CN114114230A - Dynamic positioning method, device and system and computer readable storage medium - Google Patents
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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
- G01S13/06—Systems determining position data of a target
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Abstract
The invention provides a dynamic positioning method, which comprises a processor and comprises the following steps: setting an active tag and a receiver; the active tag transmits a signal; a plurality of receivers receive signals; the method comprises the following steps that a plurality of receivers respectively divide a signal into a first signal and a second signal through respective built-in power dividers or couplers, wherein the first signal directly enters a mixer, and the second signal enters the mixer after being delayed by a time delay device; the mixer processes the first signal and the second signal and outputs a digital sampling signal; and the processor positions the dynamic target according to the digital sampling signal. The invention uses FMCW frequency sweep radar as an active tag to mark a target point to be observed, uses a time delay millimeter wave receiver and digital processing to track and observe the moving position of the active tag, uses a plurality of receivers to observe at different angles, and further uses a trigonometric relation to accurately position the active tag in a three-dimensional space, thereby effectively avoiding the problem that a radar echo reflection point walks.
Description
Technical Field
The present invention relates to the field of radar technologies, and in particular, to a dynamic positioning method, apparatus, system, and computer scale storage medium.
Background
In an industrial application scene, monitoring by using a radar can be used as an effective quality monitoring and safety monitoring means, particularly in the field of aerospace, technicians often need to dynamically position a dynamic target, but the effect of various schemes in the prior art cannot reach the positioning precision of millimeter wave level, and a positioning system is complex in design, large in algorithm computation amount and high in system delay.
A paper published in IEEE at 3/15 in 2020 with the name: millimeter wave precision Phase modulation Radar (Micrometer access Phase Modulated Radar for Distance Measurement and Monitoring) for Distance Measurement and Monitoring, the scheme provides a random binary Phase modulation Radar with improved precision, article address: https:// ieeexploore. ie.org/document/8911417, the solution of the paper can be used for high precision monitoring of the manufacturing industry, compared with the traditional high precision radar using Frequency Modulated Continuous Wave (FMCW), the radar system of the paper can be used in multi-user scenarios without occupying more bandwidth, it introduces a two-step distance estimation method to estimate the distance, first, the distance estimation precision is reduced to half-carrier wavelength by analyzing the envelope of the phase modulation signal; then the distance accuracy is improved to a few microns by carrier phase information, and an equalization method is introduced to solve the problem of I/Q imbalance, the radar system proposed by the paper is demonstrated under the carrier frequency of 80 GHz and the bandwidth of 2 GHz, the measured distance error is within +/-7 mu m, in addition, the high measurement repetition rate of 500 kHz is achieved, and the method is suitable for real-time monitoring in automatic manufacturing. The solution of the paper still cannot effectively solve the dynamic positioning problem in the dynamic target scene.
In the prior art, an imaging radar is adopted to analyze and image a target in a target field by utilizing a multi-antenna technology, so that image positioning is realized, but under the complex condition of multiple targets, false images can be caused by background reflection, so that the imaging quality is influenced, the target detection difficulty is improved, and in addition, the imaging radar has higher hardware cost and signal processing difficulty due to the adoption of a multi-antenna system.
Therefore, it is necessary to develop a method and an apparatus for dynamically positioning a dynamic object in view of the shortcomings of the prior art.
Disclosure of Invention
The invention provides a dynamic positioning method, a device and a computer readable storage medium of a dynamic target, and the technical scheme is as follows:
in a first aspect, the present invention provides a dynamic positioning method, including a processor, including the following steps:
setting an active tag and a receiver;
the active tag transmits a signal;
a plurality of receivers receive signals;
the multiple receivers divide the signal into a first signal and a second signal through the power divider respectively, the first signal directly enters the mixer, and the second signal enters the mixer after being delayed by the time delay device;
the mixer processes the first signal and the second signal and outputs a digital sampling signal;
and the processor positions the dynamic target according to the digital sampling signal.
Further, there is at least one receiver.
Further, the power divider may also be a coupler, and the delay unit and the coupler are designed jointly.
Further, the active tag is an FMCW swept-frequency radar.
