CN116068544A - Sugarcane field autorotation ranging method based on FMCW radar improved algorithm - Google Patents
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- 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
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- 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
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Abstract
The invention relates to the technical field of FMCW radar technology measurement, and discloses a sugarcane field autorotation ranging method based on an FMCW radar improvement algorithm, which comprises the following steps of S1, removing a value with mutation exceeding 30cm by utilizing the characteristics that data mutation is smaller than 3 times and the difference between a mutation value and an actual value is basically larger than 30cm when the mutation number is smaller than 3 times; s2, replacing by combining the difference value between the previous two values according to the change trend of the mutation value and the actual value in the step S1; step S3, when the mutation times reach 3 times or more, eliminating and replacing processing is not needed at the beginning of the 3 rd time; the FMCW radar technology measures the distance between the sugarcane field self-rotating vehicle and the sugarcane harvester, and designs an algorithm of removing and replacing method and matching with average value filtering to process the collected data, so that the distance tracking precision of the two vehicles can be improved, the operating pressure of a driver is reduced, the working efficiency is high, and errors in operation can be avoided.
Description
Technical Field
The invention relates to the technical field of FMCW radar technical measurement, in particular to a sugarcane field autorotation ranging method based on an FMCW radar improved algorithm.
Background
The FMCW radar is an electronic sensor for sensing the distance of an object by transmitting and receiving radio waves, the common signal modulation modes include sine wave modulation, triangular wave modulation and sawtooth wave modulation, the FMCW radar mixes and filters a transmitting signal and an echo signal to generate a beat signal, the beat signal is subjected to signal processing to obtain a beat frequency, and the beat frequency is subjected to data processing to obtain a final target distance value, so that the radar has strong environment light interference resistance and is suitable for outdoor work.
There are studies on measuring distances between other vehicles using radar technology today, but when measuring distances using radar technology, such studies are suitable for stationary road surfaces or occasional uneven road surfaces, and it is necessary to ensure that there are few interference factors in the environment, so that they are not suitable for sugarcane fields where vehicles are easy to shake and where the environment is complex.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment regulations of the invention provide a sugarcane field autorotation ranging method based on an FMCW radar improved algorithm so as to solve the technical problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions: a sugarcane field autorotation ranging method based on an FMCW radar improvement algorithm comprises the following steps:
s1, detecting the data mutation condition in the radar ranging process, and eliminating the value with mutation exceeding 30cm when the mutation time is less than 3 times by utilizing the characteristics that the data mutation is less than 3 times and the difference between the mutation value and the actual value is basically greater than 30 cm;
s2, replacing by combining the difference value between the previous two values according to the change trend of the mutation value and the actual value in the step S1;
step S3, when the mutation times reach 3 times or more, eliminating and replacing processing is not needed at the beginning of the 3 rd time;
and S4, carrying out the process of providing the mutation value can ensure that the radar can still normally measure the distance under the condition that the speed of the autorotation vehicle and the sugarcane harvester is higher when the autorotation vehicle and the sugarcane harvester are just started.
In a preferred embodiment, the calculation formula after data processing is as follows when the data mutation occurs
In a preferred embodiment, when W (i) -W (i-h-1). Gtoreq.30 and h < 3, W (i) is marked as a mutation value, if W (i) is greater than the distance value when not mutated, W1 (i) =W1 (i-1) +abs [ W1 (i-h+1) -W1 (i-h) ], and if W (i) is less than the distance value when not mutated, W1 (i) =W1 (i-1) -abs [ W1 (i-h+1) -W1 (i-h) ].
In a preferred embodiment, when W (i) -W (i-h-1) > 30 but h < 3, W1 (i) =w (i), the current distance value of the radar test is equal to the distance value after the data processing.
In a preferred embodiment, when W (i) -W (i-h-1) < 30, W1 (i) =w (i), the current distance value of the radar test is equal to the distance value after the data processing.
In a preferred embodiment, after the mutation values are removed and replaced, a sliding average filtering process is performed, the sliding window is 10, the 10 th numerical value is the current value, the data in each group of windows are averaged, and the calculated data are the final distance data.
