WO2021087643A1 - Ground clutter suppression and terrain estimation method, unmanned aerial vehicle, rotating radar, and storage medium - Google Patents

Ground clutter suppression and terrain estimation method, unmanned aerial vehicle, rotating radar, and storage medium Download PDF

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Publication number
WO2021087643A1
WO2021087643A1 PCT/CN2019/115257 CN2019115257W WO2021087643A1 WO 2021087643 A1 WO2021087643 A1 WO 2021087643A1 CN 2019115257 W CN2019115257 W CN 2019115257W WO 2021087643 A1 WO2021087643 A1 WO 2021087643A1
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WIPO (PCT)
Prior art keywords
radar
rotating
rotating radar
uav
array antenna
Prior art date
Application number
PCT/CN2019/115257
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French (fr)
Chinese (zh)
Inventor
王春明
石仁利
刘双
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2019/115257 priority Critical patent/WO2021087643A1/en
Priority to CN201980034408.1A priority patent/CN112272780A/en
Publication of WO2021087643A1 publication Critical patent/WO2021087643A1/en

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/36—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like adapted to receive antennas or radomes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • 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
    • 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
    • G01S7/35—Details of non-pulse systems
    • 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
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4911—Transmitters
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/493—Extracting wanted echo signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/27—Adaptation for use in or on movable bodies
    • H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
    • H01Q1/285—Aircraft wire antennas
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q21/00—Antenna arrays or systems
    • H01Q21/28—Combinations of substantially independent non-interacting antenna units or systems
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/04—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying one co-ordinate of the orientation

Definitions

  • the embodiments of the present application relate to the technical field of drones, and in particular to a ground clutter suppression and terrain estimation method, drones, rotating radars, and storage media.
  • Agricultural UAV (referred to as agricultural machinery) is a widely used UAV.
  • Some agricultural unmanned aerial vehicles are equipped with a radar system to detect environmental information around the unmanned aerial vehicle.
  • the requirements for the detection range of agricultural drones in the horizontal direction are getting higher and higher, and the demand for comprehensive 360° horizontal detection has even been proposed.
  • the current agricultural UAV is limited by the Field Of View (FOV) of the radar system, and the detection range in the horizontal direction is relatively limited, which cannot meet the safety requirements of the whole machine.
  • FOV Field Of View
  • the embodiment of the application provides a ground clutter suppression and terrain estimation method, an unmanned aerial vehicle, a rotating radar, and a storage medium, which are used to expand the detection range of the unmanned aerial vehicle in the horizontal direction and meet the requirements of the whole machine in a safe direction.
  • An embodiment of the present application provides an unmanned aerial vehicle, including:
  • a rotating radar is installed vertically on the body; the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially parallel to the heading axis of the drone;
  • the flight control system is communicatively connected with the rotating radar; wherein the rotating radar sends the position information of the target detected by the rotating radar to the flight control system, and the flight control system is based on the position of the target detected by the rotating radar Information to control the flight of the drone.
  • the embodiments of the present application also provide an autonomous mobile device, including:
  • the rotating radar is installed vertically on the device body; the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially parallel to the heading axis of the autonomous mobile device;
  • the control system is communicatively connected to the rotating radar; wherein the rotating radar sends the position information of the detected target to the control system; the control system controls the control system according to the position information of the target detected by the rotating radar Describes the movement of autonomous mobile devices.
  • the embodiment of the present application also provides a rotating radar, including: a rotating device, an array antenna, and a processing system;
  • the rotating device is configured to be installed on the body of the unmanned aerial vehicle, and the rotating device includes a rotating bracket and a motor that drives the rotating bracket to rotate;
  • the array antenna is mounted on the rotating bracket of the rotating device, and the rotating device drives the array antenna to continuously rotate in the heading direction of the drone;
  • the processing system is configured to control the array antenna to emit electromagnetic waves, and determine the position information of the target detected by the rotating radar according to the echo information received by the array antenna.
  • the embodiment of the present application also provides a ground clutter suppression method, which is suitable for a rotating radar, the rotating radar is installed vertically on an unmanned aerial vehicle, and the array antenna of the rotating radar is electronically scanned in the pitch direction of the unmanned aerial vehicle , And the array antenna can rotate around a rotation axis, the rotation axis being parallel or substantially parallel to the heading axis of the drone; the method includes:
  • the position information of the obstacle is transmitted to the flight control system of the UAV to control the UAV to perform obstacle avoidance flight.
  • the embodiment of the present application also provides a terrain estimation method, which is suitable for a rotating radar, the rotating radar is installed vertically on an unmanned aerial vehicle, the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially Parallel to the yaw axis of the drone; the method includes:
  • the terrain parameters of the ground are transmitted to the flight control system of the UAV to control the UAV to perform terrain following flight.
  • the embodiment of the present application also provides a computer-readable storage medium storing a computer program.
  • the processor When the computer program is executed by a processor, the processor is caused to execute the ground clutter suppression method or terrain estimation provided by the embodiment of the present application. Steps in the method.
  • the rotating axis of the rotating radar is parallel or substantially parallel to the yaw axis of the drone, and the array antenna of the rotating radar rotates around the rotating axis, which means that the rotating radar is in a horizontal position.
  • Mechanical rotation scanning can be performed in the direction, and detection in the horizontal direction can be performed flexibly, which is beneficial to increase the detection range in the horizontal direction and meet the safety requirements of the whole machine.
  • Fig. 1a is a schematic structural diagram of an unmanned aerial vehicle provided by an exemplary embodiment of this application;
  • Figure 1b is a schematic structural diagram of another drone provided by an exemplary embodiment of the application.
  • 1c-FIG. 1e are several schematic diagrams of the electronic scanning direction of the array antenna provided by the exemplary embodiment of this application;
  • FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle including a downward-looking radar provided by an exemplary embodiment of this application;
  • Fig. 3a is a schematic structural diagram of an unmanned aircraft including a downward-looking radar and an upward-looking radar provided by an exemplary embodiment of this application;
  • Fig. 3b is an exemplary schematic diagram of the coverage relationship between the FOVs of three radars on a drone provided by an exemplary embodiment of the application;
  • FIG. 4a is a schematic diagram of the state of the rotating radar provided by an exemplary embodiment of the application for mechanical scanning in the horizontal direction and electronic scanning in the vertical direction;
  • 4b is a top view of a ground point cloud obtained by ground clutter suppression by a rotating radar provided by an exemplary embodiment of the application;
  • FIG. 4c is a side view of a ground point cloud obtained after ground clutter suppression is performed by a rotating radar provided by an exemplary embodiment of the application;
  • FIG. 5 is a schematic structural diagram of a rotating radar provided by an exemplary embodiment of this application.
  • FIG. 6a is a schematic flowchart of a ground clutter suppression method provided by an exemplary embodiment of this application.
  • Fig. 6b is a schematic flow chart of a terrain estimation method provided by an exemplary embodiment of this application.
  • the detection range of the existing UAV in the horizontal direction is relatively limited, which cannot meet the safety requirements of the whole aircraft.
  • a way to install the rotating radar vertically is proposed, that is, the rotating axis of the rotating radar is parallel or substantially parallel to the yaw axis of the drone, and the array antenna of the rotating radar rotates around the rotating axis.
  • the rotating radar can perform mechanical rotation scanning in the horizontal direction, and can flexibly detect in the horizontal direction, which is beneficial to increase the detection range in the horizontal direction and meet the safety requirements of the whole machine.
  • FIG. 1a is a schematic structural diagram of an unmanned aerial vehicle 10 provided by an exemplary embodiment of this application.
  • the unmanned aerial vehicle 10 may be a rotorcraft, for example, a multi-rotor aircraft propelled by the air by a plurality of propulsion devices, and the embodiment of the present invention is not limited thereto.
  • the UAV 10 includes at least: a body 11, a rotating radar 12, and a flight control system 13.
  • the drone 10 may also include other components or modules, such as a propeller, a motor, a pan/tilt, etc. on the body.
  • the body 11 is a carrying platform of the UAV 10, which can carry other parts of the UAV 10 to fly in the air.
  • the flight control system 13 is equivalent to the brain of the UAV 10, which can perform various flight controls on the UAV 10, such as controlling the flight altitude and flight trajectory of the UAV 10, and deciding whether to make emergency braking, change the UAV heading, and The flight speed of UAV 10, etc.
  • the rotating radar 12 refers to a radar whose array antenna can rotate around its rotation axis.
  • the rotating radar 12 is a sensing system of the UAV 10, which can perceive the position information of targets existing in the surrounding environment of the UAV.
  • a rotating radar 12 is installed on the body 11 of the drone 10.
  • the rotating radar 12 is mainly used to detect targets in the surrounding environment of the drone 10 and send the position information of the detected targets to the drone. ⁇ 13 ⁇ Control system 13.
  • the targets detected by the rotating radar 12 may include obstacles in the surrounding environment of the UAV 10, and may also include ground points in the surrounding environment of the UAV 10, which is not limited.
  • the flight control system 13 can control the drone 10 to fly according to the position information of the target detected by the rotating radar 12. It should be understood that the flight control system 13 can control the drone 10 according to pre-programmed program instructions, and can also control the drone 10 by responding to one or more control instructions from a control terminal (such as a remote control). Optionally, the drone 10 can communicate wirelessly with a control terminal, and the control terminal can display flight information of the drone 10, etc., and can also communicate with the drone 10 in a wireless manner to communicate with the drone 10 Perform remote control.
  • the rotating radar 12 is vertically installed on the body 11 of the drone 10.
  • the vertical installation method proposed in the embodiment of the present application is defined by the positional relationship between the rotation axis of the rotating radar 12 and the heading axis of the drone 10. Then, the vertical installation method in this embodiment means that the rotation axis of the rotating radar 12 is parallel or substantially parallel to the yaw axis of the drone 10.
  • the three coordinate axes of the drone 10 are defined as follows: the origin of the coordinates is taken at the center of mass of the drone 10, and the coordinate system is fixedly connected to the aircraft; the x-axis is in the plane of symmetry of the drone 10 Parallel to the design axis of the drone 10, it points to the nose; the y-axis is perpendicular to the plane of symmetry of the drone 10 and points to the right of the body 11; the z-axis is in the symmetry plane of the drone 10, perpendicular to the x-axis and points below the body 11 , As shown in Figure 1a.
  • the x-axis is also called the roll axis
  • the y-axis is also called the pitch axis
  • the z-axis is also called the yaw axis.
  • the propeller plane where the propeller of the drone 10 is located can be used as a reference
  • the vertical installation method proposed in the embodiment of the present application means that the rotation axis of the rotating radar 12 is vertical or approximately perpendicular to the propeller plane of the propeller.
  • the propeller plane of the propeller generally has a certain angle, it is not completely horizontal, so this definition method can be regarded as a rough definition.
