CN110794372A - Millimeter wave radar and unmanned aerial vehicle multi-target height measurement method based on millimeter wave radar - Google Patents
Millimeter wave radar and unmanned aerial vehicle multi-target height measurement method based on millimeter wave radar Download PDFInfo
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- CN110794372A CN110794372A CN201911101043.8A CN201911101043A CN110794372A CN 110794372 A CN110794372 A CN 110794372A CN 201911101043 A CN201911101043 A CN 201911101043A CN 110794372 A CN110794372 A CN 110794372A
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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
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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
- G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
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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 invention discloses a millimeter wave radar and an unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar, wherein the millimeter wave radar comprises a millimeter wave radar circuit board and a power supply interface board electrically connected with the millimeter wave radar circuit board through a connector, the millimeter wave radar circuit board is provided with an antenna and a millimeter wave radar sensor electrically connected with the antenna, a digital signal processor is integrated on the millimeter wave radar sensor, and the millimeter wave radar circuit board is used for transmitting millimeter waves through the antenna and receiving signals reflected by obstacles so as to measure the relative speed, distance and angle between the millimeter wave radar circuit board and a target; and the power supply interface board is used for supplying power to the millimeter wave radar circuit board. According to the millimeter wave radar and the unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar, the millimeter wave radar adopts a double-layer plate structure, so that the assembly is convenient, and the size is small; the heat dissipation is fast, and the performance satisfies the test demand.
Description
Technical Field
The invention relates to the field of radars, and particularly discloses a millimeter wave radar and an unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar.
Background
In the unmanned aerial vehicle trade, in order to ensure that the unmanned aerial vehicle can fly steadily at specific height, the altimetry sensor becomes the standard goods, and barometer height measurement, ultrasonic wave + light stream height measurement, laser height measurement and millimeter wave radar range finding have appeared in succession, but, the barometer height error is great. The height is measured by ultrasonic wave and light stream, the height measuring distance is (0.1-10m), and the ground is required to have rich texture. The ultrasonic height measurement distance (0.1-3m) is easy to penetrate through vegetation, and the real-time performance is poor. The laser height measurement has the disadvantages of poor laser reflection effect of vegetation, large error and high cost. The millimeter wave radar has the ranging height of 0.1-200m, high precision, all weather, strong environmental adaptability, multi-target monitoring and controllable cost. Along with unmanned aerial vehicle is more and more extensive in each trade application, the height finding sensor is the same by the wide application, however in the millimeter wave radar scheme in the existing market, millimeter wave radar Circuit adopts the single-chip millimeter wave radar sensor of integrated DSP (Digital Signal Processing, Digital Signal processor) and supply Circuit and single-chip millimeter wave radar sensor are integrated on a PCB (Printed Circuit Board), thereby lead to single-chip millimeter wave radar sensor temperature among the millimeter wave radar Circuit too high and cause the condition of radar performance disorder to appear.
Therefore, the single-chip millimeter wave radar sensor in the power supply circuit and the millimeter wave radar circuit is integrated on one PCB in the existing printed circuit board design, which is a technical problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a millimeter wave radar, and aims to solve the technical problem that a power supply circuit and a single-chip millimeter wave radar sensor in a millimeter wave radar circuit are integrated on a PCB in the design of the existing printed circuit board.
The technical scheme of the invention is as follows:
according to one aspect of the invention, a millimeter wave radar is provided, which comprises a millimeter wave radar circuit board and a power supply interface board electrically connected with the millimeter wave radar circuit board through a connector, wherein an antenna and a millimeter wave radar sensor electrically connected with the antenna are arranged on the millimeter wave radar circuit board, a digital signal processor is integrated on the millimeter wave radar sensor, and the millimeter wave radar circuit board is used for transmitting millimeter waves through the antenna and receiving signals reflected by obstacles so as to measure the relative speed, distance and angle with a target; and the power supply interface board is used for supplying power to the millimeter wave radar circuit board.