In a preferred embodiment, when the FMCW radar works, the modulating signal generator generates sawtooth waves to control the SEN0306 radar transceiver to emit linear sweep signals, when a target object is encountered, echo signals are generated at the moment, the radar receiver mixes the received echo signals with local oscillation signals to obtain difference frequency signals, the singlechip controls the frequency detection and extraction module to scan the difference frequency signals, the central frequency of the difference frequency signals is detected, the singlechip generates acquisition card synchronous trigger signals to acquire the difference frequency signals, data are sent to the upper computer system, and the upper computer system utilizes a frequency estimation algorithm to extract the frequency of the difference frequency signals, so that target distance information is obtained.
In a preferred embodiment, the SEN0306 radar transceiver has a range equation for a target of
Wherein R is distance after distance measurement, c is light speed, f d And B is the modulation bandwidth.
In a preferred embodimentIn the mode, the FMCW radar adopts a sawtooth wave modulation signal to control the VCO to emit the frequency modulation continuous wave, 1V-4V, and the frequency of the VCO output signal is f (V) mod )＝f 0 +KV mod In which f (V) mod ) For outputting the frequency of the signal, f 0 The center frequency of the VOC is the tuning sensitivity of the VOC, V mod The amplitude of the frequency-modulated voltage is 1V-4V.
In a preferred embodiment, the difference frequency signal is amplified by a circuit information amplifying circuit, the difference frequency signal is amplified by a low-noise pre-amplifying circuit, then the interference signal is removed by a high-pass filter, the echo signals at different distances are adjusted to be the same amplitude by a variable gain adjusting circuit, and finally the high-frequency harmonic component is filtered by a low-pass filter.
The invention has the technical effects and advantages that:
1. according to the invention, the FMCW radar technology is utilized to measure the distance between the sugarcane field self-rotating vehicle and the sugarcane harvester, and an algorithm of removing and replacing method matched with average value filtering is designed to process the acquired data, so that the distance tracking precision of the two vehicles can be improved, the operating pressure of a driver is reduced, the working efficiency is high, and errors in operation can be avoided;
2. when the distance measurement is carried out by the FMCW radar, the mutation value appears, and when the mutation value appears, a larger difference appears between the distance measured by the radar and the actual distance, and after the rejection replacement processing is carried out, the distance at the moment is closer to the actual distance, so that the value after the rejection replacement can reflect the actual value;
3. the invention has the advantages that by arranging the sliding average filtering, the output result is related to the previous history record, if the physical quantity is deliberately changed suddenly, a plurality of sampling periods are needed, the output result gradually approaches to the true value, under the actual general condition, the more recent data weight is larger, the history record weight is reduced, different weighting coefficients are allocated to the data in the sliding window, and the weighted average is carried out, so that the sliding window is 10, the filtered result is more approximate to the true value, and the accuracy of the working process of the sliding window is improved.
Drawings
Fig. 1 is a schematic view of an FMCW radar mounting structure of the present invention.
FIG. 2 is a diagram showing the comparison of the waveforms of the data before and after the processing according to the present invention.
Detailed Description
The following will be described in detail and with reference to the drawings in the present invention, and the configurations of the structures described in the following embodiments are merely illustrative, and the sugarcane field spinning ranging method based on the FMCW radar improvement algorithm according to the present invention is not limited to the structures described in the following embodiments, and all other embodiments obtained by a person skilled in the art without making any creative effort are within the scope of the present invention.
The invention provides a sugarcane field autorotation ranging method based on an FMCW radar improvement algorithm, which comprises the following steps:
s1, detecting the data mutation condition in the radar ranging process, and eliminating the value with mutation exceeding 30cm when the mutation time is less than 3 times by utilizing the characteristics that the data mutation is less than 3 times and the difference between the mutation value and the actual value is basically greater than 30 cm;
s2, replacing by combining the difference value between the previous two values according to the change trend of the mutation value and the actual value in the step S1;
step S3, when the mutation times reach 3 times or more, eliminating and replacing processing is not needed at the beginning of the 3 rd time;
and S4, carrying out the process of providing the mutation value can ensure that the radar can still normally measure the distance under the condition that the speed of the autorotation vehicle and the sugarcane harvester is higher when the autorotation vehicle and the sugarcane harvester are just started.