  • the array antenna of the rotating radar 12 rotates around the rotation axis, which means that the rotating radar 12 can perform mechanical rotation scanning in the horizontal direction, that is to say, the rotating radar 12 can flexibly detect drones in the horizontal direction.
  • Targets existing in the surrounding environment are beneficial to increase the detection range in the horizontal direction, which is convenient to meet the needs of the UAV 10 for environment perception, and thus can meet the safety requirements of the whole machine.
  • the direction in which the array antenna rotates around the rotation axis is referred to as the mechanical scanning direction of the antenna array
  • the angular range that the array antenna can rotate around the rotation axis is referred to as the mechanical scanning range of the array antenna.
  • the embodiment of the present application does not limit the mechanical scanning direction of the array antenna.
  • the array antenna can rotate clockwise around the rotation axis, or can rotate counterclockwise around the rotation axis.
  • the embodiment of the present application does not limit the mechanical scanning range of the array antenna, and the mechanical scanning range can be flexibly realized as required, for example, it can be 90 degrees (-45 degrees-45 degrees), 180 degrees (-90 degrees, 90 degrees), 200 degrees (-100 degrees, 100 degrees) and so on.
  • the mechanical scanning range of the array antenna can be 360 degrees, that is, the array antenna can rotate 360 degrees around the axis of rotation, that is, the rotating radar 12 can perform 360-degree detection in the horizontal direction to achieve an omnidirectional horizontal direction. Coverage, the UAV 10 can perform 360-degree obstacle avoidance and terrain estimation in the horizontal direction, which is conducive to improving the performance of the UAV 10 in obstacle avoidance and terrain following, thereby improving user experience.
  • the installation position of the rotating radar 12 on the body 11 is not limited.
  • the rotating radar 12 may be installed above the airframe 11 or below the airframe 11.
  • the rotating radar 12 is installed vertically below the body 11, which can avoid the obstruction of the body 11, which is beneficial to improve the detection range and accuracy.
  • FIG. 1a the rotating radar 12 is installed vertically below the body 11, and the figure is shown in detail by taking directly below it as an example.
  • the rotating radar 12 can also be installed in other positions such as a tripod of the drone 10.
  • the rotating radar 12 is not limited in other aspects. Any radar whose antenna array can rotate around a rotation axis and can be installed vertically on the body 11 is applicable to the embodiments of the present application.
  • the antenna array of the rotating radar 12 may be an electrically scanned antenna array or a traditional antenna array. In the following embodiments, the application of the rotating radar 12 using the electrically scanned antenna array to the drone 10 will be described.
  • a rotating radar 12 is vertically installed on the body 11 of the drone 10, and the rotation axis of the rotating radar 12 is parallel or substantially parallel to the yaw axis of the drone 10;
  • the array antenna can rotate around the rotation axis, and the array antenna can be electronically scanned in the elevation direction (or called the vertical direction).
  • the array antenna performs electronic scanning in the elevation direction, which means that the rotating radar 12 can not only detect the targets in the surrounding environment of the drone from the horizontal direction, but also detect the targets in the surrounding environment of the drone from the vertical direction. , Which is beneficial to increase the detection range in both the horizontal and vertical directions, and is convenient to meet the requirements of the UAV 10 for environmental perception, and thus can meet the requirements of the whole machine for safety.
  • the direction in which the array antenna performs electronic scanning in the elevation direction is referred to as the electronic scanning direction of the array antenna.
  • the embodiment of the present application does not limit the electronic scanning direction of the array antenna.
  • the array antenna can scan from top to bottom in the elevation direction, as shown in Figure 1c.
  • the array antenna can scan from bottom to top in the elevation direction, as shown in Figure 1d.
  • the array antenna can also scan from the upper and lower directions at the same time, as shown in Fig. 1e.
  • the mechanical scanning direction and electronic scanning direction of the array antenna in the vertical installation mode, the following methods are used to explain the mechanical scanning direction and electronic scanning direction.
  • the electronic scanning direction of the array antenna is perpendicular or substantially perpendicular to the xy plane, and the mechanical scanning direction of the array antenna is parallel or substantially parallel to the xy plane.
  • the propeller plane of the drone 10 taking the propeller plane of the drone 10 as a reference, the electronic scanning direction of the array antenna is perpendicular or substantially perpendicular to the propeller plane; the mechanical scanning direction of the array antenna is parallel or substantially parallel to the propeller plane.
  • the plane of the propeller generally has a certain angle, not completely horizontal, so vertical or parallel here mainly refers to approximately vertical or parallel, rather than absolutely vertical or parallel.
  • the type of electromagnetic wave used by the array antenna is also not limited, for example, it may be microwave, millimeter wave or laser.
  • the rotating radar 12 in the embodiment of the present application may be a microwave radar, a millimeter wave radar, or a lidar.
  • the electronic scanning of the array antenna in the elevation direction has a certain scanning range, and the scanning range is related to the shape, structure, and size of the array antenna.
  • the electronic scanning range of the array antenna in the elevation direction will be different.
  • the electronic scanning range of the array antenna is approximately 60 degrees, that is, (-30 degrees, +30 degrees), and 60 degrees is only an example and not limited thereto.
  • the electronic scanning range of the array antenna can also be 100 degrees, that is, (-50 degrees, +50 degrees) and so on.
  • the array antenna can perform 360-degree electronic scanning in the elevation direction
  • the rotating radar 12 can perform 360-degree detection in the vertical direction to achieve omnidirectional coverage in the vertical direction.
  • the UAV 10 can perform both horizontal and vertical scanning. Performing 360-degree obstacle avoidance and terrain estimation in two directions is beneficial to improve the performance of the UAV 10 in obstacle avoidance and terrain following, thereby improving user experience.
  • the array antenna of the rotating radar 12 may not be able to perform 360-degree electronic scanning in the elevation direction.
  • the rotating radar 12 may have a blind spot of viewing angle.
  • the UAV 10 also includes a downward-looking radar 14.
  • the down-looking radar 14 is installed under the rotating radar 12, and the field of view of the down-looking radar 14 at least partially covers the blind spot of the rotating radar 12 in the lower area. Among them, the entire field of view range of the UAV 10 is shown in FIG. 2. The overall angle of view in the vertical direction is covered by the downward-looking radar 14 and the rotating radar 12 together.
  • the type of the down-looking radar 14 is not limited.
  • the downward-looking radar 14 may be microwave radar, millimeter wave radar, or lidar.
  • this embodiment does not limit the implementation structure of the down-looking radar 14 either.
  • the downward-looking radar 14 may be an independent radar device, or it may be an array antenna arranged at the bottom of the rotating radar 12.
  • the UAV 10 further includes: the upward-looking radar 15.
  • the top-view radar 15 is installed above the body 11, and its field of view angle at least partially covers the blind spot of the rotating radar 12 in the upper area. Among them, the coverage of the entire field of view of the UAV 10 is shown in Fig. 3a.
  • the overall field of view range in the vertical direction is composed of the field of view of the downward-looking radar 14, the rotating radar 12, and the upward-looking radar 15. .
  • the UAV 10 includes the rotating radar 12, the downward-looking radar 14, and the upward-looking radar 15 as an example for illustration, but it is not limited to this.
  • the unmanned aerial vehicle 10 may also include only the rotating radar 12 and the upward-looking radar 15, or the unmanned aerial vehicle 10 may only include the rotating radar 12 and the downward-looking radar 14, as shown in FIG. 2.
  • the respective FOV ranges of the rotating radar 12, the downward-looking radar 14, and the upward-looking radar 15 are not limited.
  • the FOV of the rotating radar 12 in the electronic scanning direction may be ⁇ 50 degrees
  • the FOV of the downward-looking radar 14 may be 25 degrees
  • the FOV of the upper-looking radar 15 may be 100 degrees, but it is not limited to this.
  • the coverage relationship among the FOVs of the rotating radar 12, the downward-looking radar 14 and the upward-looking radar 15 is shown in Fig. 3b.
  • the field angle of the downward-looking radar 14 or the upward-looking radar 15 may overlap with the field of view of the rotating radar 12 in the vertical direction or there is no overlap.
  • the UAV has a larger detection range in the vertical direction and can detect targets in the environment above and below the UAV. For example, targets such as birds flying above or below the UAV can be detected. Based on this, the UAV can avoid flying birds in time to ensure flight safety.
  • the type of the top-view radar 15 is not limited.
  • the top-view radar 15 may be microwave radar, millimeter wave radar, or lidar.
  • the rotating radar 12 can not only perform mechanical scanning in the horizontal direction, but also perform electronic scanning in the vertical direction.
  • Figure 4a It means that the rotating radar 12 mechanically rotates and scans in the horizontal direction, and the angle ⁇ indicates the electronic scanning range of the rotating radar 12 in the vertical direction; H indicates the height of the unmanned aerial vehicle or the rotating radar 12 from the grass (ground).
  • the array antenna of the rotating radar 12 includes a transmitting antenna and a receiving antenna.
  • the transmitting antenna emits electromagnetic waves to the outside, and the electromagnetic waves are reflected back to form echo information when they hit the target, and the echo information is received by the receiving antenna.
  • the rotating radar 12 can determine the position information of obstacles in the flying environment of the UAV 10 according to the echo information, and provide the position information of the obstacles to the flight control system 13 for the flight control system 13 to control the UAV to avoid obstacles. flight.
  • ground clutter extension may occur due to the constraint of the beam resolution of the array antenna, and some ground points are mistakenly identified as obstacles. These false obstacles (such as the dotted circle in Figure 4a) will erroneously Trigger obstacle avoidance function.
  • the rotating radar 12 may adopt phase angle measurement technology in the electronic scanning direction (that is, the vertical or pitch direction).
  • the flight control system 13 of 10 is used for the flight control system 13 to control the UAV 10 to perform obstacle avoidance flight according to the position information of the obstacle.
  • the UAV can be controlled to perform obstacle avoidance flight based on the position information of obstacles detected by the rotating radar 12.
  • ground clutter suppression is performed on the echo information, which can more accurately distinguish ground points and obstacles, so as to accurately find the position information of obstacles in the surrounding environment of the drone within the beam resolution, and reduce The adverse effect of ground clutter on the obstacle avoidance function.
  • an implementation manner in which the rotating radar 12 uses phase angle measurement technology to address the ground clutter of the echo information includes: calculating the phase between the echo information from the same target received by different receiving antennas in the array antenna Difference; According to the phase difference between the echo information from the same target received by different receiving antennas, calculate the arrival angle information of the target; according to the arrival angle information of the target, judge whether the target is within the obstacle avoidance range of the UAV ; If the target is not within the obstacle avoidance range of the UAV, it is determined that the target is a ground point, and the echo information from the target belongs to ground clutter, and the echo information from the target can be suppressed as ground clutter. If the target is within the obstacle avoidance range of the UAV, it is determined that the target is an obstacle.
