CN117419681A - Positioning processing method, system, storage medium and electronic equipment - Google Patents
Positioning processing method, system, storage medium and electronic equipment Download PDFInfo
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- CN117419681A CN117419681A CN202311741760.3A CN202311741760A CN117419681A CN 117419681 A CN117419681 A CN 117419681A CN 202311741760 A CN202311741760 A CN 202311741760A CN 117419681 A CN117419681 A CN 117419681A
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- 238000003672 processing method Methods 0.000 title claims abstract description 18
- 239000002184 metal Substances 0.000 claims abstract description 148
- 238000002310 reflectometry Methods 0.000 claims abstract description 81
- 238000004364 calculation method Methods 0.000 claims abstract description 24
- 238000004458 analytical method Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 27
- 238000009499 grossing Methods 0.000 claims description 18
- 238000010586 diagram Methods 0.000 description 9
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000010287 polarization Effects 0.000 description 2
- 241001203771 Eudonia echo Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- XXQCMVYBAALAJK-UHFFFAOYSA-N ethyl n-[4-[benzyl(2-phenylethyl)amino]-2-(2-phenylethyl)-1h-imidazo[4,5-c]pyridin-6-yl]carbamate Chemical compound N=1C=2C(N(CCC=3C=CC=CC=3)CC=3C=CC=CC=3)=NC(NC(=O)OCC)=CC=2NC=1CCC1=CC=CC=C1 XXQCMVYBAALAJK-UHFFFAOYSA-N 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
-
- 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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- 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
- G01S7/40—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The application discloses a positioning processing method, a system, a storage medium and electronic equipment, when positioning flying equipment accords with positioning conditions, longitude and latitude data of the positioning flying equipment are obtained, azimuth angles and inclined distances are determined through a preset calculation mode and the longitude and latitude data, the azimuth angles and the inclined distances are determined to be target azimuth angles, the target azimuth angles are scanned through a vertical scanning mode, vertical scanning reflectivity calibration results are obtained, analysis is conducted on the vertical scanning reflectivity calibration results, if the vertical scanning reflectivity calibration results accord with the preset conditions, pitching angles of metal balls are obtained, the pitching angles of the metal balls are scanned through a plane scanning mode, and the azimuth angles of the metal balls are obtained, so that positioning of the metal balls is completed.
Description
Technical Field
The present disclosure relates to the field of positioning processing, and more particularly, to a positioning processing method, a positioning processing system, a storage medium, and an electronic device.
Background
When the radar scans the metal ball, the echo intensity and the polarization amount of the metal ball can be obtained through theoretical calculation, and compared with the data obtained through actual radar scanning, the reflectivity and the polarization amount of the radar can be calibrated, so that the calibration of the metal ball is completed.
The current radar-to-metal ball calibration scheme is to drag the metal ball by using a kite and then scan the position of the metal ball by using the radar. Because the kite traction metal ball is usually positioned by manually controlling the scanning of the radar antenna during the calibration, the kite is difficult to accurately control and position, and the adoption of the kite traction metal ball can lead to the difficult and inaccurate positioning of the radar positioning metal ball.
Therefore, how to efficiently and accurately position the metal ball to complete the calibration of the metal ball is a problem to be solved in the present application.
Disclosure of Invention
In view of the above, the application discloses a positioning processing method, a system, a storage medium and electronic equipment, which aim to realize the purpose of efficiently and accurately positioning metal balls to finish the calibration of the metal balls.
In order to achieve the above purpose, the technical scheme disclosed by the method is as follows:
the first aspect of the application discloses a positioning processing method, which comprises the following steps:
when the positioning flying equipment accords with the positioning conditions, acquiring longitude and latitude data of the positioning flying equipment;
determining an azimuth angle and an inclined distance through a preset calculation mode and the longitude and latitude data, and determining the azimuth angle and the inclined distance as target azimuth;
scanning the target azimuth in a vertical plane scanning mode to obtain a vertical plane scanning reflectivity calibration result;
analyzing the vertical scanning reflectivity calibration result, and if the vertical scanning reflectivity calibration result meets the preset condition, obtaining the pitching angle of the metal ball;
and scanning the pitching angle of the metal ball in a plane scanning mode to obtain the azimuth angle of the metal ball so as to finish the positioning of the metal ball.
Preferably, when the positioning flight device meets the positioning condition, acquiring latitude and longitude data of the positioning flight device includes:
connecting the positioning flying equipment with the metal ball within a preset positioning range;
when the positioning flying equipment and the metal ball are in a connected state and the hovering height of the positioning flying equipment is a preset height, determining that the positioning flying equipment meets positioning conditions;
and acquiring longitude and latitude data of the positioning flight equipment under the condition that the positioning flight equipment accords with the positioning condition.