In this embodiment, please refer to fig. 1, the present application measures the distance between the sugarcane field self-rotating vehicle and the sugarcane harvester by using the FMCW radar technology, and designs an algorithm for processing the collected data by combining the removing and replacing method with the average filtering, so as to improve the distance tracking precision of the two vehicles and reduce the operation pressure of the driver, wherein the position a in the figure is the installation position of the FMCW radar.
Referring to fig. 2, when a data mutation occurs, the calculation formula after data processing at this time is
In this embodiment of the present application, the pair of data waveforms before and after processing is, for example, an actual distance is a straight line in fig. 2, and a distance after being processed by an algorithm is a distance after being close to the actual distance in fig. 2, and is higher than the actual distance and lower than the actual distance, and a peak valley (i.e., a mutation value) with a large scale appears after up-down conversion in a small range is a distance measured by a radar.
Further, when W (i) -W (i-h-1) > 30 and h < 3, W (i) is marked as a mutation value, if W (i) is larger than a distance value when not mutated, W1 (i) =W1 (i-1) +abs [ W1 (i-h+1) -W1 (i-h) ], if W (i) is smaller than a distance value when not mutated, W1 (i) =W1 (i-1) -abs [ W1 (i-h+1) -W1 (i-h) ], when W (i) -W (i-h-1) > 30 and h < 3, a mutation value appears at the current distance measured by the FMCW radar, and two cases of the distance value when W (i) is larger than the distance value when not mutated and the distance value when W (i) is smaller than the distance value when not mutated are respectively carried out in different calculation modes, so that the mutation value can be stably removed and replaced.
Further, when W (i) -W (i-h-1) is more than or equal to 30 and h is less than 3, at the moment, W1 (i) =W (i), the current distance value tested by the radar is equal to the distance value after data processing, and when W (i) -W (i-h-1) is more than or equal to 30 and h is less than 3, the current distance value tested by the FMCW radar belongs to normal movement condition, at the moment, the current distance value is not judged to belong to numerical mutation, so that mutation value elimination replacement processing is not needed.
Further, when W (i) -W (i-h-1) < 30, (i) =w (i), the current distance value measured by the radar is equal to the distance value after the data processing, and when W (i) -W (i-h-1) < 30, the current distance value measured by the FMCW radar is not mutated, and can be judged to be a normal value at the moment, and the mutation condition does not affect the normal value, so that the mutation value elimination replacement processing is not needed.
Further, after the abrupt change value is removed and replaced, sliding average filtering is performed, the sliding window is 10, the 10 th numerical value is the current value, the data in each group of windows are averaged, the calculated data are final distance data, sliding average filtering is performed, the output result is related to the previous history record, if the physical quantity is intentionally changed suddenly, a plurality of sampling periods are needed, the output result gradually approaches to the true value, in practical general, the more recent data weight is larger, the history record weight is reduced, different weighting coefficients are allocated to the data in the sliding window, and the weighted average is performed, so that the sliding window is 10, the filtered result is closer to the true value, and the accuracy of the sliding window in working is improved.
Further, when the FMCW radar works, the modulating signal generator generates sawtooth waves to control the SEN0306 radar transceiver to emit linear sweep signals, when a target object is met, echo signals are generated at the moment, the radar receiver mixes the received echo signals with local oscillation signals to obtain difference frequency signals, the singlechip controls the frequency detection and extraction module to scan the difference frequency signals to detect the center frequency of the difference frequency signals, the singlechip generates acquisition card synchronous trigger signals to acquire the difference frequency signals and sends data to the upper computer system, the upper computer system utilizes a frequency estimation algorithm to extract the difference frequency signals, so that the target distance information is obtained, the working voltage of the FMCW radar is relatively low, the use of high-power and high-voltage devices is avoided, the signal processing is relatively simple, the radio frequency part structure is simplified, and the whole radar system is relatively simple, and the SEN0306 radar is an electronic sensor for sensing the object distance through transmitting and receiving radio waves. Compared with the ranging sensor of other principles, the 24GHz microwave ranging radar has the advantages of small volume, light weight, wide ranging range, certain penetrating power (except for smoke, dust, thin nonmetallic materials and other obstacles such as walls), multi-target identification and measurement capability and the like.