  • the number of receiving antennas included in the array antenna is not limited, and it may be two or more than two. Depending on the number of receiving antennas, there will be differences in the way of calculating the arrival angle information, but the principle is basically the same. In order to facilitate the understanding of the phase angle measurement technology, the following describes the process of calculating the arrival angle information with reference to Fig. 4a and taking two receiving antennas as an example.
  • the two adjacent receiving antennas Rx1 and Rx2 in the array antenna are separated by a distance d in the vertical direction, which means that the electromagnetic waves emitted by the same transmitting antenna Tx reach the same target (The black circle in Figure 4) the echo information will arrive at the two receiving antennas one after the other. It can also be said that the echo information received by the two receiving antennas Rx1 and Rx2 at the same time is in phase The upper phase is different by an angle ⁇ , and the target's arrival angle information ⁇ can be determined based on the phase difference ⁇ . This technique is the phase angle measurement technique.
  • ⁇ represents the arrival angle of the target
  • ⁇ R is the wave path difference between the receiving antennas Rx1 and Rx2
  • d is the distance between the receiving antennas Rx1 and Rx2.
  • the phase difference ⁇ and the distance d between the two receiving antennas Rx1 and Rx2 are known quantities, so the arrival angle ⁇ of the target can be calculated. Based on the wave arrival angle ⁇ , the position of the target can be determined, and then it can be distinguished whether the target is within the flying range of the UAV 10; if it is, it is determined that the target is an obstacle, otherwise, it is determined that the target is a ground point. In this case, the echo information from the ground point is suppressed to achieve the purpose of ground clutter suppression.
  • the UAV provided by the embodiments of this application can be applied to a variety of scenarios, for example, it can be used in the power industry, patrolling a large range of cables, reconstructing cable 3D images in real time, etc.; for example, it can be applied to agriculture, Agriculture, forestry and plants spraying pesticides, environmental testing, etc.
  • most drones need to fly close to the ground and avoid accidentally hitting the ground while climbing.
  • drones need to adjust their actions in advance, such as climbing, descending, decelerating, braking, etc., to achieve close-to-ground flight or even equal-height flight, so that the drone can better accomplish the above operation. Therefore, it is necessary to predict the terrain information of the ground in the surrounding environment of the drone.
  • the rotating radar 12 can also calculate ground point information in the flying environment of the drone 10 based on the echo information of the electromagnetic wave; perform terrain estimation based on the ground point information to obtain terrain parameters on the ground ; Transmit the terrain parameters on the ground to the flight control system 13 for the flight control system 13 to control the UAV 10 for terrain following flight according to the terrain parameters on the ground.
  • the terrain parameters of the ground include but are not limited to: the slope of the ground and the height of the drone from the ground.
  • the rotating radar 12 when it performs terrain estimation based on the ground point information, it can specifically map the ground point information to the geodetic coordinate system; in the geodetic coordinate system, calculate the elevation difference and the horizontal distance between the ground point information; The elevation difference and the horizontal distance between the point information, calculate the slope of the ground.
  • the UAV 10 is controlled to perform terrain-following flight according to the terrain parameters of the ground, including but not limited to: fixed altitude flight, mountain AB point flight, etc.
  • the flight control system 13 can calculate the speed control amount required for the drone 10 to fly parallel to the ground at a specified height according to the slope of the ground; control the speed The quantity is decomposed into two control components of ascending and forward; the two control components of ascending and forward are provided to the power system of the UAV 10 to control the UAV 10 to perform terrain-following flight.
  • the amount of speed control required for the UAV 10 to fly parallel to the ground at a specified height will vary.
  • the drone 10 includes a rotating radar 12 installed vertically on the body 11. Based on the rotating radar 12, it can detect the surrounding environment of the drone 10 in a larger range in both horizontal and vertical directions.
  • the drone 10 provided by the embodiment of the present application has greatly improved functions such as horizontal obstacle avoidance and terrain following flight, which is beneficial to improve user experience.
  • the UAV 10 can achieve a wider range of obstacle avoidance functions in the horizontal direction, and even can avoid obstacles horizontally and omnidirectionally (360 degrees) to improve flight safety.
  • the UAV 10 can perform terrain-following flight more accurately, and can also implement the mountain AB point function more accurately, reducing the probability of collision and improving flight safety.
  • the embodiment of the present application also provides a rotating radar.
  • the rotating radar 50 includes a rotating device 51, an array antenna 52 and a processing system 53.
  • the shape and structure of the rotating radar 50 shown in FIG. 5 are only exemplary descriptions, and are not limited thereto.
  • the rotating radar 50 may include other components, such as a radome, a motor, and a support, in addition to the marked parts.
  • the rotating device 51 is used to be installed on the body of the unmanned aerial vehicle.
  • the rotating device 51 includes a rotating bracket and a motor that drives the rotating bracket to rotate.
  • the array antenna 52 is mounted on the rotating support of the rotating device 51, and the rotating device 51 drives the array antenna 52 to continuously rotate in the heading direction of the drone.
  • the array antenna 52 can rotate around a rotation axis that is parallel or substantially parallel to the yaw axis of the drone, so that the rotating device 51 can drive the array antenna 52 to continuously rotate in the yaw direction of the drone.
  • the rotating device 51 can drive the array antenna 52 to rotate 360 degrees in the heading direction of the drone, but it is not limited to this.
  • the processing system 53 is used to control the array antenna 52 to emit electromagnetic waves, and to determine the position information of the target detected by the rotating radar 50 according to the echo information received by the array antenna 52.
  • the array antenna 52 performs electronic scanning in the pitch direction of the drone.
  • the rotating radar 50 may have a blind spot of viewing angle.
  • another array antenna is provided at the bottom of the rotating radar 50, and the field of view of the other array antenna at least partially covers the blind area of the rotating radar in the lower area.
  • the processing system 53 is specifically configured to: adopt phase angle measurement technology in the electronic scanning direction to suppress the ground clutter of the echo information; and determine the surrounding environment of the UAV according to the echo information after the suppression of the ground clutter.
  • the position information of the obstacles; the position information of the obstacles is transmitted to the flight control system of the UAV to control the UAV to avoid obstacles.
  • the processing system 53 adopts the phase angle measurement technology in the electronic scanning direction to suppress the ground clutter of the echo information, which is specifically used to calculate the difference between the echo information from the same target received by different receiving antennas. Calculate the target’s arrival angle information based on the phase difference; determine whether the target is within the UAV’s obstacle avoidance range according to the target’s arrival angle information; if the target is not within the UAV’s obstacle avoidance range, it will come from The target's echo information is suppressed as ground clutter.
  • the processing system 53 is further configured to: calculate the detected ground point information according to the echo information; perform terrain estimation according to the ground point information to obtain the terrain parameters of the ground; and transmit the terrain parameters of the ground to The flight control system of the UAV is used to control the UAV to follow the terrain.
  • the rotating radar in this embodiment may be microwave radar, millimeter wave radar, lidar, or the like.
  • the rotating device of the rotating radar can drive the array antenna to continuously rotate in the heading direction of the drone.
  • the rotating radar can perform mechanical rotation scanning in the horizontal direction.
  • the rotating radar can flexibly detect the targets in the surrounding environment of the drone in the horizontal direction, which is beneficial to increase the detection range in the horizontal direction and facilitate Satisfy the UAV's need for environmental perception, which in turn can meet the safety requirements of the whole machine.
  • the array antenna can be electronically scanned in the elevation direction, which means that the rotating radar can not only detect the targets in the surrounding environment of the drone from the horizontal direction, but also detect the targets in the surrounding environment of the drone from the vertical direction. , It is beneficial to increase the detection range in both horizontal and vertical directions, which is convenient to meet the needs of drones for environmental perception, and thus can meet the needs of the whole machine for safety.
  • the embodiment of the application provides a ground clutter suppression method, which is suitable for a rotating radar, the rotating radar is installed vertically on the UAV, the array antenna of the rotating radar is electronically scanned in the pitch direction of the UAV, and the array The antenna can rotate around a rotation axis that is parallel or substantially parallel to the yaw axis of the UAV.
  • the rotating radar please refer to the aforementioned embodiments of the unmanned aerial vehicle or rotating radar, which will not be repeated here.
  • the ground clutter suppression method includes the following steps:
  • the phase angle measurement technology is used in the electronic scanning direction to suppress the ground clutter of the electromagnetic wave echo information.
  • an implementation manner of step 61a includes: calculating the phase difference between the echo information from the same target received by different receiving antennas on the upper array antenna; calculating the arrival angle information of the target according to the phase difference; The wave arrival angle information of the target determines whether the target is within the obstacle avoidance range of the UAV; if the target is not within the obstacle avoidance range of the UAV, the echo information from the target is suppressed as ground clutter.
  • the rotating radar performs mechanical rotation scanning in the horizontal direction, and can detect in a larger range in the horizontal direction; further, the phase angle measurement technology is adopted to suppress the ground clutter of the echo information, which can be more Accurately identifying obstacles within a larger flight range can trigger the obstacle avoidance function more accurately and reduce the probability of falsely triggering the obstacle avoidance function.
  • the embodiments of the present application provide a computer-readable storage medium storing a computer program.
  • the processor causes the processor to perform the following operations:
  • Phase angle measurement technology is used in the electronic scanning direction to suppress the ground clutter of the electromagnetic wave echo information; according to the echo information after the ground clutter suppression, the position information of the obstacles in the surrounding environment of the UAV is determined; the obstacles The position information is transmitted to the flight control system of the UAV to control the UAV to avoid obstacles.
  • the processor may also perform other operations in the embodiment shown in FIG. 6a.
  • the processor may also perform other operations in the embodiment shown in FIG. 6a.
  • the description in the embodiment shown in FIG. 6a which will not be repeated here.
  • the embodiment of the present application provides a terrain estimation method, which is suitable for a rotating radar, which is installed vertically on an unmanned aerial vehicle, and the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially parallel to the unmanned aerial vehicle.
  • the heading axis of the man-machine please refer to the aforementioned embodiments of the unmanned aerial vehicle or rotating radar, which will not be repeated here.
  • the terrain estimation method includes the following steps:
  • the rotating radar is installed vertically on the body of the UAV, so that the rotating radar can detect the terrain information in the surrounding environment of the UAV in a larger range in both the horizontal and vertical directions, so that the UAV can It can perform terrain-following flight more accurately, and it can also achieve the function of point AB in mountain areas more accurately, reducing the probability of collision and improving flight safety.
  • an embodiment of the present application provides a computer-readable storage medium storing a computer program.
  • the processor When the computer program is executed by a processor, the processor is caused to perform the following operations:
  • the processor may also perform other operations in the embodiment shown in FIG. 6b.
  • the processor may also perform other operations in the embodiment shown in FIG. 6b.
  • the description in the embodiment shown in FIG. 6b which will not be repeated here.
  • an embodiment of the present application also provides an autonomous mobile device, which includes: a device body, a rotating radar, and a control system.
  • the rotating radar is installed vertically on the device body; the array antenna of the rotating radar can rotate around a rotation axis that is parallel or substantially parallel to the heading axis of the autonomous mobile device.