Furthermore, the connector comprises a pin seat arranged on the power supply interface board and a pin arranged on the millimeter wave radar circuit board and used for being matched with the pin seat.
Furthermore, the pin base comprises a first pin base and a second pin base which are arranged on the power supply interface board, the pins comprise a first pin and a second pin which are arranged on the millimeter wave radar circuit board, the first pin is matched with the first pin base, and the second pin is matched with the second pin base.
Further, the millimeter wave radar also comprises a supporting seat, and the supporting seat is positioned between the millimeter wave radar circuit board and the power supply interface board.
Furthermore, the heights of the pin seat and the supporting seat between the millimeter wave radar circuit board and the power supply interface board are equal.
Furthermore, the antenna adopts an onboard microstrip array antenna, the antenna comprises two transmitting antennas and four receiving antennas, and the transmitting antennas adopt double-row antennas.
Furthermore, the millimeter wave radar circuit board also comprises a Flash memory connected with the millimeter wave radar sensor.
According to another aspect of the invention, the invention further provides an unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar, wherein the millimeter wave radar is arranged on the unmanned aerial vehicle, and the unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar comprises the following steps:
acquiring the height H1 of the unmanned aerial vehicle from vegetation and the height H2 of the unmanned aerial vehicle from the ground;
and measuring the height H3 of the vegetation according to the obtained height H1 from the unmanned aerial vehicle to the vegetation and the height H2 from the unmanned aerial vehicle to the ground, wherein the height H3 of the vegetation is H2-H1.
Further, the step of obtaining the height H1 of the unmanned aerial vehicle from the vegetation and the height H2 of the unmanned aerial vehicle from the ground comprises:
and acquiring a nearest obstacle and a farthest obstacle detected by a radar in the one-dimensional range profile, and calculating the distance H1 between the radar and the nearest obstacle and the distance H2 between the radar and the farthest obstacle, wherein the distance H1 between the radar and the nearest obstacle is the height H1 of the unmanned aerial vehicle from vegetation, and the distance H2 between the radar and the farthest obstacle is the height H2 of the unmanned aerial vehicle from the ground.
Further, the step of obtaining the closest obstacle and the farthest obstacle detected by the radar in the one-dimensional range profile, and calculating the distance h1 between the radar and the closest obstacle and the distance h2 between the radar and the farthest obstacle comprises:
converting a continuous signal which is detected by a radar and contains a nearest obstacle and a farthest obstacle into a discrete signal through a Fourier transform formula, and calculating a strongest target value of a discrete signal peak value;
setting a first threshold value by taking the strongest target value as a reference, and calculating a nearest target value on the one-dimensional distance image when the peak intensity of the discrete signal is greater than the first threshold value, wherein the nearest target value is a distance h1 between the radar and a nearest obstacle;
and setting a second threshold value by taking the strongest target value as a reference, and calculating a farthest target value on the one-dimensional distance image when the peak intensity of the discrete signal is greater than the second threshold value, wherein the farthest target value is the distance h2 between the radar and the farthest obstacle.
The technical effects obtained by the invention are as follows:
according to the millimeter wave radar and the unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar, the millimeter wave radar is used for connecting the millimeter wave radar circuit board and the power supply interface board together through the connector, so that the phenomena that a fixed virtual target is generated due to overhigh temperature of a power supply and the performance of the radar is disordered due to overhigh temperature of the millimeter wave radar circuit board are avoided. According to the millimeter wave radar and the unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar, the millimeter wave radar adopts a double-layer plate structure, so that the assembly is convenient, and the size is small; the heat dissipation is fast, and the performance satisfies the test demand.
Drawings
Fig. 1 is a schematic structural diagram of a millimeter wave radar according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the power interface board in FIG. 1;
FIG. 3 is a schematic structural diagram of an embodiment of the millimeter wave radar circuit board of FIG. 1;
FIG. 4 is a block diagram of functional modules of an embodiment of a millimeter wave radar provided in the present invention;
FIG. 5 is a block diagram of a circuit module of an embodiment of the millimeter wave radar provided by the present invention;
fig. 6 is a schematic flow chart of an embodiment of the millimeter wave radar-based unmanned aerial vehicle multi-target height measurement method provided by the invention.