Preferably, the determining the azimuth angle and the slant distance according to the preset calculation mode and the longitude and latitude data, and determining the azimuth angle and the slant distance as the target azimuth includes:
determining the longitude and latitude of the radar and the longitude and latitude of the metal ball according to the longitude and latitude data;
calculating the longitude and latitude of the radar and the longitude and latitude of the metal ball through an azimuth calculation formula to obtain an azimuth;
calculating the longitude and latitude of the radar and the longitude and latitude of the metal ball by using an inclined distance calculation mode to obtain an inclined distance;
and determining the azimuth angle and the inclined distance as target azimuth angles.
Preferably, the analyzing the vertical scanning reflectivity calibration result, if the vertical scanning reflectivity calibration result meets a preset condition, obtains a pitching angle of the metal ball, including:
analyzing the vertical plane scanning reflectivity calibration result to obtain a first difference value, a second difference value and a third difference value; the first difference value represents the difference value of the echo intensities of the target distance library and the adjacent front distance library; the target distance library represents a distance unit with the largest echo intensity, wherein the radar echo signals are divided into distances along the radial direction in the vertical plane scanning reflectivity calibration result; the second difference value represents the difference value of the echo intensities of the target distance library and the adjacent rear distance library; the third difference value represents the echo intensity difference value of a front distance library and a rear distance library adjacent to the target distance library;
comparing the first difference value with a first preset threshold value, comparing the second difference value with the first preset threshold value, and comparing the absolute value of the third difference value with a second preset threshold value;
if the first difference value is smaller than the first preset threshold value and the second difference value is smaller than the first preset threshold value, or the absolute value of the third difference value is smaller than the second preset threshold value, determining that the vertical scanning reflectivity calibration result meets a preset condition;
performing smoothing processing on the reflectivity of the target distance library at a preset elevation angle under the condition that the vertical scanning reflectivity calibration result meets a preset condition, so as to obtain each wave crest after the smoothing processing; the smoothing treatment is used for preventing disturbance from influencing metal ball identification;
identifying a first peak and a second peak from each peak after the smoothing process; wherein the intensity difference between the first peak and the third peak is greater than the first preset threshold; the intensity of the first peak is greater than the intensity of the second peak; the intensity of the second peak is greater than that of the third peak;
and selecting the position with the lowest pitching angle from the first peak and the second peak as the position of the metal ball, and calibrating the pitching angle of the metal ball.
Preferably, the method further comprises:
if the vertical scanning reflectivity calibration result meets a preset condition, determining a target distance library as a metal ball distance library;
if the intensity difference between the echo intensity of the metal ball distance library and the echo intensity of the front and rear distance libraries of the target distance library is smaller than the second preset threshold value, determining that the vertical plane scanning reflectivity calibration result does not meet the preset condition, and controlling the positioning flight equipment to perform corresponding execution operation according to the echo intensity of the target distance library until the first difference value is smaller than the first preset threshold value and the second difference value is smaller than the first preset threshold value or the absolute value of the third difference value is smaller than the second preset threshold value; the performing operation at least comprises controlling the positioning flight device to fly a preset distance in the opposite direction of the radar or controlling the positioning flight device to fly a preset distance in the direction of the radar.
Preferably, the method further comprises:
and if the intensity difference between the first peak and the third peak is smaller than or equal to the first preset threshold value, determining that the calibration of the metal ball fails.
A second aspect of the present application discloses a positioning processing system, the system comprising:
the acquisition unit is used for acquiring longitude and latitude data of the positioning flight equipment when the positioning flight equipment accords with the positioning conditions;
the first determining unit is used for determining an azimuth angle and an inclined distance through a preset calculation mode and the longitude and latitude data, and determining the azimuth angle and the inclined distance as target azimuth;
the first scanning unit is used for scanning the target azimuth in a vertical plane scanning mode to obtain a vertical plane scanning reflectivity calibration result;
the analysis unit is used for analyzing the vertical scanning reflectivity calibration result, and if the vertical scanning reflectivity calibration result meets the preset condition, the pitching angle of the metal ball is obtained;
and the second scanning unit is used for scanning the pitching angle of the metal ball in a plane scanning mode to obtain the azimuth angle of the metal ball so as to finish the positioning of the metal ball.
Preferably, the acquiring unit includes:
the connecting module is used for connecting the positioning flying equipment with the metal ball within a preset positioning range;
the first determining module is used for determining that the positioning flight equipment meets positioning conditions when the positioning flight equipment and the metal ball are in a connected state and the hovering height of the positioning flight equipment is a preset height;
the first acquisition module is used for acquiring longitude and latitude data of the positioning flight equipment when the positioning flight equipment accords with positioning conditions.