Further, the working frequency of the FMCW frequency sweep radar is 76.5 GHz-77.5 GHz.
Further, the receiver is a millimeter wave receiver.
In a second aspect, the present invention provides a dynamic positioning apparatus, which includes a transmitting end and a receiving end, wherein the transmitting end is an active tag, the receiving end is a millimeter wave receiver, and the receiving end receives a signal transmitted by the transmitting end and then performs target positioning by using the dynamic positioning method according to any one of the first aspect.
Further, the active tag is an FMCW swept-frequency radar.
Further, the working frequency of the FMCW frequency sweep radar is 76.5 GHz-77.5 GHz.
Further, the millimeter wave receiver is composed of an antenna, a power divider, a time delay device, a frequency mixer, a low-pass filter and a DSP, the antenna receives a signal of the active tag, the signal is divided into a first signal and a second signal through the power divider, the first signal is directly output to the frequency mixer, the second signal enters the time delay device and then enters the frequency mixer through a time delay τ, the frequency mixer generates an orthogonal IQ baseband signal, the quadrature IQ baseband signal enters the DSP after being smoothed through the low-pass filter, and the baseband signal is sampled into a digital signal.
Further, the power divider may also be a coupler, and the delay unit and the coupler are designed jointly.
In a third aspect, the invention provides a computer-readable storage medium, in which a computer program is stored, which computer program, when being executed by a processor, performs the steps of the dynamic positioning method according to any one of the first aspect.
In a fourth aspect, the present invention provides a dynamic positioning system, comprising:
one or more processors;
a memory; and
one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, which when executing the computer programs implement the steps of the dynamic positioning method according to any of the first aspects.
The invention uses sweep frequency radar as an active tag to mark a target point to be observed, uses a time delay millimeter wave receiver and digital processing to track and observe the moving position of the active tag, uses a plurality of receivers to observe at different angles, and further uses a trigonometric relation to carry out three-dimensional space positioning on the active tag.
The invention utilizes the commonly used FMCW radar as an active tag to be arranged on the interest point of the target object, and utilizes a plurality of receivers to analyze the signal of the active tag, thereby realizing accurate position tracking aiming at the fixed point of the target object, effectively avoiding the problem of the wandering of the reflection point of the radar echo, and realizing the point positioning aiming at the target.
Drawings
FIG. 1: dynamic object recognition scheme of the prior art.
FIG. 2: the radar echo diagram of the prior art scheme.
FIG. 3: the invention discloses a system architecture diagram of a positioning device.
FIG. 4: the radar processing time sequence principle schematic diagram of the positioning device is disclosed.
FIG. 5: the invention relates to a radar sweep frequency oscillogram of a positioning device.
FIG. 6: the invention relates to a multi-receiver system architecture diagram of a positioning device.
FIG. 7: the positioning device of the present invention constitutes a block diagram.
FIG. 8: the invention discloses a positioning method flow chart.
Detailed Description
Referring to a schematic diagram of a dynamic target identification in the prior art shown in fig. 1, an imaging radar analyzes and images a target in a target field by using a multi-antenna technology, so as to realize image positioning, and under the complex condition of multiple targets shown in fig. 1, background reflection causes false images, thereby affecting imaging quality and improving target detection difficulty.
The invention is exemplified by aiming at the safety monitoring of the power generation windmill, and the radar does not need to completely image the windmill, because the radar can accurately detect the distance and the position of key identification points such as windmill blades, windmill tower bodies and the like, the radar can analyze key indexes such as the swinging, blade deformation, tower body settlement and the like of the windmill.
Although the imaging radar can monitor the windmill to a certain extent, the relative positions of the windmill and the radar are changed, and the actual radar echo reflection points actually correspond to points at different positions of the windmill blade at different moments, so that the obtaining of effective micron-sized accurate position information cannot be guaranteed.
Referring to a radar echo schematic diagram in the prior art shown in fig. 2, when a radar wave irradiates a windmill, a plurality of reflection loops are formed on blades of the windmill, and the reflection loops continuously change along with the rotation of the blades, so that the distance of reflection points detected by the radar also changes along with the change of the loops to generate position drift, and the accuracy of target positioning is affected.