  • the control system is communicatively connected with the rotating radar; among them, the rotating radar sends the position information of the detected target to the control system; the control system controls the autonomous mobile device to travel according to the position information of the target detected by the rotating radar.
  • the definition of the yaw axis of the autonomous mobile device is the same as or similar to that of the yaw axis of the UAV, please refer to the definition of the yaw axis of the UAV above, which will not be repeated here.
  • the array antenna of the rotating radar can rotate 360 degrees around the axis of rotation.
  • the rotating radar may be microwave radar, millimeter wave radar or lidar.
  • the array antenna of the rotating radar performs electronic scanning in the elevation direction.
  • the rotating radar can use phase angle measurement technology in the electronic scanning direction (ie vertical or pitch direction) to suppress the ground clutter of the electromagnetic wave echo information, based on the echo information after the ground clutter suppression.
  • Determine the location information of obstacles in the surrounding environment of the autonomous mobile device provide the determined location information of the obstacle to the control system of the autonomous mobile device for the control system to control the autonomous mobile device to avoid obstacles based on the location information of the obstacle .
  • the autonomous mobile device is an unmanned vehicle
  • the rotating radar is installed on the top or front of the body of the unmanned vehicle.
  • the unmanned vehicle may be an autonomous delivery vehicle, an unmanned car, an unmanned tractor, and so on.
  • a rotating radar is installed vertically on the autonomous mobile device. Based on the fact that the rotating radar can detect targets in the surrounding environment of the autonomous mobile device in a larger range in both horizontal and vertical directions, the autonomous mobile device provided by this embodiment Mobile devices will greatly improve the level of obstacle avoidance and other functions, which is conducive to improving the user experience.
  • the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM).
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
  • this application can be provided as methods, systems, or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.

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Abstract

A ground clutter suppression and terrain estimation method, an unmanned aerial vehicle (10), a rotating radar (12), and a storage medium. The method provides a mode of vertically mounting the rotating radar (12). That is, the rotating axis of the rotating radar (12) is parallel or substantially parallel to the heading axis of the unmanned aerial vehicle (10), and an array antenna of the rotating radar (12) rotates around the rotating axis. This means that the rotating radar (12) can perform mechanical rotating scanning in the horizontal direction, and can flexibly perform detection in the horizontal direction, which is beneficial to expand the detection range in the horizontal direction and meet safety requirements of the whole vehicle.

Description

地杂波抑制与地形估计方法、无人机、旋转雷达及存储介质Ground clutter suppression and terrain estimation method, UAV, rotating radar and storage medium 技术领域Technical field
本申请实施例涉及无人机技术领域，尤其涉及一种地杂波抑制与地形估计方法、无人机、旋转雷达及存储介质。The embodiments of the present application relate to the technical field of drones, and in particular to a ground clutter suppression and terrain estimation method, drones, rotating radars, and storage media.
背景技术Background technique
农业无人机(简称为农机)是应用较为广泛的一种无人机。有些农业无人机安装有雷达***，通过雷达***探测无人机周围的环境信息。随着农业无人机在结构、智能化控制方面的不断迭代，对农业无人机在水平方向的探测范围要求越来越高，甚至提出了水平面360°全面探测的需求。但是，目前农业无人机受限于雷达***的视场角(Field Of View，FOV)，在水平方向上的探测范围比较有限，不能满足整机在安全方面的需求。Agricultural UAV (referred to as agricultural machinery) is a widely used UAV. Some agricultural unmanned aerial vehicles are equipped with a radar system to detect environmental information around the unmanned aerial vehicle. With the continuous iteration of agricultural drones in terms of structure and intelligent control, the requirements for the detection range of agricultural drones in the horizontal direction are getting higher and higher, and the demand for comprehensive 360° horizontal detection has even been proposed. However, the current agricultural UAV is limited by the Field Of View (FOV) of the radar system, and the detection range in the horizontal direction is relatively limited, which cannot meet the safety requirements of the whole machine.
发明内容Summary of the invention
本申请实施例提供一种地杂波抑制与地形估计方法、无人机、旋转雷达及存储介质，用以扩大无人机在水平方向上的探测范围，满足整机在安全方向的需求。The embodiment of the application provides a ground clutter suppression and terrain estimation method, an unmanned aerial vehicle, a rotating radar, and a storage medium, which are used to expand the detection range of the unmanned aerial vehicle in the horizontal direction and meet the requirements of the whole machine in a safe direction.
在本申请实施例提供一种无人机，包括：An embodiment of the present application provides an unmanned aerial vehicle, including:
机体；Body
旋转雷达，垂直安装在所述机体上；所述旋转雷达的阵列天线能够绕一旋转轴转动，且所述旋转轴平行或基本平行于所述无人机的航向轴；A rotating radar is installed vertically on the body; the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially parallel to the heading axis of the drone;
飞控***，与所述旋转雷达通信连接；其中，所述旋转雷达将其探测的目标的位置信息发送给所述飞控***，所述飞控***根据所述旋转雷达探测 到的目标的位置信息，控制所述无人机飞行。The flight control system is communicatively connected with the rotating radar; wherein the rotating radar sends the position information of the target detected by the rotating radar to the flight control system, and the flight control system is based on the position of the target detected by the rotating radar Information to control the flight of the drone.
本申请实施例还提供一种自主移动设备，包括：The embodiments of the present application also provide an autonomous mobile device, including:
设备本体；Equipment body;
旋转雷达，垂直安装于所述设备本体上；所述旋转雷达的阵列天线能够绕一旋转轴转动，所述旋转轴平行或基本平行于所述自主移动设备的航向轴；The rotating radar is installed vertically on the device body; the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially parallel to the heading axis of the autonomous mobile device;
控制***，与所述旋转雷达通信连接；其中，所述旋转雷达将其探测到的目标的位置信息发送给控制***；所述控制***根据所述旋转雷达探测到的目标的位置信息，控制所述自主移动设备行进。The control system is communicatively connected to the rotating radar; wherein the rotating radar sends the position information of the detected target to the control system; the control system controls the control system according to the position information of the target detected by the rotating radar Describes the movement of autonomous mobile devices.
本申请实施例还提供一种旋转雷达，包括：转动装置、阵列天线和处理***；The embodiment of the present application also provides a rotating radar, including: a rotating device, an array antenna, and a processing system;
所述转动装置，用于安装在无人机的机体上，所述转动装置包括旋转支架以及带动所述旋转支架转动的电机；The rotating device is configured to be installed on the body of the unmanned aerial vehicle, and the rotating device includes a rotating bracket and a motor that drives the rotating bracket to rotate;
所述阵列天线搭载在所述转动装置的所述旋转支架上，所述转动装置在无人机的航向方向上带动所述阵列天线连续转动；The array antenna is mounted on the rotating bracket of the rotating device, and the rotating device drives the array antenna to continuously rotate in the heading direction of the drone;
所述处理***，用于控制所述阵列天线发射电磁波，并根据所述阵列天线接收到的回波信息，确定所述旋转雷达探测到的目标的位置信息。The processing system is configured to control the array antenna to emit electromagnetic waves, and determine the position information of the target detected by the rotating radar according to the echo information received by the array antenna.
本申请实施例还提供一种地杂波抑制方法，适用于旋转雷达，所述旋转雷达垂直安装在无人机上，所述旋转雷达的阵列天线在所述无人机的俯仰方向上进行电子扫描，且所述阵列天线能够绕一旋转轴转动，所述旋转轴平行或基本平行于所述无人机的航向轴；所述方法包括：The embodiment of the present application also provides a ground clutter suppression method, which is suitable for a rotating radar, the rotating radar is installed vertically on an unmanned aerial vehicle, and the array antenna of the rotating radar is electronically scanned in the pitch direction of the unmanned aerial vehicle , And the array antenna can rotate around a rotation axis, the rotation axis being parallel or substantially parallel to the heading axis of the drone; the method includes:
在所述电子扫描方向上采用相位测角技术，对电磁波的回波信息进行地杂波抑制；Adopting phase angle measurement technology in the electronic scanning direction to suppress the ground clutter of the echo information of the electromagnetic wave;
根据地杂波抑制后的回波信息，确定所述无人机周围环境中的障碍物的位置信息；Determine the location information of obstacles in the surrounding environment of the drone according to the echo information after ground clutter suppression;
将所述障碍物的位置信息传输给所述无人机的飞控***，以控制所述无人机进行避障飞行。The position information of the obstacle is transmitted to the flight control system of the UAV to control the UAV to perform obstacle avoidance flight.
本申请实施例还提供一种地形估计方法，适用于旋转雷达，所述旋转雷 达垂直安装在无人机上，所述旋转雷达的阵列天线能够绕一旋转轴转动，且所述旋转轴平行或基本平行于所述无人机的航向轴；所述方法包括：The embodiment of the present application also provides a terrain estimation method, which is suitable for a rotating radar, the rotating radar is installed vertically on an unmanned aerial vehicle, the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially Parallel to the yaw axis of the drone; the method includes:
根据所述旋转雷达接收到的回波信息，计算地面点信息；Calculating ground point information according to the echo information received by the rotating radar;
根据所述地面点信息进行地形估计，以得到地面的地形参数；Perform terrain estimation according to the ground point information to obtain terrain parameters of the ground;
将所述地面的地形参数传输给所述无人机的飞控***，以控制所述无人机进行地形跟随飞行。The terrain parameters of the ground are transmitted to the flight control system of the UAV to control the UAV to perform terrain following flight.
本申请实施例还提供一种存储有计算机程序的计算机可读存储介质，当所述计算机程序被处理器执行时，致使所述处理器执行本申请实施例提供的地杂波抑制方法或地形估计方法中的步骤。The embodiment of the present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is caused to execute the ground clutter suppression method or terrain estimation provided by the embodiment of the present application. Steps in the method.
在本申请实施例中，提出垂直安装旋转雷达的方式，即旋转雷达的旋转轴平行或基本平行于无人机的航向轴，旋转雷达的阵列天线绕旋转轴转动，这意味着旋转雷达在水平方向上可进行机械旋转扫描，可灵活地在水平方向上进行探测，有利于提高在水平方向上的探测范围，满足整机在安全方面的需求。In the embodiment of this application, a way to install the rotating radar vertically is proposed, that is, the rotating axis of the rotating radar is parallel or substantially parallel to the yaw axis of the drone, and the array antenna of the rotating radar rotates around the rotating axis, which means that the rotating radar is in a horizontal position. Mechanical rotation scanning can be performed in the direction, and detection in the horizontal direction can be performed flexibly, which is beneficial to increase the detection range in the horizontal direction and meet the safety requirements of the whole machine.