A third aspect of the present application discloses a storage medium, the storage medium comprising stored instructions, wherein the instructions, when executed, control a device in which the storage medium is located to perform the positioning processing method according to any one of the first aspects.
A fourth aspect of the application discloses an electronic device comprising a memory, and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors by the positioning processing method according to any of the first aspects.
According to the technical scheme, when the positioning flying equipment accords with the positioning condition, longitude and latitude data of the positioning flying equipment are acquired, azimuth angles and inclined distances are determined through a preset calculation mode and the longitude and latitude data, the azimuth angles and the inclined distances are determined to be target azimuth angles, the target azimuth angles are scanned through a vertical scanning mode, a vertical scanning reflectivity calibration result is obtained, the vertical scanning reflectivity calibration result is analyzed, if the vertical scanning reflectivity calibration result accords with the preset condition, a pitching angle of the metal ball is obtained, the pitching angle of the metal ball is scanned through a plane scanning mode, and the azimuth angles of the metal ball are obtained, so that the positioning of the metal ball is completed. According to the scheme, the radar antenna scanning is not required to be controlled manually to position the metal ball, when the positioning flying equipment accords with positioning conditions, the positioning flying equipment only needs to drag the metal ball through program automation, so that the metal ball is stable in position, and the target azimuth of the metal ball position is scanned by combining a vertical plane scanning mode and a plane scanning mode, so that the purpose of efficiently and accurately positioning the metal ball to finish the calibration of the metal ball is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic flow chart of a positioning processing method disclosed in an embodiment of the present application;
FIG. 2 is a schematic diagram of a calibration result of vertical scanning reflectivity according to an embodiment of the present application, where the calibration result does not meet a preset condition;
fig. 3 is a schematic diagram of a vertical plane scanning reflectivity calibration result according to a preset condition according to the embodiment of the present application;
FIG. 4 is a schematic diagram of a planar scanning reflectivity calibration result disclosed in an embodiment of the present application;
FIG. 5 is a schematic diagram of a positioning processing system according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The background art shows that the current radar-to-metal ball calibration scheme adopts a kite to drag the metal ball, and then uses the radar to scan the position of the metal ball. Because the kite traction metal ball is usually positioned by manually controlling the scanning of the radar antenna during the calibration, the kite is difficult to accurately control and position, and the adoption of the kite traction metal ball can cause the difficulty of radar positioning and tracking the metal ball and inaccurate positioning. Therefore, how to efficiently and accurately position the metal ball to complete the calibration of the metal ball is a problem to be solved in the present application.
In order to solve the problems, the embodiment of the application discloses a positioning processing method, a system, a storage medium and electronic equipment, wherein the positioning processing method, the system, the storage medium and the electronic equipment do not need to manually control radar antenna scanning to position a metal ball, when positioning flying equipment accords with positioning conditions, the positioning flying equipment only needs to drag the metal ball through program automation, so that the metal ball is stable in position, and then the vertical plane scanning mode and the plane scanning mode are combined to scan the target azimuth of the metal ball position, so that the purpose of efficiently and accurately positioning the metal ball to finish the calibration of the metal ball is achieved. The specific implementation is illustrated by the following examples.
Referring to fig. 1, a flow chart of a positioning processing method disclosed in an embodiment of the present application is shown, where the positioning processing method mainly includes the following steps:
s101: and when the positioning flying equipment accords with the positioning conditions, acquiring longitude and latitude data of the positioning flying equipment.
It should be noted that the positioning flight device may be an unmanned plane, an unmanned fixed-wing aircraft, or the like, and the positioning flight device is not specifically limited in this application, and the positioning flight device of this application is preferably an unmanned plane.
And particularly, when the positioning flight equipment meets the positioning conditions, the process of acquiring the longitude and latitude data of the positioning flight equipment is shown as A1-A3.
A1: and connecting the positioning flying equipment with the metal ball within a preset positioning range.
In A1, in a preset positioning range, the positioning flying device and the metal ball are connected through a string, an insulated wire and the like, so that the positioning flying device and the metal ball are in a connected state.
The preset positioning range may be a range greater than 50cm, a range greater than 55cm, or the like, and the specific preset positioning range is not specifically limited herein, and the preset positioning range of the present application is preferably a range greater than 50 cm.
A2: when the positioning flying device and the metal ball are in a connected state and the hovering height of the positioning flying device is a preset height, the positioning flying device is determined to accord with positioning conditions.
