sample, the angle value returned at this time isAnd
With the progress of iteration, error is constantly accumulated, and sampling number is inconsistent, and difference can not be carried out after composograph.
Therefore, if ideally, the angle of sampling isDuring actual scanning, adopt
The angle of sample isUnder extreme conditions, i.e., each position error isWhenWhen, cause sampling number inconsistent and background difference can not be carried out, if therefore meeting
Then withInstead ofNext iteration is carried out, to eliminate accumulated error.
Distributed airfield runway foreign object fragment detection is as shown in figure 3, distributed airfield runway foreign object fragment is examined automatically
When airfield runway 2 starts scanning, sensor unit rotates clockwise a certain sensor unit 1 of examining system since A points, cloudy
Shadow part is the scanning range of sensor unit 1.
Specifically, the pinpoint method of millimetre-wave radar system, as shown in figure 4, comprising the following steps：
S10 determines the positioning accuracy of azimuth rotating platform, and being inquired about from operation instructions can obtain, and the positioning accuracy of azimuth rotating platform is
0.01°；
S20 determines the angle of radar system sampling at intervals of 0.5 ° according to the specific requirement of radar system, and scanning range is
180 °, amount to 450 sampled points；
S30 according in the positioning accuracy of step S10 and step S20 radar system sample angle interval and scanning range,
The definite position for needing to calibrate.
The positioning accuracy of azimuth rotating platformThe angle interval of radar system samplingScanning range
For 180 °, in extreme circumstances, work as satisfaction
When can eliminate accumulated error, to reduce calibrating position as far as possible, take the maximum of k, i.e.,Therefore k=
50, i.e., redefine a benchmark every 50 sampled pointsSince scanning range is 180 °, therefore, it is necessary to the angles of calibration
Position is 25 °, 50 °, 75 °, 100 °, 125 °, 150 °, 175 °.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention for those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways, all embodiments can not be exhaustive here, it is every to belong to this hair
The obvious changes or variations that bright technical solution is extended out is still in the row of protection scope of the present invention.
Claims (2)
- A kind of 1. pinpoint method of millimetre-wave radar system, which is characterized in that comprise the following steps：Determine the positioning accuracy of azimuth rotating platform；According to the specific requirement of radar system, sampling angle interval and the scanning range of radar system are determined；According to positioning accuracy, sampling angle interval and scanning range, the angle position that radar system needs are calibrated is determined.
- 2. according to the method described in claim 1, it is characterized in that, set positioning accuracy asSampling angle at intervals ofScanning range is L, redefines the angle position of radar system calibration every k sampled point, then radar The angle position that system needs are calibrated is respectivelyWherein, n, k for positive integer and
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711265369.5A CN108107433B (en) | 2017-12-05 | 2017-12-05 | Method for accurately positioning millimeter wave radar system |
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| CN201711265369.5A CN108107433B (en) | 2017-12-05 | 2017-12-05 | Method for accurately positioning millimeter wave radar system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109302245A (en) * | 2018-10-11 | 2019-02-01 | 北京布科思科技有限公司 | A kind of antenna alignment method and device |
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| CN101222197A (en) * | 2007-12-26 | 2008-07-16 | 吉林大学 | Automobile permanent magnet synchronous motor control method using Hall transducer |
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| CN108107433B (en) | 2023-03-03 |
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