附图说明Description of the drawings
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The exemplary embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation of the application. In the attached picture:
图1a为本申请示例性实施例提供的一种无人机的结构示意图；Fig. 1a is a schematic structural diagram of an unmanned aerial vehicle provided by an exemplary embodiment of this application;
图1b为本申请示例性实施例提供的另一种无人机的结构示意图；Figure 1b is a schematic structural diagram of another drone provided by an exemplary embodiment of the application;
图1c-图1e为本申请示例性实施例提供的阵列天线的电子扫描方向的几种示意图；1c-FIG. 1e are several schematic diagrams of the electronic scanning direction of the array antenna provided by the exemplary embodiment of this application;
图2为本申请示例性实施例提供的一种包含下视雷达的无人机结构示意图；FIG. 2 is a schematic structural diagram of an unmanned aerial vehicle including a downward-looking radar provided by an exemplary embodiment of this application;
图3a为本申请示例性实施例提供的一种包含下视雷达和上视雷达的无人 机结构示意图；Fig. 3a is a schematic structural diagram of an unmanned aircraft including a downward-looking radar and an upward-looking radar provided by an exemplary embodiment of this application;
图3b为本申请示例性实施例提供的无人机上三种雷达的FOV之间覆盖关系的示例性示意图；Fig. 3b is an exemplary schematic diagram of the coverage relationship between the FOVs of three radars on a drone provided by an exemplary embodiment of the application;
图4a为本申请示例性实施例提供的旋转雷达在水平方向进行机械扫描和在垂直方向上进行电子扫描的状态示意图；FIG. 4a is a schematic diagram of the state of the rotating radar provided by an exemplary embodiment of the application for mechanical scanning in the horizontal direction and electronic scanning in the vertical direction;
图4b为本申请示例性实施例提供的旋转雷达进行地杂波抑制得到的地面点云顶视图；4b is a top view of a ground point cloud obtained by ground clutter suppression by a rotating radar provided by an exemplary embodiment of the application;
图4c为本申请示例性实施例提供的旋转雷达进行地杂波抑制后得到的地面点云侧视图；FIG. 4c is a side view of a ground point cloud obtained after ground clutter suppression is performed by a rotating radar provided by an exemplary embodiment of the application; FIG.
图5为本申请示例性实施例提供的一种旋转雷达的结构示意图；FIG. 5 is a schematic structural diagram of a rotating radar provided by an exemplary embodiment of this application;
图6a为本申请示例性实施例提供的一种地杂波抑制方法的流程示意图；FIG. 6a is a schematic flowchart of a ground clutter suppression method provided by an exemplary embodiment of this application;
图6b为本申请示例性实施例提供的一种地形估计方法的流程示意图。Fig. 6b is a schematic flow chart of a terrain estimation method provided by an exemplary embodiment of this application.
具体实施方式Detailed ways
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely in conjunction with specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.
现有无人机在水平方向上的探测范围比较有限，不能满足整机在安全方面的需求。针对该技术问题，在本申请一些实施例中，提出垂直安装旋转雷达的方式，即旋转雷达的旋转轴平行或基本平行于无人机的航向轴，旋转雷达的阵列天线绕旋转轴转动，这意味着旋转雷达在水平方向上可进行机械旋转扫描，可灵活地在水平方向上进行探测，有利于提高在水平方向上的探测范围，满足整机在安全方面的需求。The detection range of the existing UAV in the horizontal direction is relatively limited, which cannot meet the safety requirements of the whole aircraft. In response to this technical problem, in some embodiments of this application, a way to install the rotating radar vertically is proposed, that is, the rotating axis of the rotating radar is parallel or substantially parallel to the yaw axis of the drone, and the array antenna of the rotating radar rotates around the rotating axis. This means that the rotating radar can perform mechanical rotation scanning in the horizontal direction, and can flexibly detect in the horizontal direction, which is beneficial to increase the detection range in the horizontal direction and meet the safety requirements of the whole machine.
以下结合附图，详细说明本申请各实施例提供的技术方案。The technical solutions provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.
图1a为本申请示例性实施例提供的一种无人机10的结构示意图。无人机10可以是旋翼飞行器(rotorcraft)，例如，由多个推动装置通过空气推动的多旋翼飞行器，本发明的实施例并不限于此。FIG. 1a is a schematic structural diagram of an unmanned aerial vehicle 10 provided by an exemplary embodiment of this application. The unmanned aerial vehicle 10 may be a rotorcraft, for example, a multi-rotor aircraft propelled by the air by a plurality of propulsion devices, and the embodiment of the present invention is not limited thereto.
如图1a所示，该无人机10至少包括：机体11、旋转雷达12和飞控***13。除图1a所示部件或模块之外，无人机10还可以包括其它部件或模块，例如机体上的螺旋桨、电机马达、云台等。As shown in FIG. 1a, the UAV 10 includes at least: a body 11, a rotating radar 12, and a flight control system 13. In addition to the components or modules shown in FIG. 1a, the drone 10 may also include other components or modules, such as a propeller, a motor, a pan/tilt, etc. on the body.
机体11是无人机10的承载平台，可承载无人机10的其它部件在空中飞行。飞控***13相当于无人机10的大脑，可对无人机10进行各种飞行控制，例如控制无人机10的飞行高度，飞行轨，决定是否紧急刹车、改变无人机航向，改变无人机10的飞行速度，等等。旋转雷达12是指其阵列天线能够绕其旋转轴转动的雷达。旋转雷达12是无人机10的感知***，可感知无人机周围环境中存在的目标的位置信息。The body 11 is a carrying platform of the UAV 10, which can carry other parts of the UAV 10 to fly in the air. The flight control system 13 is equivalent to the brain of the UAV 10, which can perform various flight controls on the UAV 10, such as controlling the flight altitude and flight trajectory of the UAV 10, and deciding whether to make emergency braking, change the UAV heading, and The flight speed of UAV 10, etc. The rotating radar 12 refers to a radar whose array antenna can rotate around its rotation axis. The rotating radar 12 is a sensing system of the UAV 10, which can perceive the position information of targets existing in the surrounding environment of the UAV.
在本实施例中，无人机10的机体11上安装有旋转雷达12，旋转雷达12主要用于探测无人机10周围环境中存在的目标，并将探测到的目标的位置信息发送给飞控***13。其中，旋转雷达12探测到的目标可以包括无人机10周围环境中存在的障碍物，也可以包括无人机10周围环境中的地面点，对此不做限定。In this embodiment, a rotating radar 12 is installed on the body 11 of the drone 10. The rotating radar 12 is mainly used to detect targets in the surrounding environment of the drone 10 and send the position information of the detected targets to the drone.控***13。 Control system 13. The targets detected by the rotating radar 12 may include obstacles in the surrounding environment of the UAV 10, and may also include ground points in the surrounding environment of the UAV 10, which is not limited.
飞控***13可根据旋转雷达12探测到的目标的位置信息，控制无人机10飞行。应理解，飞控***13可以按照预先编好的程序指令对无人机10进行控制，也可以通过响应来自控制终端(例如遥控器)的一个或多个控制指令对无人机10进行控制。可选地，无人机10可以与控制终端进行无线通信，该控制终端可以显示无人机10的飞行信息等，还可以通过无线方式与无人机10进行通信，用于对无人机10进行远程操纵。The flight control system 13 can control the drone 10 to fly according to the position information of the target detected by the rotating radar 12. It should be understood that the flight control system 13 can control the drone 10 according to pre-programmed program instructions, and can also control the drone 10 by responding to one or more control instructions from a control terminal (such as a remote control). Optionally, the drone 10 can communicate wirelessly with a control terminal, and the control terminal can display flight information of the drone 10, etc., and can also communicate with the drone 10 in a wireless manner to communicate with the drone 10 Perform remote control.
在本实施例中，旋转雷达12垂直安装在无人机10的机体11上。以旋转雷达12的旋转轴与无人机10的航向轴之间的位置关系，对本申请实施例提出的垂直安装方式进行定义。则，本实施例的垂直安装方式是指旋转雷达12的旋转轴平行或基本平行于无人机10的航向轴。In this embodiment, the rotating radar 12 is vertically installed on the body 11 of the drone 10. The vertical installation method proposed in the embodiment of the present application is defined by the positional relationship between the rotation axis of the rotating radar 12 and the heading axis of the drone 10. Then, the vertical installation method in this embodiment means that the rotation axis of the rotating radar 12 is parallel or substantially parallel to the yaw axis of the drone 10.
在本申请各实施例中，无人机10的三个坐标轴的定义如下：坐标原点取在无人机10的质心处，坐标系与飞机固连；x轴在无人机10对称平面内并平行于无人机10的设计轴线指向机头；y轴垂直于无人机10对称平面指向机体11右方；z轴在无人机10对称平面内，与x轴垂直并指向机体11下方，如图1a所示。其中，x轴又称为翻滚轴，y轴又称为俯仰轴，z轴又称为航向轴。In the embodiments of the present application, the three coordinate axes of the drone 10 are defined as follows: the origin of the coordinates is taken at the center of mass of the drone 10, and the coordinate system is fixedly connected to the aircraft; the x-axis is in the plane of symmetry of the drone 10 Parallel to the design axis of the drone 10, it points to the nose; the y-axis is perpendicular to the plane of symmetry of the drone 10 and points to the right of the body 11; the z-axis is in the symmetry plane of the drone 10, perpendicular to the x-axis and points below the body 11 , As shown in Figure 1a. Among them, the x-axis is also called the roll axis, the y-axis is also called the pitch axis, and the z-axis is also called the yaw axis.
需要说明的是，除了采用上述方式对本申请实施例提出的垂直安装方式进行定义之外，也可以采用其它方式，从不同视角对本申请实施例提出的垂直安装方式进行粗略定义。例如，可以以无人机10的螺旋桨所在的桨平面为基准，则本申请实施例提出的垂直安装方式是指旋转雷达12的旋转轴垂直或近似垂直于螺旋桨的桨平面。考虑螺旋桨的桨平面一般会有一定角度，并非完全水平，所以这种定义方式算是一种粗略的定义方式。It should be noted that, in addition to the above-mentioned method for defining the vertical installation method proposed in the embodiment of the present application, other methods may also be used to roughly define the vertical installation method proposed in the embodiment of the present application from different perspectives. For example, the propeller plane where the propeller of the drone 10 is located can be used as a reference, and the vertical installation method proposed in the embodiment of the present application means that the rotation axis of the rotating radar 12 is vertical or approximately perpendicular to the propeller plane of the propeller. Considering that the propeller plane of the propeller generally has a certain angle, it is not completely horizontal, so this definition method can be regarded as a rough definition.
在垂直安装方式下，旋转雷达12的阵列天线绕旋转轴转动，意味着旋转雷达12在水平方向上可进行机械旋转扫描，也就是说，旋转雷达12可灵活地在水平方向上探测无人机周围环境中存在的目标，有利于提高在水平方向上的探测范围，便于满足无人机10对环境感知的需求，进而可满足整机对安全方面的需求。In the vertical installation mode, the array antenna of the rotating radar 12 rotates around the rotation axis, which means that the rotating radar 12 can perform mechanical rotation scanning in the horizontal direction, that is to say, the rotating radar 12 can flexibly detect drones in the horizontal direction. Targets existing in the surrounding environment are beneficial to increase the detection range in the horizontal direction, which is convenient to meet the needs of the UAV 10 for environment perception, and thus can meet the safety requirements of the whole machine.