In A2, after the positioning flight device hovers in the air for a preset height, longitude and latitude data of the positioning flight device are obtained.
The specific preset heights may be 10m, 20m, etc., and the determination of the preset heights is set according to actual conditions, which is not specifically limited in the present application.
A3: and acquiring longitude and latitude data of the positioning flight equipment under the condition that the positioning flight equipment accords with the positioning condition.
S102: and determining azimuth angles and inclined distances through a preset calculation mode and longitude and latitude data, and determining the azimuth angles and the inclined distances as target azimuth angles.
Specifically, the azimuth angle and the inclined distance are determined through a preset calculation mode and longitude and latitude data, and the azimuth angle and the inclined distance are determined as the target azimuth, as shown in B1-B4.
B1: and determining the longitude and latitude of the radar and the longitude and latitude of the metal ball through the longitude and latitude data.
In B1, let the longitude and latitude of station A (radar) beThe longitude and latitude of the point B (metal ball) is +.>。
B2: and calculating the longitude and latitude of the radar and the longitude and latitude of the metal ball through an azimuth calculation formula to obtain the azimuth.
The azimuth calculation formula from point a to point B is shown as formula (1):
in equation (1), all angles need to be in radians; θ is the azimuth angle;is the latitude of the radar; λ1 is the longitude of the radar; />Latitude of the metal ball; λ2 is the longitude of the metal sphere.
B3: and calculating the longitude and latitude of the radar and the longitude and latitude of the metal ball by using an inclined distance calculation mode to obtain the inclined distance.
The specific inclined distance calculation mode is shown in the formula (2), the formula (3) and the formula (4):
wherein a is a value calculated by longitude difference and latitude difference; d is the distance between the radar and the metal ball, namely the slant distance; r is equivalent earth radius (considering atmospheric refraction), and is usually 8500km; c is the value obtained by a; all angles are in radians.
B4: the azimuth and the skew are determined as target orientations.
S103: and scanning the target azimuth by a vertical plane (RHI) scanning mode to obtain a vertical plane scanning reflectivity calibration result.
In S103, the RHI is used to scan the target azimuth, the pitch range of the scanned target azimuth can be 5 degrees up and down, for example, the data such as the height, longitude and latitude of the unmanned aerial vehicle can be obtained through the data transmitted back by the unmanned aerial vehicle, a theoretical pitch angle can be obtained, the RHI is used to scan the pitch angle in the range of 5 degrees up and down, and the coverage of the metal ball is ensured, so that the accurate pitch angle of the unmanned aerial vehicle is obtained.
S104: analyzing the vertical scanning reflectivity calibration result, and obtaining the pitching angle of the metal ball if the vertical scanning reflectivity calibration result meets the preset condition.
In S104, accuracy analysis is performed on the vertical plane scanning reflectivity calibration result, and if the vertical plane scanning reflectivity calibration result meets the preset condition, the target distance library is determined as the metal ball distance library.
If the intensity difference between the echo intensity of the metal ball distance library and the echo intensity of the front and rear distance libraries of the target distance library is smaller than a first preset threshold value, determining that the vertical plane scanning reflectivity calibration result does not accord with the preset condition, and controlling the positioning flight equipment to perform corresponding execution operation according to the echo intensity of the target distance library until the first difference value is smaller than the first preset threshold value and the second difference value is smaller than the first preset threshold value, or the absolute value of the third difference value is smaller than the second preset threshold value; the performing operation at least includes controlling the positioning flying device to fly a preset distance in a radar opposite direction or controlling the positioning flying device to fly a preset distance in a radar direction.
The first preset threshold is set according to actual conditions, and the application is not particularly limited. The first preset threshold of the present application is preferably 20dB.
The second preset threshold is set according to actual conditions, and the application is not particularly limited. The second preset threshold of the present application is preferably 10dB.
It should be noted that, according to the echo intensity of the target distance library, the positioning flight device is controlled to fly in the opposite direction of the radar by a preset distance, or the positioning flight device is controlled to fly in the radar by a preset distance, and it needs to be judged, for example, the target distance library is 13, the intensity of the previous distance library 12 is close to the intensity of the target distance library 13, so that the positioning flight device needs to be controlled to be far away from the radar (i.e. the positioning flight device is controlled to fly in the opposite direction of the radar by a preset distance), otherwise, if the intensity of the positioning flight device 14 is close to the intensity of the radar by a preset distance, the positioning flight device should be controlled to be close to the radar (i.e. the positioning flight device is controlled to fly in the radar by a preset distance).
The preset distance is set according to actual conditions, and the method is not particularly limited. The preset distance of the present application is preferably 1/4 of the distance library.