The reference numbers illustrate:
10. a millimeter wave radar circuit board; 20. a power supply interface board; 30. a connector assembly; 11. an antenna; 12. a millimeter wave radar sensor; 31. a needle inserting seat; 32. inserting a pin; 311. a first pin holder; 312. a second pin holder; 321. a first pin; 322. a second pin; 40. a supporting seat; 13. a Flash memory; 21. a DC converter; 22. a power management integrated circuit; 23. a CAN circuit.
Detailed description of the preferred embodiments
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a millimeter wave radar according to an embodiment of the present invention. The millimeter wave radar comprises a millimeter wave radar circuit board 10 and a power supply interface board 20 electrically connected with the millimeter wave radar circuit board 10 through a connector 30, wherein an antenna 11 and a millimeter wave radar sensor 12 electrically connected with the antenna 11 are arranged on the millimeter wave radar circuit board 10, and the millimeter wave radar circuit board 10 is used for emitting millimeter waves through the antenna and receiving signals reflected by obstacles so as to measure the relative speed, distance and angle with a target; the power supply interface board 20 is used for supplying power to the millimeter wave radar circuit board 10.
In the above structure, as an embodiment, referring to fig. 4 and 5, the power supply interface board 20 includes a dc converter 21 and a power management integrated circuit 22, where the dc converter 21 is used for converting a dc voltage; the power management integrated circuit 22 is electrically connected to the dc converter 21 and the millimeter wave radar circuit board 10, and is configured to convert the dc voltage converted by the dc converter 21 into multiple working voltages and output the multiple working voltages to the millimeter wave radar circuit board 10. The power supply interface board 20 further comprises a CAN circuit 23, and the CAN circuit 23 is electrically connected to the dc converter 21 and the millimeter wave radar circuit board 10 respectively, and is used for performing data connection between the CAN circuit 23 and the millimeter wave radar circuit board 10 under the working voltage provided by the dc converter 21. In the present embodiment, the millimeter wave radar sensor 12 employs an IWR1642 chip. The dc converter 21 uses the LM7805 chip U1. The power management integrated circuit 22 includes a first buck converter LM53635 chip U2, a second buck converter LP87702 chip U3, and a third buck converter TPS7a53 chip U4 connected in sequence. The LM7805 chip U1 converts a 12V supply voltage into a 5V dc voltage and outputs the voltage. The LM53635 chip U2 is used for converting the 5V DC voltage into a 3.3V DC voltage for output. The LP87702 chip U3 is used for converting the 3.3V direct-current voltage into two paths of voltages for output, wherein one path of voltage is converted into 1.8V direct-current voltage and then is supplied to the IWR1642 chip; the other path is converted into 1.24V direct current voltage, and then the direct current voltage is divided by a TPS7A53 chip U4 to obtain 1.0V direct current voltage and 1.2V direct current voltage, and then the direct current voltage is supplied to an IWR1642 chip.
The millimeter wave radar that this embodiment provided compares with prior art, links together millimeter wave radar circuit board and power supply interface board through the connector to realized millimeter wave radar sensor and supply circuit's separation, prevented because supply circuit high temperature produces fixed virtual target and causes the millimeter wave radar sensor high temperature in the millimeter wave radar circuit, and then prevented to cause the appearance of radar performance disorder phenomenon because millimeter wave radar circuit board high temperature. In addition, the multi-target height finding millimeter wave radar of the unmanned aerial vehicle provided by the embodiment adopts a double-layer plate structure, and is convenient to assemble and small in size; the heat dissipation is fast, and the performance satisfies the test demand.