其中，为了便于描述，将阵列天线绕旋转轴转动的方向称为天线阵列的机械扫描方向，将阵列天线能够绕旋转轴转动的角度范围称为阵列天线的机械扫描范围。本申请实施例并不限定阵列天线的机械扫描方向，例如阵列天线可以绕旋转轴顺时针转动，也可以绕旋转轴逆时针转动。同理，本申请实施例也不限定阵列天线的机械扫描范围，其机械扫描范围可按需灵活实现，例如可以是90度即(-45度-45度)、180度即(-90度，90度)、200度即(-100度，100度)等。Among them, for ease of description, the direction in which the array antenna rotates around the rotation axis is referred to as the mechanical scanning direction of the antenna array, and the angular range that the array antenna can rotate around the rotation axis is referred to as the mechanical scanning range of the array antenna. The embodiment of the present application does not limit the mechanical scanning direction of the array antenna. For example, the array antenna can rotate clockwise around the rotation axis, or can rotate counterclockwise around the rotation axis. In the same way, the embodiment of the present application does not limit the mechanical scanning range of the array antenna, and the mechanical scanning range can be flexibly realized as required, for example, it can be 90 degrees (-45 degrees-45 degrees), 180 degrees (-90 degrees, 90 degrees), 200 degrees (-100 degrees, 100 degrees) and so on.
在一些实施例中，阵列天线的机械扫描范围可以是360度，即阵列天线能够绕旋转轴进行360度转动，即旋转雷达12可在水平方向上进行360度探测，达到对水平方向的全向覆盖，无人机10可在水平方向上进行360度避障和地形估计，这有利于提升无人机10避障和地形跟随等方面的性能，进而可 提高用户体验。In some embodiments, the mechanical scanning range of the array antenna can be 360 degrees, that is, the array antenna can rotate 360 degrees around the axis of rotation, that is, the rotating radar 12 can perform 360-degree detection in the horizontal direction to achieve an omnidirectional horizontal direction. Coverage, the UAV 10 can perform 360-degree obstacle avoidance and terrain estimation in the horizontal direction, which is conducive to improving the performance of the UAV 10 in obstacle avoidance and terrain following, thereby improving user experience.
在本申请各实施例中，并不限定旋转雷达12在机体11上的安装位置。例如，旋转雷达12可以安装在机体11的上方，也可以安装在机体11的下方。其中，旋转雷达12垂直安装在机体11的下方为优选实施方式，可避开机体11的遮挡，有利于提高探测范围和精度。在图1a中，以旋转雷达12垂直安装在机体11的下方，具体以正下方为例进行图示。可选地，旋转雷达12还可以安装在无人机10的脚架等其它位置。In the embodiments of the present application, the installation position of the rotating radar 12 on the body 11 is not limited. For example, the rotating radar 12 may be installed above the airframe 11 or below the airframe 11. Among them, it is a preferred embodiment that the rotating radar 12 is installed vertically below the body 11, which can avoid the obstruction of the body 11, which is beneficial to improve the detection range and accuracy. In FIG. 1a, the rotating radar 12 is installed vertically below the body 11, and the figure is shown in detail by taking directly below it as an example. Optionally, the rotating radar 12 can also be installed in other positions such as a tripod of the drone 10.
在本申请各实施例中，并不对旋转雷达12进行其它方面的限定，凡是天线阵列可绕旋转轴转动，且可垂直安装于机体11上的雷达均适用于本申请实施例。例如，旋转雷达12的天线阵列可以是电扫描天线阵列，也可以是传统的天线阵列。在下面一些实施例中，对使用电扫描天线阵列的旋转雷达12在无人机10上的应用进行说明。In the embodiments of the present application, the rotating radar 12 is not limited in other aspects. Any radar whose antenna array can rotate around a rotation axis and can be installed vertically on the body 11 is applicable to the embodiments of the present application. For example, the antenna array of the rotating radar 12 may be an electrically scanned antenna array or a traditional antenna array. In the following embodiments, the application of the rotating radar 12 using the electrically scanned antenna array to the drone 10 will be described.
在一些实施例中，如图1b所示，无人机10的机体11上垂直安装有旋转雷达12，旋转雷达12的旋转轴与无人机10的航向轴平行或基本平行；旋转雷达12的阵列天线能够绕旋转轴转动，且该阵列天线在俯仰方向(或称为垂直方向)上可进行电子扫描。In some embodiments, as shown in FIG. 1b, a rotating radar 12 is vertically installed on the body 11 of the drone 10, and the rotation axis of the rotating radar 12 is parallel or substantially parallel to the yaw axis of the drone 10; The array antenna can rotate around the rotation axis, and the array antenna can be electronically scanned in the elevation direction (or called the vertical direction).
其中，阵列天线在俯仰方向上进行电子扫描，意味着旋转雷达12不仅可以从水平方向上探测无人机周围环境中存在的目标，还可以从垂直方向上探测无人机周围环境中存在的目标，有利于从水平和垂直两个方向上提高探测范围，便于满足无人机10对环境感知的需求，进而可满足整机对安全方面的需求。Among them, the array antenna performs electronic scanning in the elevation direction, which means that the rotating radar 12 can not only detect the targets in the surrounding environment of the drone from the horizontal direction, but also detect the targets in the surrounding environment of the drone from the vertical direction. , Which is beneficial to increase the detection range in both the horizontal and vertical directions, and is convenient to meet the requirements of the UAV 10 for environmental perception, and thus can meet the requirements of the whole machine for safety.
为了便于描述，将阵列天线在俯仰方向上进行电子扫描的方向称为阵列天线的电子扫描方向。本申请实施例并不限定阵列天线的电子扫描方向。例如，阵列天线可以在俯仰方向上自上而下进行扫描，如图1c所示。或者，阵列天线可以在俯仰方向上自下而上进行扫描，如图1d所示。或者，阵列天线也可以同时从上下两个方向相对进行扫描，如图1e所示。For ease of description, the direction in which the array antenna performs electronic scanning in the elevation direction is referred to as the electronic scanning direction of the array antenna. The embodiment of the present application does not limit the electronic scanning direction of the array antenna. For example, the array antenna can scan from top to bottom in the elevation direction, as shown in Figure 1c. Alternatively, the array antenna can scan from bottom to top in the elevation direction, as shown in Figure 1d. Alternatively, the array antenna can also scan from the upper and lower directions at the same time, as shown in Fig. 1e.
为了便于在垂直安装方式下，对阵列天线的机械扫描方向和电子扫描方 向有个更直观的认识，采用下述方式对机械扫描方向和电子扫描方向进行解释说明。例如，以xy平面(x轴和y轴形成的平面)为基准，阵列天线的电子扫描方向垂直或基本垂直于xy平面，阵列天线的机械扫描方向平行或基本平行于xy平面。又例如，以无人机10的螺旋桨所在的桨平面为基准，阵列天线的电子扫描方向垂直或基本垂直于桨平面；阵列天线的机械扫描方向平行或基本平行于桨平面。考虑螺旋桨的桨平面一般会有一定角度，并非完全水平，所以这里的垂直或平行主要是指近似垂直或平行，而非绝对垂直或平行。In order to facilitate a more intuitive understanding of the mechanical scanning direction and electronic scanning direction of the array antenna in the vertical installation mode, the following methods are used to explain the mechanical scanning direction and electronic scanning direction. For example, taking the xy plane (a plane formed by the x axis and the y axis) as a reference, the electronic scanning direction of the array antenna is perpendicular or substantially perpendicular to the xy plane, and the mechanical scanning direction of the array antenna is parallel or substantially parallel to the xy plane. For another example, taking the propeller plane of the drone 10 as a reference, the electronic scanning direction of the array antenna is perpendicular or substantially perpendicular to the propeller plane; the mechanical scanning direction of the array antenna is parallel or substantially parallel to the propeller plane. Consider that the plane of the propeller generally has a certain angle, not completely horizontal, so vertical or parallel here mainly refers to approximately vertical or parallel, rather than absolutely vertical or parallel.
在本实施例中，也不限定阵列天线采用的电磁波类型，例如可以是微波、毫米波或激光。相应地，本申请实施例中的旋转雷达12可以是微波雷达、毫米波雷达或激光雷达。In this embodiment, the type of electromagnetic wave used by the array antenna is also not limited, for example, it may be microwave, millimeter wave or laser. Correspondingly, the rotating radar 12 in the embodiment of the present application may be a microwave radar, a millimeter wave radar, or a lidar.
参见图1b，阵列天线在俯仰方向上进行电子扫描具有一定的扫描范围，该扫描范围与阵列天线的形状、结构和大小等有关系。不同旋转雷达，其阵列天线在俯仰方向上的电子扫描范围会有所不同。如图1b所示，阵列天线的电子扫描范围大约为60度，即(-30度，+30度)，60度仅为示例性说明，并不限于此。阵列天线的电子扫描范围还可以是100度，即(-50度，+50度)等。Referring to Fig. 1b, the electronic scanning of the array antenna in the elevation direction has a certain scanning range, and the scanning range is related to the shape, structure, and size of the array antenna. For different rotating radars, the electronic scanning range of the array antenna in the elevation direction will be different. As shown in FIG. 1b, the electronic scanning range of the array antenna is approximately 60 degrees, that is, (-30 degrees, +30 degrees), and 60 degrees is only an example and not limited thereto. The electronic scanning range of the array antenna can also be 100 degrees, that is, (-50 degrees, +50 degrees) and so on.
其中，若阵列天线能够在俯仰方向上进行360度电子扫描，意味着旋转雷达12可在垂直方向上进行360度探测，达到对垂直方向的全向覆盖，无人机10可在水平和垂直两个方向上进行360度避障和地形估计，这有利于提升无人机10避障和地形跟随等方面的性能，进而可提高用户体验。但是，在更多情况下，旋转雷达12的阵列天线可能无法做到在俯仰方向进行360度电子扫描。阵列天线无法做到在俯仰方向上进行360度电子扫描的情况下，在垂直方向上，旋转雷达12可能存在视角盲区。Among them, if the array antenna can perform 360-degree electronic scanning in the elevation direction, it means that the rotating radar 12 can perform 360-degree detection in the vertical direction to achieve omnidirectional coverage in the vertical direction. The UAV 10 can perform both horizontal and vertical scanning. Performing 360-degree obstacle avoidance and terrain estimation in two directions is beneficial to improve the performance of the UAV 10 in obstacle avoidance and terrain following, thereby improving user experience. However, in more cases, the array antenna of the rotating radar 12 may not be able to perform 360-degree electronic scanning in the elevation direction. When the array antenna cannot perform 360-degree electronic scanning in the elevation direction, in the vertical direction, the rotating radar 12 may have a blind spot of viewing angle.