The range bin refers to small range units divided by distance in the radial direction in radar echo signal processing.
The vertical plane scanning reflectivity calibration result does not meet the preset condition, specifically, as shown in fig. 2, fig. 2 shows a schematic diagram of the vertical plane scanning reflectivity calibration result not meeting the preset condition.
In fig. 2, the abscissa is the elevation angle, i.e., elevation (deg); the ordinate is the reflectivity (dBZ), i.e. the echo intensity; bin12 is the 12 th range bin; bin13 is the 13 th range bin; bin14 is the 14 th range bin; the five-pointed star is a pitch angle, reflectivity and distance library corresponding to the identified metal ball.
dBZ refers to radar reflectivity, a unit of echo intensity characterizing a target range bin.
The specific process of obtaining the pitching angle of the metal ball is shown as C1-C6.
C1: analyzing the vertical plane scanning reflectivity calibration result to obtain a first difference value, a second difference value and a third difference value; the first difference value represents the difference value of the echo intensities of the target distance library and the adjacent front distance library; the target distance library represents a distance unit with the maximum echo intensity, wherein the radar echo signal is divided into distances along the radial direction in the vertical plane scanning reflectivity calibration result; the second difference value represents the difference value of the echo intensities of the target distance library and the adjacent rear distance library; the third difference value represents the echo intensity difference value between the front distance library and the rear distance library adjacent to the target distance library.
For example, there are three consecutive distance libraries a, b, c, b being the target distance library; a is a front distance library adjacent to b; c is a back distance library adjacent to b.
C2: the first difference is compared with a first preset threshold, the second difference is compared with the first preset threshold, and the absolute value of the third difference is compared with the second preset threshold.
And C3: if the first difference value is smaller than the first preset threshold value and the second difference value is smaller than the first preset threshold value, or the absolute value of the third difference value is smaller than the second preset threshold value, determining that the vertical scanning reflectivity calibration result meets the preset condition.
For example, a first preset threshold value is set to be 20dB, a second preset threshold value is set to be 10dB, when b-a is less than 20dB and b-c is less than 20dB, or |a-c| <10dB, the vertical scanning reflectivity calibration result is determined to meet the preset condition, and the pitch angle of the metal ball is recorded.
The reflectivity (namely the echo intensity) of the target distance library is larger than that of the adjacent rear distance library by more than 20dB, so that the distance between the metal ball and the front and rear distance libraries is basically equal to that between the metal ball and the front and rear distance libraries, and the metal ball is not confused with the front and rear distance libraries.
The vertical plane scanning reflectivity calibration result meets the preset condition, specifically, as shown in fig. 3, fig. 3 shows a schematic diagram of the vertical plane scanning reflectivity calibration result meeting the preset condition.
In fig. 3, the abscissa is the elevation angle, i.e., elevation (deg); the ordinate is the reflectivity (dBZ), i.e. the echo intensity; bin12 is the 12 th range bin; bin13 is the 13 th range bin; bin14 is the 14 th range bin; the five-pointed star is a pitch angle, reflectivity and distance library corresponding to the identified metal ball.
dBZ refers to radar reflectivity, a unit of echo intensity characterizing a target range bin.
And C4: under the condition that the vertical scanning reflectivity calibration result meets the preset condition, carrying out smoothing on the reflectivity of the target distance library at a preset elevation angle to obtain each wave crest after the smoothing; smoothing is used to prevent disturbances from affecting metal ball recognition.
And C4, under the condition that the vertical scanning reflectivity calibration result meets the preset condition, carrying out smoothing treatment on the reflectivity of the target distance library on RHI by taking the elevation angle of 1 degree as a unit, and preventing disturbance from influencing the metal ball identification.
C5: identifying a first peak and a second peak from each peak after the smoothing process; the intensity difference between the first peak and the third peak is greater than a first preset threshold; the intensity of the first peak is greater than the intensity of the second peak; the intensity of the second peak is greater than the intensity of the third peak.
If the intensity difference between the first peak and the third peak is smaller than or equal to a first preset threshold value, determining that the calibration of the metal ball fails.
And identifying the smoothed peaks, identifying two highest peaks (namely a first peak and a second peak), wherein the intensity difference between the first peak and the third peak exceeds a first preset threshold (20 dB), otherwise, the unmanned plane (namely positioning flying equipment) and the metal ball cannot be identified, and the calibration fails.
C6: and selecting the position with the lowest pitching angle from the first peak and the second peak as the position of the metal ball, and calibrating the pitching angle of the metal ball.
And selecting one with the lowest pitching angle from the first peak and the second peak as the position of the metal ball, and recording the pitching angle of the metal ball.