Further, the range formula of the SEN0306 radar transceiver for the target is as follows
Wherein R is distance after distance measurement, c is light speed, f d For the frequency of the difference frequency signal, B is the modulation bandwidth, and the SEN0306 radar transceiver calculates multiple targets and single targets by adopting different ranging formulas, so that accurate distance measurement can be carried out on both static targets and dynamic targets, and the measurement precision is improved.
Further, the FMCW radar adopts a sawtooth wave modulation signal to control the VCO to emit the frequency modulated continuous wave, and the frequency of the VCO output signal is f (V) mod )＝f 0 +KV mod In which f (V) mod ) For outputting the frequency of the signal, f 0 The center frequency of the VOC is the tuning sensitivity of the VOC, V mod For the frequency modulation voltage, the amplitude of the frequency modulation voltage is 1V-4V, and the accuracy of the FMCW radar depends on the linearity of the VCO, so that the triangular wave modulation signal must find a tuning voltage range with better tuning linearity to realize the VCO control, thereby setting the amplitude of the frequency modulation voltage to be 1V-4V, having better linearity at the moment and having smaller influence on the accuracy of the FMCW radar, and further increasing the accuracy of the FMCW radar distance detection.
Further, the difference frequency signal is amplified by adopting circuit information, the difference frequency signal is amplified by a low-noise pre-amplifying circuit, then an interference signal is removed by a high-pass filter, echo signals at different distances are adjusted to be the same amplitude by a variable gain adjusting circuit, and finally high-frequency harmonic components are filtered by a low-pass filter.
In this embodiment of the present application, the low-noise pre-amplification circuit may reduce the interference of noise at first, so as to demodulate the required difference frequency signal, because the noise factor of the pre-amplifier has the greatest influence on the total noise factor, the noise factor is reduced in the pre-stage, so that the signal precision can be improved as a whole, the high-pass filter may filter out the written triangular wave signal, the power noise and the short-range low-frequency interference noise, at this time, the modulated signal is close enough to the actual difference frequency signal, and the echo signal amplitude decreases with the increase of the distance, so that the echo signals at different distances are adjusted to the same amplitude, and then the variable gain adjustment circuit is used, so that the subsequent digital signal processing is facilitated, the low-pass filter may filter out the high-frequency harmonic component in the circuit and the signal, so as to further increase the range, and give the circuit a certain expandability.
Example two
Removing the replaced abrupt change value, and adopting median filtering and pulse interference prevention average filtering besides adopting sliding average filtering;
the median filtering is to continuously input a certain parameter for N times, wherein N is generally an odd number, so that the intermediate value is convenient to select, if N is an even number, the average value of the two intermediate values is taken as the integral intermediate value, the intermediate value is taken as the sampling value, the median filtering is suitable for the condition that the variable change is relatively slow, if the abrupt change value is continuous and uninterrupted, the median filtering is unsuitable for the parameter in the rapid change process;
the filtering of the anti-pulse interference average value is to continuously sample N times, remove the maximum value and the minimum value, then calculate the average value of the rest N-2 data, which is the effective value of the sampling, and the method is suitable for the occasion with serious variable jump, so the abrupt change value is suitable for the occasion with large change quantity when the abrupt change value is frequently changed rapidly.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions in accordance with the embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired means from one website site, computer, server, or data center. Computer readable storage media can be any available media that can be accessed by a computer or data storage devices, such as servers, data centers, etc. that contain one or more collections of available media. The usable medium may be a magnetic medium, an optical medium, or a semiconductor medium. The semiconductor medium may be a solid state disk.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Finally: the foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. The sugarcane field autorotation ranging method based on the FMCW radar improvement algorithm is characterized by comprising the following steps:
s1, detecting the data mutation condition in the radar ranging process, and eliminating the value with mutation exceeding 30cm when the mutation time is less than 3 times by utilizing the characteristics that the data mutation is less than 3 times and the difference between the mutation value and the actual value is basically greater than 30 cm;
s2, replacing by combining the difference value between the previous two values according to the change trend of the mutation value and the actual value in the step S1;
step S3, when the mutation times reach 3 times or more, eliminating and replacing processing is not needed at the beginning of the 3 rd time;
and S4, eliminating and replacing the mutation values can ensure that the radar can still normally measure the distance under the condition that the speed of the autorotation vehicle and the sugarcane harvester is higher when the autorotation vehicle and the sugarcane harvester are just started.