为了增大旋转雷达12在垂直方向上的探测范围，如图2所示，除了旋转雷达12，无人机10还包括：下视雷达14。下视雷达14安装于旋转雷达12的下方，下视雷达14的视场角至少部分覆盖旋转雷达12在下方区域的视角 盲区。其中，无人机10的整个视场角范围如图2所示。在垂直方向上的整体视场角由下视雷达14和旋转雷达12共同覆盖。In order to increase the detection range of the rotating radar 12 in the vertical direction, as shown in FIG. 2, in addition to the rotating radar 12, the UAV 10 also includes a downward-looking radar 14. The down-looking radar 14 is installed under the rotating radar 12, and the field of view of the down-looking radar 14 at least partially covers the blind spot of the rotating radar 12 in the lower area. Among them, the entire field of view range of the UAV 10 is shown in FIG. 2. The overall angle of view in the vertical direction is covered by the downward-looking radar 14 and the rotating radar 12 together.
在本实施例中，并不限定下视雷达14的类型。例如，下视雷达14可以是微波雷达、毫米波雷达或激光雷达等。另外，本实施例也不限定下视雷达14的实现结构。例如，下视雷达14可以是为独立的雷达设备，也可以是设置于旋转雷达12底部的一块阵列天线。In this embodiment, the type of the down-looking radar 14 is not limited. For example, the downward-looking radar 14 may be microwave radar, millimeter wave radar, or lidar. In addition, this embodiment does not limit the implementation structure of the down-looking radar 14 either. For example, the downward-looking radar 14 may be an independent radar device, or it may be an array antenna arranged at the bottom of the rotating radar 12.
进一步，为了增大旋转雷达12在垂直方向上的探测范围，如图3a所示，除了旋转雷达12和下视雷达14之外，无人机10还包括：上视雷达15。上视雷达15，安装在机体11上方，其视场角至少部分覆盖旋转雷达12在上方区域的视角盲区。其中，无人机10的整个视场角的覆盖范围如图3a所示，在垂直方向上的整体视场角范围由下视雷达14、旋转雷达12和上视雷达15的视场角共同组成。Further, in order to increase the detection range of the rotating radar 12 in the vertical direction, as shown in FIG. 3a, in addition to the rotating radar 12 and the downward-looking radar 14, the UAV 10 further includes: the upward-looking radar 15. The top-view radar 15 is installed above the body 11, and its field of view angle at least partially covers the blind spot of the rotating radar 12 in the upper area. Among them, the coverage of the entire field of view of the UAV 10 is shown in Fig. 3a. The overall field of view range in the vertical direction is composed of the field of view of the downward-looking radar 14, the rotating radar 12, and the upward-looking radar 15. .
在此说明，在图3a中，以无人机10同时包括旋转雷达12、下视雷达14和上视雷达15为例进行图示，但并不限于此。无人机10也可以仅包括旋转雷达12和上视雷达15，或者无人机10仅包括旋转雷达12和下视雷达14，如图2所示。Herein, in FIG. 3a, the UAV 10 includes the rotating radar 12, the downward-looking radar 14, and the upward-looking radar 15 as an example for illustration, but it is not limited to this. The unmanned aerial vehicle 10 may also include only the rotating radar 12 and the upward-looking radar 15, or the unmanned aerial vehicle 10 may only include the rotating radar 12 and the downward-looking radar 14, as shown in FIG. 2.
在本申请实施例中，并不限定旋转雷达12、下视雷达14和上视雷达15各自视场角的(FOV)范围。举例说明，旋转雷达12在电子扫描方向上的FOV可以是±50度，下视雷达14的FOV可以是25度，上视雷达15的FOV是100度，但不限于此。在该示例中，旋转雷达12、下视雷达14和上视雷达15的FOV之间的覆盖关系如图3b所示。另外，下视雷达14或上视雷达15的视场角在垂直方向上可以与旋转雷达12的视场角存在交叠或者无交叠。In the embodiment of the present application, the respective FOV ranges of the rotating radar 12, the downward-looking radar 14, and the upward-looking radar 15 are not limited. For example, the FOV of the rotating radar 12 in the electronic scanning direction may be ±50 degrees, the FOV of the downward-looking radar 14 may be 25 degrees, and the FOV of the upper-looking radar 15 may be 100 degrees, but it is not limited to this. In this example, the coverage relationship among the FOVs of the rotating radar 12, the downward-looking radar 14 and the upward-looking radar 15 is shown in Fig. 3b. In addition, the field angle of the downward-looking radar 14 or the upward-looking radar 15 may overlap with the field of view of the rotating radar 12 in the vertical direction or there is no overlap.
由图3b可知，结合旋转雷达12、下视雷达14和上视雷达15，无人机在垂直方向上的探测范围更大，可以探测无人机上方和下方环境中的目标。例如，可以探测到在无人机上方或下方飞行的小鸟等目标，基于此，无人机可及时避开飞行的小鸟，可保证飞行安全。It can be seen from Fig. 3b that combining the rotating radar 12, the downward-looking radar 14 and the upward-looking radar 15, the UAV has a larger detection range in the vertical direction and can detect targets in the environment above and below the UAV. For example, targets such as birds flying above or below the UAV can be detected. Based on this, the UAV can avoid flying birds in time to ensure flight safety.
在本实施例中，并不限定上视雷达15的类型。例如，上视雷达15可以 是微波雷达、毫米波雷达或激光雷达等。In this embodiment, the type of the top-view radar 15 is not limited. For example, the top-view radar 15 may be microwave radar, millimeter wave radar, or lidar.
在上述实施例中，旋转雷达12不仅可以在水平方向上进行机械扫描，还可以在垂直方向上进行电子扫描。在图4a中，
Figure PCTCN2019115257-appb-000001
表示旋转雷达12在水平方向机械旋转扫描，角度θ表示旋转雷达12在垂直方向上的电子扫描范围；H表示无人机或旋转雷达12距离草地(地面)的高度。 In the above embodiment, the rotating radar 12 can not only perform mechanical scanning in the horizontal direction, but also perform electronic scanning in the vertical direction. In Figure 4a,
Figure PCTCN2019115257-appb-000001
It means that the rotating radar 12 mechanically rotates and scans in the horizontal direction, and the angle θ indicates the electronic scanning range of the rotating radar 12 in the vertical direction; H indicates the height of the unmanned aerial vehicle or the rotating radar 12 from the grass (ground).
旋转雷达12的阵列天线包括发射天线和接收天线，发射天线对外发射电磁波，电磁波碰到目标后被反射回来形成回波信息，回波信息被接收天线接收下来。旋转雷达12可以根据回波信息确定无人机10飞行环境中存在的障碍物的位置信息，将障碍物的位置信息提供给飞控***13，以供飞控***13控制无人机进行避障飞行。The array antenna of the rotating radar 12 includes a transmitting antenna and a receiving antenna. The transmitting antenna emits electromagnetic waves to the outside, and the electromagnetic waves are reflected back to form echo information when they hit the target, and the echo information is received by the receiving antenna. The rotating radar 12 can determine the position information of obstacles in the flying environment of the UAV 10 according to the echo information, and provide the position information of the obstacles to the flight control system 13 for the flight control system 13 to control the UAV to avoid obstacles. flight.
在一些情况下，可能因为阵列天线的波束分辨率的约束，发生地杂波延拓，错误地将一些地面点识别为障碍物，这些虚假障碍物(如图4a中的虚线圆圈)会错误地触发避障功能。为了降低因地杂波延拓造成虚假障碍物错误触发避障功能的概率，在本申请一些实施例中，旋转雷达12可以在电子扫描方向(即垂直或俯仰方向)上采用相位测角技术，对电磁波的回波信息进行地杂波抑制，根据地杂波抑制后的回波信息，确定无人机周围环境中的障碍物的位置信息；将确定出的障碍物的位置信息提供给无人机10的飞控***13，以供飞控***13根据障碍物的位置信息控制无人机10进行避障飞行。对飞控***13来说，可以根据旋转雷达12探测到的障碍物的位置信息，控制无人机进行避障飞行。In some cases, ground clutter extension may occur due to the constraint of the beam resolution of the array antenna, and some ground points are mistakenly identified as obstacles. These false obstacles (such as the dotted circle in Figure 4a) will erroneously Trigger obstacle avoidance function. In order to reduce the probability of false obstacles erroneously triggering the obstacle avoidance function due to ground clutter continuation, in some embodiments of the present application, the rotating radar 12 may adopt phase angle measurement technology in the electronic scanning direction (that is, the vertical or pitch direction). Perform ground clutter suppression on the echo information of electromagnetic waves, and determine the location information of obstacles in the surrounding environment of the UAV based on the echo information after the suppression of the ground clutter; provide the determined location information of the obstacles to the UAV The flight control system 13 of 10 is used for the flight control system 13 to control the UAV 10 to perform obstacle avoidance flight according to the position information of the obstacle. For the flight control system 13, the UAV can be controlled to perform obstacle avoidance flight based on the position information of obstacles detected by the rotating radar 12.
在上述实施例中，对回波信息进行地杂波抑制，可以更加准确地区分地面点和障碍物，从而在波束分辨率内精确地找到无人机周围环境中的障碍物的位置信息，减少地杂波对避障功能造成的不利影响。In the above embodiment, ground clutter suppression is performed on the echo information, which can more accurately distinguish ground points and obstacles, so as to accurately find the position information of obstacles in the surrounding environment of the drone within the beam resolution, and reduce The adverse effect of ground clutter on the obstacle avoidance function.
进一步可选地，旋转雷达12采用相位测角技术对回波信息进行地杂波地址的一种实施方式包括：计算阵列天线中不同接收天线接收到的来自同一目标的回波信息之间的相位差；根据不同接收天线接收到的来自同一目标的回波信息之间的相位差，计算目标的波达角信息；根据目标的波达角信息，判 断目标是否在无人机的避障范围内；若目标不在无人机的避障范围内，确定该目标是地面点，来自该目标的回波信息属于地杂波，可将来自该目标的回波信息作为地杂波抑制掉。若目标在无人机的避障范围内，确定该目标属于障碍物。Further optionally, an implementation manner in which the rotating radar 12 uses phase angle measurement technology to address the ground clutter of the echo information includes: calculating the phase between the echo information from the same target received by different receiving antennas in the array antenna Difference; According to the phase difference between the echo information from the same target received by different receiving antennas, calculate the arrival angle information of the target; according to the arrival angle information of the target, judge whether the target is within the obstacle avoidance range of the UAV ; If the target is not within the obstacle avoidance range of the UAV, it is determined that the target is a ground point, and the echo information from the target belongs to ground clutter, and the echo information from the target can be suppressed as ground clutter. If the target is within the obstacle avoidance range of the UAV, it is determined that the target is an obstacle.