Referring to fig. 3, the system architecture diagram of the technical solution of the present invention, the present invention sets a transmitting end on the windmill, preferably, the transmitting end is an active tag 10, the active tag 10 changes the reflected wave of the radar signal of the traditional positioning system into a single-direction transmission which is transmitted from the active tag 10 and received by the receiver, thereby avoiding the problem of multipath uncertainty and solving the problem that the detection point of the windmill is fixed relative to the windmill.
Preferably, the active tag 10 described in this embodiment is an FMCW frequency-swept radar, in this embodiment, only the frequency-swept output end of the FMCW frequency-swept radar is used, the receiving end is formed by a millimeter-wave type receiver 20, and the receiver 20 is composed of an antenna 201, a power divider or coupler (not shown in the figure), a time delay 202, a mixer 203, a low-pass filter 204, and a DSP (digital signal processor) 205. After receiving the signal of the active tag 10, the antenna 201 is divided into a first signal and a second signal by a power divider or a coupler, the first signal is directly output to the mixer 203, the second signal enters the time delayer 202 and then enters the mixer 203 after a time delay τ, the quadrature IQ baseband signal generated by the mixer 203 represents the phase difference input by the mixer 203, and then enters the DSP205 after being smoothed by the low pass filter 204, and the baseband signal is sampled into a digital signal for processing.
It can be understood by those skilled in the art that the delay unit 202 can also be designed in combination with a coupler (not shown in the figure) to implement signal decomposition and delay, so as to achieve the purpose of dynamic positioning of the present invention, and the description of the present invention is omitted here.
The receiver 20 determines the position according to the phase difference between the waveforms of each sweep and the last sweep, and since the fixed time delay τ is equal to the sweep interval at the receiving end, and correspondingly, the waveform repetition time is also τ, the waveforms at the mixer end should be aligned in equal phase each time.
FIG. 4 is a schematic diagram of the radar processing timing sequence principle according to the present invention, when the target moves, because the active tag 10 movesCausing extra delay tau after movement1Therefore, two continuous sweep frequency waveforms received by the receiver 20 are no longer completely aligned, a baseband waveform output is generated in the sweep frequency interval generated by the movement of the target, the displacement of the target can be estimated through the baseband waveform output, once the movement of the target is finished, the waveforms are automatically aligned again, and in the case of alignment, the baseband output is only a constant direct current level.
Referring to fig. 5, a radar sweep waveform diagram according to the technical solution of the present invention, a position estimation of a target tag may be obtained according to a formula according to a signal output by a baseband, which is illustrated as follows: if the sweep frequency of the sweep radar starts from 76.5GHz to the end of 77.5GHz, the silence time is 10ms, and the sweep time is 50ms, then a signal S (t) at time t is obtained, which is expressed by the formula (one):
wherein k is a positive integer, j is an imaginary part operator, f1 is a start frequency, k is a sweep number, t1 is a sweep start time point, t2 is a sweep end start point,
is the sweep rate. When the target moves a distance d, an additional delay τ 1= d/c is generated, where c is the speed of light and the delayed signal is denoted as s' (t), and a formula (two) is obtained:
comparison of
And S (t), after the signals are subjected to frequency mixing and low-pass filtering, the baseband IQ complex signals with the phase difference are expressed as a formula (three):
to SBB(t) after digital sampling, where f is the known frequency change rate of the frequency sweep, the unknown displacement τ 1 is obtained by using the formula (one) and the formula (two), because the baseband signal is only in
And S (t) is generated in the staggered time, and the moving path of the target can be tracked by accumulating the displacement of each baseband signal under the condition that the moving speed of the target is not high.
Referring to fig. 6, in the multi-receiver architecture diagram of the technical solution of the present invention, the distances of the same active tag 10 are measured at different angles by a plurality of receivers Rx1, Rx2, and Rx3, and then the active tag 10 is three-dimensionally located by triangulation.