Preferably, please refer to fig. 1 to 3, fig. 2 is a schematic structural diagram of an embodiment of the power supply interface board in fig. 1, and fig. 3 is a schematic structural diagram of an embodiment of the millimeter wave radar circuit board in fig. 1. In the millimeter wave radar provided by the embodiment, the connector 30 includes a pin socket 31 disposed on the power supply interface board 20 and a pin 32 disposed on the millimeter wave radar circuit board 10 and adapted to the pin socket 31. Specifically, the pin socket 31 includes a first pin socket 311 and a second pin socket 312 which are arranged on the power supply interface board 20, the pin 32 includes a first pin 321 and a second pin 322 which are arranged on the millimeter wave radar circuit board 10, the first pin 321 is matched with the first pin socket 311, and the second pin 322 is matched with the second pin socket 312.
With the above structure provided by this embodiment, the two layers of boards can be overlapped by the mutual matching of the pin base 31 and the pin 32 respectively provided on the power supply interface board 20 and the millimeter wave radar circuit board 10, so as to reduce the volume and facilitate the insertion during the assembly.
Further, the millimeter wave radar further includes a support base 40, and the support base 40 is located between the millimeter wave radar circuit board 10 and the power supply interface board 20.
In the structure, the millimeter wave radar circuit board 10 and the power supply interface board 20 are supported and fixed by the support base 40, so that quick heat dissipation can be realized in the use process, the performance meets the test requirement, and the phenomenon of radar performance disorder caused by overhigh temperature of the millimeter wave radar circuit board is avoided.
Optionally, referring to fig. 1 to fig. 3, in the millimeter wave radar provided in this embodiment, the heights of the plug pin seat 31 and the supporting seat 40 between the millimeter wave radar circuit board 10 and the power supply interface board 20 are equal. In this embodiment, the millimeter wave radar circuit board 10 and the power supply interface board 20 are supported and fixed by the supporting seat 40 having the same height as the plug pin seat 31, so that the millimeter wave radar circuit board 10 and the power supply interface board 20 are stably connected, and the reliability of the connection between the millimeter wave radar circuit board 10 and the power supply interface board is improved.
Further, as shown in fig. 1 to fig. 3, in the multi-target height finding millimeter wave radar of the unmanned aerial vehicle provided by this embodiment, the antenna 11 adopts an onboard microstrip array antenna, the antenna 11 includes two transmitting antennas RF TX and four receiving antennas RF RX, and the transmitting antennas RF TX adopts a double-row antenna. Such purpose is with the radar visual angle diminish, because the energy of radar transmission is provided by the chip, and the energy of chip is the fixed value, so when the visual angle is less, the energy in the visual angle scope improves, and the radar is better to the detection effect of weak target this moment, and such design is mainly when solving radar detection vegetation, and the precision can improve relatively when stronger energy echo is to the height of detecting vegetation.
Preferably, referring to fig. 1 to 5, in the millimeter wave radar provided in this embodiment, the millimeter wave radar circuit board 10 further includes a Flash memory 13 connected to the millimeter wave radar sensor 12. In the present example, the detected nearest obstacle and farthest obstacle information are stored by the Flash memory 13, and the measured height information of the vegetation is saved for later inquiry and tracing.
Adopt the millimeter wave radar that this embodiment provided, can carry out unmanned aerial vehicle multi-target height finding.
The invention also provides an unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar, the millimeter wave radar is arranged on the unmanned aerial vehicle, and the unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar comprises the following steps:
and S100, acquiring the height H1 of the unmanned aerial vehicle from the vegetation and the height H2 of the unmanned aerial vehicle from the ground.
And acquiring a nearest obstacle and a farthest obstacle detected by a radar in the one-dimensional range profile, and calculating the distance H1 between the radar and the nearest obstacle and the distance H2 between the radar and the farthest obstacle, wherein the distance H1 between the radar and the nearest obstacle is the height H1 of the unmanned aerial vehicle from vegetation, and the distance H2 between the radar and the farthest obstacle is the height H2 of the unmanned aerial vehicle from the ground.
Step S100 specifically includes:
step S110, converting the continuous signals detected by the radar and containing the nearest obstacle and the farthest obstacle into discrete signals through a Fourier transform formula, and calculating the strongest target value of the discrete signal peak value.