S105: and scanning the pitching angle of the metal ball by a plane scanning mode (PPI) to obtain the azimuth angle of the metal ball so as to finish the positioning of the metal ball.
In S105, the pitch angle of the metal ball is scanned by the PPI scanning mode to obtain a PPI scanning reflectivity calibration result, and the azimuth angle of the metal ball is obtained from the PPI scanning reflectivity calibration result. The specific PPI scan reflectivity calibration results are shown in fig. 4, and fig. 4 shows a schematic diagram of the planar scan reflectivity calibration results.
In fig. 4, the abscissa is the Azimuth, that is, azimuth (deg); the ordinate is reflectivity (i.e. echo intensity); bin12 is the 12 th range bin; bin13 is the 13 th range bin; bin14 is the 14 th range bin; five-pointed star is the azimuth, reflectivity and distance library corresponding to the identified metal ball.
The scheme utilizes the positioning flying equipment to pull and position, and can complete automatic positioning through a program.
In the embodiment of the application, the metal ball is not required to be positioned by manually controlling the radar antenna to scan, when positioning flying equipment accords with positioning conditions, the positioning flying equipment only needs to drag the metal ball through program automation, so that the metal ball is stable in position, and the target azimuth of the metal ball position is scanned by combining a vertical plane scanning mode and a plane scanning mode, so that the purpose of efficiently and accurately positioning the metal ball to finish the calibration of the metal ball is realized.
Based on the foregoing embodiment, a positioning processing method is disclosed in fig. 1, and the embodiment of the application correspondingly discloses a positioning processing system, as shown in fig. 5, where the positioning processing system includes:
an obtaining unit 501, configured to obtain latitude and longitude data of the positioning flight device when the positioning flight device meets a positioning condition.
The first determining unit 502 is configured to determine an azimuth angle and an inclination by a preset calculation method and longitude and latitude data, and determine the azimuth angle and the inclination as a target azimuth.
The first scanning unit 503 is configured to scan the target azimuth by a vertical plane scanning manner, so as to obtain a vertical plane scanning reflectivity calibration result.
And the analysis unit 504 is configured to analyze the vertical plane scanning reflectivity calibration result, and obtain the pitching angle of the metal ball if the vertical plane scanning reflectivity calibration result meets the preset condition.
The second scanning unit 505 is configured to scan the pitch angle of the metal ball by a planar scanning manner, so as to obtain the azimuth angle of the metal ball, so as to complete positioning of the metal ball.
Further, the acquiring unit 501 includes:
the connecting module is used for connecting the positioning flying equipment with the metal ball within a preset positioning range;
the first determining module is used for determining that the positioning flying equipment accords with the positioning condition when the positioning flying equipment and the metal ball are in a connected state and the hovering height of the positioning flying equipment is a preset height;
the first acquisition module is used for acquiring longitude and latitude data of the positioning flight equipment under the condition that the positioning flight equipment accords with the positioning condition.
Further, the first determining unit 502 includes:
the second determining module is used for determining the longitude and latitude of the radar and the longitude and latitude of the metal ball through the longitude and latitude data;
the first calculation module is used for calculating the longitude and latitude of the radar and the longitude and latitude of the metal ball through an azimuth calculation formula to obtain an azimuth;
the second calculation module is used for calculating the longitude and latitude of the radar and the longitude and latitude of the metal ball in an inclined distance calculation mode to obtain an inclined distance;
and the third determining module is used for determining the azimuth angle and the inclined distance as target azimuth.
Further, the analysis unit 504 includes:
the analysis module is used for analyzing the vertical plane scanning reflectivity calibration result to obtain a first difference value, a second difference value and a third difference value; the first difference value represents the difference value of the echo intensities of the target distance library and the adjacent front distance library; the target distance library represents a distance unit with the maximum echo intensity, wherein the radar echo signal is divided into distances along the radial direction in the vertical plane scanning reflectivity calibration result; the second difference value represents the difference value of the echo intensities of the target distance library and the adjacent rear distance library; the third difference value represents the echo intensity difference value of the front distance library and the rear distance library adjacent to the target distance library;
the comparison module is used for comparing the first difference value with a first preset threshold value, comparing the second difference value with the first preset threshold value, and comparing the absolute value of the third difference value with the second preset threshold value;
a fourth determining module, configured to determine that the vertical scanning reflectivity calibration result meets a preset condition if the first difference is smaller than a first preset threshold and the second difference is smaller than the first preset threshold, or if the absolute value of the third difference is smaller than the second preset threshold;
the smoothing module is used for smoothing the reflectivity of the target distance library at a preset elevation angle under the condition that the vertical scanning reflectivity calibration result meets a preset condition, so as to obtain each peak after smoothing; the smoothing treatment is used for preventing disturbance from influencing the metal ball identification;
the identification module is used for identifying a first peak and a second peak from each peak after the smoothing treatment; wherein the intensity difference between the first peak and the third peak is greater than a first preset threshold; the intensity of the first peak is greater than the intensity of the second peak; the intensity of the second peak is greater than that of the third peak;
and the calibration module is used for selecting the position with the lowest pitching angle from the first peak and the second peak as the metal ball and calibrating the pitching angle of the metal ball.