Referring to fig. 7, a block diagram of a positioning apparatus of the present invention is shown, the positioning apparatus includes a positioning apparatus 100, a memory 101 and a processor 102, and it will be understood by those skilled in the art that all or part of the steps of the object positioning method in the above embodiments may be implemented by hardware related to instructions of a program, the program may be stored in a computer readable storage medium, and the memory includes: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Please refer to fig. 8, which is a flowchart illustrating a positioning method according to the present invention, the positioning method includes the following steps:
step 301: setting at least one active tag and at least one receiver; step 302: an active tag, which may be, for example, an FMCW swept-frequency radar, transmits a signal; step 303: a plurality of receivers receive signals, then in step 304, the plurality of receivers divide the signals into a first signal and a second signal through a power divider or a coupler, the first signal directly enters a mixer, and the second signal enters a time delay unit for delaying and then enters the mixer; step 305: the mixer processes the first signal and the second signal and outputs a digital sampling signal; step 306: and the processor positions the dynamic target according to the digital sampling signal.
The invention uses sweep frequency radar as an active tag to mark a target point to be observed, uses a time delay millimeter wave receiver and digital processing to track and observe the moving position of the active tag, uses a plurality of receivers to observe at different angles, and further uses a trigonometric relation to carry out three-dimensional space positioning on the active tag.
The invention utilizes the commonly used FMCW radar as an active tag to be arranged on the interest point of the target object, and utilizes a plurality of receivers to analyze the signal of the active tag, thereby realizing accurate position tracking aiming at the fixed point of the target object, effectively avoiding the problem of the wandering of the reflection point of the radar echo, and realizing the point positioning aiming at the target.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (13)
1. A dynamic positioning method, comprising a processor, comprising the steps of:
setting an active tag and a receiver;
the active tag transmits a signal;
a plurality of receivers receive signals;
the multiple receivers divide the signal into a first signal and a second signal through respective built-in power dividers, the first signal directly enters a mixer, and the second signal enters a time delayer and enters the mixer after being delayed;
the mixer processes the first signal and the second signal and outputs a digital sampling signal;
and the processor positions the dynamic target according to the digital sampling signal.
2. A dynamic positioning method as in claim 1, wherein there is at least one of said receivers.
3. The dynamic positioning method as claimed in claim 1, wherein the power divider is further a coupler, and the delay unit and the coupler are jointly designed.
4. Dynamic positioning method according to claim 1, characterized in that the active tag is an FMCW swept radar.
5. The dynamic positioning method of claim 4, wherein the operating frequency of the FMCW swept-frequency radar is 76.5GHz to 77.5 GHz.
6. The dynamic positioning method of claim 1, wherein the receiver is a millimeter wave receiver.
7. A dynamic positioning device, comprising a transmitting end and a receiving end, wherein the transmitting end is an active tag, the receiving end is a millimeter wave receiver, and the receiving end receives a signal transmitted by the transmitting end and then performs target positioning by using the dynamic positioning method according to any one of claims 1 to 5.
8. The dynamic positioning apparatus of claim 7, wherein the active tag is an FMCW swept radar.
9. The dynamic positioning apparatus of claim 8, wherein the operating frequency of the FMCW swept radar is 76.5GHz to 77.5 GHz.
10. The dynamic positioning device of claim 7, wherein the millimeter wave receiver comprises an antenna, a power divider, a delay unit, a mixer, a low pass filter, and a DSP, the antenna receives the signal from the active tag and then divides the signal into a first signal and a second signal through the power divider, the first signal is directly output to the mixer, the second signal enters the delay unit and then enters the mixer through a delay τ, the mixer generates a quadrature IQ baseband signal, the quadrature IQ baseband signal is smoothed through the low pass filter and then enters the DSP, and the baseband signal is sampled into a digital signal.
11. The dynamic positioning apparatus of claim 10, wherein the power divider is further a coupler, and the delay unit and the coupler are jointly designed.
12. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the dynamic positioning method according to any one of claims 1 to 6.
13. A dynamic positioning system, comprising:
one or more processors;
a memory; and
one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, characterized in that the processors, when executing the computer programs, implement the steps of the dynamic positioning method according to any of claims 1 to 6.
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