The signals collected by the radar are processed by a fast Fourier transform formula:
fourier transform formula
The continuous signal is converted into a discrete signal through a Fourier transformation formula and is placed in an inputsig [ fftsize ] (inputsig is a variable name set in a code; fftsize is the size setting of an array) buffer, and max (the target corresponding to the maximum peak value is the strongest target value) is calculated from the peak value corresponding to the signal.
Step S120, setting a first threshold value based on the strongest target value, and when the peak intensity of the discrete signal is greater than the first threshold value, calculating a nearest target value on the one-dimensional range profile, where the nearest target value is a distance h1 from the radar to the nearest obstacle.
The closest point min _ range (set closest point variable) at which the radar detects an obstacle is found, the first threshold value is set to 0.2max with the strongest peak target as the reference, and in inputsig [ fftsize ], when the peak intensity is greater than 0.2max, the target value min _ range at which the range image is the smallest is found.
Step S130, setting a second threshold value with the strongest target value as a reference, and when the peak intensity of the discrete signal is greater than the second threshold value, calculating a farthest target value on the one-dimensional distance image, where the farthest target value is a distance h2 between the radar and a farthest obstacle.
The farthest point max _ range (the set farthest point variable) at which the radar detects an obstacle is determined, the second threshold value is set to 0.3max with reference to the peak value of the strongest point, and the target value max _ range which is farthest from the image is determined when the peak intensity is greater than 0.3max in inputsig [ fftsize ].
And S200, measuring the height H3 of the vegetation according to the acquired height H1 from the unmanned aerial vehicle to the vegetation and the height H2 from the unmanned aerial vehicle to the ground, wherein the height H3 of the vegetation is H2-H1.
In this embodiment, the height of the vegetation is derived from the difference between the farthest distance and the closest distance.
The existing millimeter wave radar scheme in the market only provides a target distance, and unmanned aerial vehicle chance is indefinite because the change of vegetation is undulated, and the unmanned aerial vehicle multiple-target height finding scheme that this embodiment provided can real-timely measure liftoff furthest distance, so unmanned aerial vehicle can not change because of the change of vegetation, can keep stable high flight always.
Compared with the prior art, the millimeter wave radar-based unmanned aerial vehicle multi-target height measurement method provided by the embodiment of the invention has the advantages that the height H1 from the unmanned aerial vehicle to vegetation and the height H2 from the unmanned aerial vehicle to the ground are obtained; and measuring the height H3 of the vegetation according to the obtained height H1 from the unmanned aerial vehicle to the vegetation and the height H2 from the unmanned aerial vehicle to the ground, wherein the height H3 of the vegetation is H2-H1. The millimeter wave radar-based unmanned aerial vehicle multi-target height measurement method provided by the embodiment can measure the height of vegetation, and solves the problem that the unmanned aerial vehicle can measure the height of the vegetation when the unmanned aerial vehicle stably flies at a certain height, so that the growth condition of the vegetation can be known in real time.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A millimeter wave radar is characterized by comprising a millimeter wave radar circuit board (10) and a power supply interface board (20) electrically connected with the millimeter wave radar circuit board (10) through a connector (30), wherein an antenna (11) and a millimeter wave radar sensor (12) electrically connected with the antenna (11) are arranged on the millimeter wave radar circuit board (10), a digital signal processor is integrated on the millimeter wave radar sensor (12), and the millimeter wave radar circuit board (10) is used for transmitting millimeter waves through the antenna and receiving signals reflected by obstacles to measure the relative speed, distance and angle with a target; the power supply interface board (20) is used for supplying power to the millimeter wave radar circuit board (10).
2. The millimeter-wave radar according to claim 1,
the connector (30) comprises a plug pin seat (31) arranged on the power supply interface board (20) and a plug pin (32) arranged on the millimeter wave radar circuit board (10) and used for being matched with the plug pin seat (31).