Further, the positioning processing system further includes:
the second determining unit is used for determining the target distance library as a metal ball distance library if the vertical plane scanning reflectivity calibration result meets the preset condition;
the third determining unit is used for determining that the vertical plane scanning reflectivity calibration result does not accord with the preset condition if the intensity difference between the echo intensity of the metal ball distance library and the echo intensity of the front and rear distance libraries of the target distance library is smaller than a second preset threshold value, and controlling the positioning flight equipment to perform corresponding execution operation according to the echo intensity of the target distance library until the first difference value is smaller than the first preset threshold value and the second difference value is smaller than the first preset threshold value, or the absolute value of the third difference value is smaller than the second preset threshold value; the performing operation at least includes controlling the positioning flying device to fly a preset distance in a radar opposite direction or controlling the positioning flying device to fly a preset distance in a radar direction.
Further, the positioning processing system further includes:
and the fourth determining unit is used for determining that the calibration of the metal ball fails if the intensity difference between the first peak and the third peak is smaller than or equal to a first preset threshold value.
In the embodiment of the application, the metal ball is not required to be positioned by manually controlling the radar antenna to scan, when positioning flying equipment accords with positioning conditions, the positioning flying equipment only needs to drag the metal ball through program automation, so that the metal ball is stable in position, and the target azimuth of the metal ball position is scanned by combining a vertical plane scanning mode and a plane scanning mode, so that the purpose of efficiently and accurately positioning the metal ball to finish the calibration of the metal ball is realized.
The embodiment of the application also provides a storage medium, which comprises stored instructions, wherein the equipment where the storage medium is controlled to execute the positioning processing method when the instructions run.
The embodiment of the present application further provides an electronic device, whose structural schematic diagram is shown in fig. 6, specifically including a memory 601, and one or more instructions 602, where the one or more instructions 602 are stored in the memory 601, and configured to be executed by the one or more processors 603 to perform the positioning processing method described above.
For the foregoing method embodiments, for simplicity of explanation, the methodologies are shown as a series of acts, but one of ordinary skill in the art will appreciate that the present application is not limited by the order of acts described, as some acts may, in accordance with the present application, occur in other orders or concurrently. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.
It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other. For system-like embodiments, the description is relatively simple as it is substantially similar to method embodiments, and reference should be made to the description of method embodiments for relevant points.
The steps in the methods of the embodiments of the present application may be sequentially adjusted, combined, and pruned according to actual needs.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (10)
1. A positioning processing method, the method comprising:
when the positioning flying equipment accords with the positioning conditions, acquiring longitude and latitude data of the positioning flying equipment;
determining an azimuth angle and an inclined distance through a preset calculation mode and the longitude and latitude data, and determining the azimuth angle and the inclined distance as target azimuth;
scanning the target azimuth in a vertical plane scanning mode to obtain a vertical plane scanning reflectivity calibration result;
analyzing the vertical scanning reflectivity calibration result, and if the vertical scanning reflectivity calibration result meets the preset condition, obtaining the pitching angle of the metal ball;
and scanning the pitching angle of the metal ball in a plane scanning mode to obtain the azimuth angle of the metal ball so as to finish the positioning of the metal ball.
2. The method of claim 1, wherein the acquiring latitude and longitude data of the positioning flying device when the positioning flying device meets the positioning condition comprises:
connecting the positioning flying equipment with the metal ball within a preset positioning range;
when the positioning flying equipment and the metal ball are in a connected state and the hovering height of the positioning flying equipment is a preset height, determining that the positioning flying equipment meets positioning conditions;
and acquiring longitude and latitude data of the positioning flight equipment under the condition that the positioning flight equipment accords with the positioning condition.
3. The method of claim 1, wherein the determining azimuth and the range by the preset calculation method and the longitude and latitude data, and determining the azimuth and the range as target azimuth, comprises:
determining the longitude and latitude of the radar and the longitude and latitude of the metal ball according to the longitude and latitude data;
calculating the longitude and latitude of the radar and the longitude and latitude of the metal ball through an azimuth calculation formula to obtain an azimuth;
calculating the longitude and latitude of the radar and the longitude and latitude of the metal ball by using an inclined distance calculation mode to obtain an inclined distance;
and determining the azimuth angle and the inclined distance as target azimuth angles.