2. The sugarcane field autorotation ranging method based on the FMCW radar improvement algorithm of claim 1 is characterized by comprising the following steps: when the data mutation occurs, the calculation formula after the data processing is as follows
3. The sugarcane field autorotation ranging method based on the FMCW radar improvement algorithm as claimed in claim 2 is characterized in that: when W (i) -W (i-h-1) > 30 and h < 3, marking W (i) as a mutation value, if W (i) is larger than the distance value when not mutated, W1 (i) =W1 (i-1) +abs [ W1 (i-h+1) -W1 (i-h) ], and if W (i) is smaller than the distance value when not mutated, W1 (i) =W1 (i-1) -abs [ W1 (i-h+1) -W1 (i-h) ].
4. The sugarcane field autorotation ranging method based on the FMCW radar improvement algorithm as claimed in claim 2 is characterized in that: when W (i) -W (i-h-1) is more than or equal to 30 and h is less than 3, at the moment, W1 (i) =W (i), and the current distance value of the radar test is equal to the distance value after data processing.
5. The sugarcane field autorotation ranging method based on the FMCW radar improvement algorithm as claimed in claim 2 is characterized in that: when W (i) -W (i-h-1) < 30, W1 (i) =w (i), the current distance value of the radar test is equal to the distance value after the data processing.
6. The sugarcane field autorotation ranging method based on the FMCW radar improvement algorithm as claimed in claim 2 is characterized in that: after rejecting and replacing the abrupt change value, carrying out sliding average filtering treatment, wherein the sliding window is 10, the 10 th numerical value is the current value, averaging the data in each group of windows, and the calculated data is the final distance data.
7. The sugarcane field autorotation ranging method based on the FMCW radar improvement algorithm of claim 1 is characterized by comprising the following steps: when the FMCW radar works, the modulation signal generator generates sawtooth waves, the SEN0306 radar transceiver is controlled to emit linear sweep frequency signals, when a target object is encountered, echo signals are generated at the moment, the radar receiver mixes the received echo signals with local oscillation signals to obtain difference frequency signals, the singlechip controls the frequency detection and extraction module to scan the difference frequency signals, the center frequency of the difference frequency signals is detected, the singlechip generates acquisition card synchronous trigger signals, the difference frequency signals are acquired, data are sent to the upper computer system, and the upper computer system utilizes a frequency estimation algorithm to extract the frequency of the difference frequency signals, so that target distance information is obtained.
8. The sugarcane field autorotation ranging method based on the FMCW radar improvement algorithm as claimed in claim 7 is characterized in that: the range formula of the SEN0306 radar transceiver to the target is
Wherein R is distance after distance measurement, c is light speed, f d And B is the modulation bandwidth.
9. The sugarcane field autorotation ranging method based on the FMCW radar improvement algorithm as claimed in claim 7 is characterized in that: FMCW radar adopts sawtooth wave modulation signal to control VCO to emit frequency modulation continuous wave, and the frequency of VCO output signal is f (V) mod )＝f 0 +KV mod In which f (V) mod ) For outputting the frequency of the signal, f 0 The center frequency of the VOC is the tuning sensitivity of the VOC, V mod The amplitude of the frequency-modulated voltage is 1V-4V.
10. The sugarcane field autorotation ranging method based on the FMCW radar improvement algorithm as claimed in claim 7 is characterized in that: the difference frequency signal is amplified by a circuit information amplifying circuit, the interference signal is removed by a high-pass filter after the difference frequency signal is amplified by a low-noise pre-amplifying circuit, echo signals at different distances are adjusted to be the same amplitude value by a variable gain adjusting circuit, and finally high-frequency harmonic components are filtered by a low-pass filter.
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| CN116878404A (en) * | 2023-07-27 | 2023-10-13 | 北京博科测试***股份有限公司 | Device and method for measuring height of wheel arch on automobile assembly production line |
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| CN116878404A (en) * | 2023-07-27 | 2023-10-13 | 北京博科测试***股份有限公司 | Device and method for measuring height of wheel arch on automobile assembly production line |
| CN116878404B (en) * | 2023-07-27 | 2024-04-16 | 北京博科测试***股份有限公司 | Device and method for measuring height of wheel arch on automobile assembly production line |
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