3. The millimeter-wave radar according to claim 2,
the plug pin seat (31) comprises a first plug pin seat (311) and a second plug pin seat (312) which are arranged on the power supply interface board (20), the plug pin (32) comprises a first plug pin (321) and a second plug pin (322) which are arranged on the millimeter wave radar circuit board (10), the first plug pin (321) is matched with the first plug pin seat (311), and the second plug pin (322) is matched with the second plug pin seat (312).
4. The millimeter wave radar according to claim 2 or 3,
the millimeter wave radar further comprises a supporting seat (40), and the supporting seat (40) is located between the millimeter wave radar circuit board (10) and the power supply interface board (20).
5. The millimeter-wave radar according to claim 4,
the heights of the plug pin seat (31) and the supporting seat (40) between the millimeter wave radar circuit board (10) and the power supply interface board (20) are equal.
6. The millimeter-wave radar according to claim 1,
the antenna (11) adopts an onboard microstrip array antenna, the antenna (11) comprises two transmitting antennas and four receiving antennas, and the transmitting antennas adopt double-row antennas.
7. The millimeter-wave radar according to claim 1,
the millimeter wave radar circuit board (10) further comprises a Flash memory (13) connected with the millimeter wave radar sensor (12).
8. An unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar according to any one of claims 1 to 7, wherein the millimeter wave radar is arranged on an unmanned aerial vehicle, and the unmanned aerial vehicle multi-target height measurement method based on the millimeter wave radar comprises the following steps:
acquiring the height H1 of the unmanned aerial vehicle from vegetation and the height H2 of the unmanned aerial vehicle from the ground;
and measuring the height H3 of the vegetation according to the obtained height H1 of the unmanned aerial vehicle from the vegetation and the height H2 of the unmanned aerial vehicle from the ground, wherein the height H3 of the vegetation is H2-H1.
9. The millimeter wave radar-based unmanned aerial vehicle multi-target height finding method according to claim 8,
the step of obtaining the height H1 of the unmanned aerial vehicle from the vegetation and the height H2 of the unmanned aerial vehicle from the ground comprises the following steps:
the method comprises the steps of obtaining a nearest obstacle and a farthest obstacle detected by a radar in a one-dimensional range profile, and calculating the distance H1 between the radar and the nearest obstacle and the distance H2 between the radar and the farthest obstacle, wherein the distance H1 between the radar and the nearest obstacle is the height H1 of an unmanned aerial vehicle from vegetation, and the distance H2 between the radar and the farthest obstacle is the height H2 of the unmanned aerial vehicle from the ground.
10. The millimeter wave radar-based unmanned aerial vehicle multi-target height finding method according to claim 9,
the step of obtaining the nearest obstacle and the farthest obstacle detected by the radar in the one-dimensional range profile, and calculating the distance h1 between the radar and the nearest obstacle and the distance h2 between the radar and the farthest obstacle comprises the following steps:
converting a continuous signal which is detected by a radar and contains a nearest obstacle and a farthest obstacle into a discrete signal through a Fourier transform formula, and calculating a strongest target value of a peak value of the discrete signal;
setting a first threshold value by taking the strongest target value as a reference, and when the peak intensity of the discrete signal is greater than the first threshold value, calculating a nearest target value on the one-dimensional range profile, wherein the nearest target value is a distance h1 between the radar and a nearest obstacle;
and setting a second threshold value by taking the strongest target value as a reference, and when the peak intensity of the discrete signal is greater than the second threshold value, calculating a farthest target value on the one-dimensional distance image, wherein the farthest target value is the distance h2 between the radar and the farthest obstacle.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112585497A (en) * | 2020-04-26 | 2021-03-30 | 深圳市大疆创新科技有限公司 | Radar system, movable platform and signal processing method |
| WO2022095035A1 (en) * | 2020-11-09 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Data processing method and movable platform |
| WO2023273243A1 (en) * | 2021-06-29 | 2023-01-05 | 上海为彪汽配制造有限公司 | Unmanned aerial vehicle surveying and mapping method and system based on millimeter wave radar |
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