4. The method according to claim 1, wherein analyzing the vertical scanning reflectivity calibration result, if the vertical scanning reflectivity calibration result meets a preset condition, obtains a pitch angle of the metal ball, including:
analyzing the vertical plane scanning reflectivity calibration result to obtain a first difference value, a second difference value and a third difference value; the first difference value represents the difference value of the echo intensities of the target distance library and the adjacent front distance library; the target distance library represents a distance unit with the largest echo intensity, wherein the radar echo signals are divided into distances along the radial direction in the vertical plane scanning reflectivity calibration result; the second difference value represents the difference value of the echo intensities of the target distance library and the adjacent rear distance library; the third difference value represents the echo intensity difference value of a front distance library and a rear distance library adjacent to the target distance library;
comparing the first difference value with a first preset threshold value, comparing the second difference value with the first preset threshold value, and comparing the absolute value of the third difference value with a second preset threshold value;
if the first difference value is smaller than the first preset threshold value and the second difference value is smaller than the first preset threshold value, or the absolute value of the third difference value is smaller than the second preset threshold value, determining that the vertical scanning reflectivity calibration result meets a preset condition;
performing smoothing processing on the reflectivity of the target distance library at a preset elevation angle under the condition that the vertical scanning reflectivity calibration result meets a preset condition, so as to obtain each wave crest after the smoothing processing; the smoothing treatment is used for preventing disturbance from influencing metal ball identification;
identifying a first peak and a second peak from each peak after the smoothing process; wherein the intensity difference between the first peak and the third peak is greater than the first preset threshold; the intensity of the first peak is greater than the intensity of the second peak; the intensity of the second peak is greater than that of the third peak;
and selecting the position with the lowest pitching angle from the first peak and the second peak as the position of the metal ball, and calibrating the pitching angle of the metal ball.
5. The method as recited in claim 4, further comprising:
if the vertical scanning reflectivity calibration result meets a preset condition, determining a target distance library as a metal ball distance library;
if the intensity difference between the echo intensity of the metal ball distance library and the echo intensity of the front and rear distance libraries of the target distance library is smaller than the second preset threshold value, determining that the vertical plane scanning reflectivity calibration result does not meet the preset condition, and controlling positioning flight equipment to perform corresponding execution operation according to the echo intensity of the target distance library until the first difference value is smaller than the first preset threshold value and the second difference value is smaller than the first preset threshold value or the absolute value of the third difference value is smaller than the second preset threshold value; the performing operation at least comprises controlling the positioning flight device to fly a preset distance in the opposite direction of the radar or controlling the positioning flight device to fly a preset distance in the direction of the radar.
6. The method as recited in claim 4, further comprising:
and if the intensity difference between the first peak and the third peak is smaller than or equal to the first preset threshold value, determining that the calibration of the metal ball fails.
7. A positioning processing system, the system comprising:
the acquisition unit is used for acquiring longitude and latitude data of the positioning flight equipment when the positioning flight equipment accords with the positioning conditions;
the first determining unit is used for determining an azimuth angle and an inclined distance through a preset calculation mode and the longitude and latitude data, and determining the azimuth angle and the inclined distance as target azimuth;
the first scanning unit is used for scanning the target azimuth in a vertical plane scanning mode to obtain a vertical plane scanning reflectivity calibration result;
the analysis unit is used for analyzing the vertical scanning reflectivity calibration result, and if the vertical scanning reflectivity calibration result meets the preset condition, the pitching angle of the metal ball is obtained;
and the second scanning unit is used for scanning the pitching angle of the metal ball in a plane scanning mode to obtain the azimuth angle of the metal ball so as to finish the positioning of the metal ball.
8. The system of claim 7, wherein the acquisition unit comprises:
the connecting module is used for connecting the positioning flying equipment with the metal ball within a preset positioning range;
the first determining module is used for determining that the positioning flight equipment meets positioning conditions when the positioning flight equipment and the metal ball are in a connected state and the hovering height of the positioning flight equipment is a preset height;
the first acquisition module is used for acquiring longitude and latitude data of the positioning flight equipment when the positioning flight equipment accords with positioning conditions.
9. A storage medium comprising stored instructions, wherein the instructions, when executed, control a device in which the storage medium is located to perform the positioning method of any one of claims 1 to 6.
10. An electronic device comprising a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by the one or more processors to perform the positioning processing method of any of claims 1-6.
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