在本申请实施例中，并不限定阵列天线包含的接收天线的数量，可以是两根或两根以上。根据接收天线数量的不同，在计算波达角信息的方式上会有所差异，但原理基本相同。为了便于理解相位测角技术，下面结合图4a，并以两根接收天线为例，对计算波达角信息的过程进行说明。In the embodiment of the present application, the number of receiving antennas included in the array antenna is not limited, and it may be two or more than two. Depending on the number of receiving antennas, there will be differences in the way of calculating the arrival angle information, but the principle is basically the same. In order to facilitate the understanding of the phase angle measurement technology, the following describes the process of calculating the arrival angle information with reference to Fig. 4a and taking two receiving antennas as an example.
如图4a所示，由于旋转雷达12采用垂直安装方式，其阵列天线中相邻两根接收天线Rx1和Rx2在垂直方向上相隔距离为d，这意味着同一发射天线Tx发出的电磁波到达同一目标(图4中的黑色圆点)后的回波信息会一前一后的到达这两根接收天线，也可以说，这两根接收天线Rx1和Rx2在同一时刻接收到的回波信息在相位上相差一个角度Φ，基于该相位差Φ可以确定目标的波达角信息α，该技术即为相位测角技术。As shown in Figure 4a, since the rotating radar 12 is installed vertically, the two adjacent receiving antennas Rx1 and Rx2 in the array antenna are separated by a distance d in the vertical direction, which means that the electromagnetic waves emitted by the same transmitting antenna Tx reach the same target (The black circle in Figure 4) the echo information will arrive at the two receiving antennas one after the other. It can also be said that the echo information received by the two receiving antennas Rx1 and Rx2 at the same time is in phase The upper phase is different by an angle Φ, and the target's arrival angle information α can be determined based on the phase difference Φ. This technique is the phase angle measurement technique.
结合图4，利用三角函数关系可得到公式(1)：α＝arcsin(ΔR/d)。其中，α表示目标的波达角，ΔR是接收天线Rx1和Rx2之间的波程差，d是接收天线Rx1和Rx2之间的距离。Combining Figure 4, the formula (1) can be obtained by using the trigonometric function relationship: α=arcsin(ΔR/d). Among them, α represents the arrival angle of the target, ΔR is the wave path difference between the receiving antennas Rx1 and Rx2, and d is the distance between the receiving antennas Rx1 and Rx2.
根据电磁波波长λ、相位差以及波程差之间的关系可以得到公式(2)：Φ/ΔR＝2π/λ。According to the relationship between electromagnetic wave wavelength λ, phase difference and wave path difference, formula (2) can be obtained: Φ/ΔR=2π/λ.
将公式(2)带入公式(1)可以得到公式(3)：α＝arcsin(Φλ/2πd)。Incorporating formula (2) into formula (1), formula (3) can be obtained: α=arcsin(Φλ/2πd).
在公式(3)中，两根接收天线Rx1和Rx2之间的相位差Φ以及距离d为已知量，因此可以计算出目标的波达角α。基于波达角α可以确定目标的位置，进而可以区分目标是否在无人机10的飞行范围内；如果在，确定目标属于障碍物，反之，确定目标是地面点，在确定目标时地面点的情况下将来自地面点的回波信息抑制掉，实现地杂波抑制的目的。In formula (3), the phase difference Φ and the distance d between the two receiving antennas Rx1 and Rx2 are known quantities, so the arrival angle α of the target can be calculated. Based on the wave arrival angle α, the position of the target can be determined, and then it can be distinguished whether the target is within the flying range of the UAV 10; if it is, it is determined that the target is an obstacle, otherwise, it is determined that the target is a ground point. In this case, the echo information from the ground point is suppressed to achieve the purpose of ground clutter suppression.
下面结合图4b和图4c所示的旋转雷达进行地杂波抑制得到的地面点云数据的顶视图和侧视图，对本实施例中地杂波抑制的效果进行说明。在图4b 和图4c中，以东方(E)为无人机的飞行方向，参见图4b，在无人机前后方向上均没有明显地杂波；参见图4c，地面杂波被压制的很低，在垂直方向上没有延拓。由此可知，通过地杂波抑制，可以更加准确地的识别出无人机飞行范围内的障碍物和地面点，可以更加准确地触发避障功能，降低错误触发避障功能的概率。The following describes the effect of ground clutter suppression in this embodiment with the top view and side view of the ground point cloud data obtained by ground clutter suppression by the rotating radar shown in FIG. 4b and FIG. 4c. In Figure 4b and Figure 4c, east (E) is the flying direction of the drone. See Figure 4b. There is no obvious clutter in the front and rear directions of the drone; see Figure 4c, the ground clutter is very suppressed. Low, no continuation in the vertical direction. It can be seen that through ground clutter suppression, obstacles and ground points within the flying range of the drone can be identified more accurately, the obstacle avoidance function can be triggered more accurately, and the probability of falsely triggering the obstacle avoidance function can be reduced.
本申请实施例提供的无人机可以应用于多种场景，例如，可应用在电力行业中，对电缆大范围的巡线、实时重建电缆3D图像等；又例如，可应用在农业方面，对农林植物喷洒农药、环境检测等。在这些作业场景下，无人机大多需要近地飞行，并且要避免爬坡时误撞地面。尤其是在较为崎岖的地形，无人机需要提前进行动作调整，进行爬坡、下坡、减速、刹车等操作，实现近地飞行甚至等高飞行，这样才能使得无人机更好地完成上述作业。因此，需要先预测无人机周围环境中地面的地形信息。The UAV provided by the embodiments of this application can be applied to a variety of scenarios, for example, it can be used in the power industry, patrolling a large range of cables, reconstructing cable 3D images in real time, etc.; for example, it can be applied to agriculture, Agriculture, forestry and plants spraying pesticides, environmental testing, etc. In these operating scenarios, most drones need to fly close to the ground and avoid accidentally hitting the ground while climbing. Especially in rugged terrain, drones need to adjust their actions in advance, such as climbing, descending, decelerating, braking, etc., to achieve close-to-ground flight or even equal-height flight, so that the drone can better accomplish the above operation. Therefore, it is necessary to predict the terrain information of the ground in the surrounding environment of the drone.
基于上述，在本申请一些实施例中，旋转雷达12还可以根据电磁波的回波信息，计算无人机10飞行环境中的地面点信息；根据地面点信息进行地形估计，以得到地面的地形参数；将地面的地形参数传输给飞控***13，以供飞控***13根据地面的地形参数控制无人机10进行地形跟随飞行。其中，地面的地形参数包括但不限于：地面的坡度、无人机距离地面的高度。Based on the above, in some embodiments of the present application, the rotating radar 12 can also calculate ground point information in the flying environment of the drone 10 based on the echo information of the electromagnetic wave; perform terrain estimation based on the ground point information to obtain terrain parameters on the ground ; Transmit the terrain parameters on the ground to the flight control system 13 for the flight control system 13 to control the UAV 10 for terrain following flight according to the terrain parameters on the ground. Among them, the terrain parameters of the ground include but are not limited to: the slope of the ground and the height of the drone from the ground.
可选地，旋转雷达12在根据地面点信息进行地形估计时，具体可将地面点信息映射到大地坐标系；在大地坐标系中，计算地面点信息之间的高程差和水平距离；根据地面点信息之间的高程差与水平距离，计算地面的坡度。Optionally, when the rotating radar 12 performs terrain estimation based on the ground point information, it can specifically map the ground point information to the geodetic coordinate system; in the geodetic coordinate system, calculate the elevation difference and the horizontal distance between the ground point information; The elevation difference and the horizontal distance between the point information, calculate the slope of the ground.
对飞控***13来说，根据地面的地形参数控制无人机10进行地形跟随飞行，包括但不限于：定高飞行、山地AB点飞行等。For the flight control system 13, the UAV 10 is controlled to perform terrain-following flight according to the terrain parameters of the ground, including but not limited to: fixed altitude flight, mountain AB point flight, etc.
以飞控***13控制无人机10进行定高飞行为例，飞控***13可以根据地面的坡度，计算无人机10以指定高度沿着地面平行飞行所需的速度控制量；将速度控制量分解为上升和向前两个控制分量；将上升和向前两个控制分量提供给无人机10的动力***，以控制无人机10进行地形跟随飞行。其中， 随着地面坡度的变化，无人机10以指定高度沿着地面平行飞行所需的速度控制量会有所不同。Taking the flight control system 13 to control the drone 10 for fixed-height flight as an example, the flight control system 13 can calculate the speed control amount required for the drone 10 to fly parallel to the ground at a specified height according to the slope of the ground; control the speed The quantity is decomposed into two control components of ascending and forward; the two control components of ascending and forward are provided to the power system of the UAV 10 to control the UAV 10 to perform terrain-following flight. Among them, as the slope of the ground changes, the amount of speed control required for the UAV 10 to fly parallel to the ground at a specified height will vary.
在本申请实施例中，无人机10包括垂直安装于机体11上的旋转雷达12，基于旋转雷达12在水平和垂直两个方向上都能够在更大范围内探测无人机10周围环境中的目标，相比于现有无人机，本申请实施例提供的无人机10在水平避障和地形跟随飞行等功能上都有很大提升，有利于提升用户体验。例如，无人机10可以在水平方向上可实现更大范围内的避障功能，甚至可以水平全向(360度)避障，提高飞行安全。又例如，由于可以探测到更大范围内的地形信息，无人机10可以更加精准地进行地形跟随飞行，也可以更加精准地实现山地AB点功能，降低撞机概率，提高飞行安全性。In the embodiment of the present application, the drone 10 includes a rotating radar 12 installed vertically on the body 11. Based on the rotating radar 12, it can detect the surrounding environment of the drone 10 in a larger range in both horizontal and vertical directions. Compared with the existing drones, the drone 10 provided by the embodiment of the present application has greatly improved functions such as horizontal obstacle avoidance and terrain following flight, which is beneficial to improve user experience. For example, the UAV 10 can achieve a wider range of obstacle avoidance functions in the horizontal direction, and even can avoid obstacles horizontally and omnidirectionally (360 degrees) to improve flight safety. For another example, since it can detect terrain information in a larger range, the UAV 10 can perform terrain-following flight more accurately, and can also implement the mountain AB point function more accurately, reducing the probability of collision and improving flight safety.
除无人机之外，本申请实施例还提供一种旋转雷达，如图5所示，该旋转雷达50包括：转动装置51、阵列天线52和处理***53。其中，图5中所示旋转雷达50的形状和结构仅为示例性说明，并不对其进行限制。另外，旋转雷达50除了包括标记出几部分之外，还可以包括其他组件，例如雷达罩、电机、支撑件等。In addition to the unmanned aerial vehicle, the embodiment of the present application also provides a rotating radar. As shown in FIG. 5, the rotating radar 50 includes a rotating device 51, an array antenna 52 and a processing system 53. Wherein, the shape and structure of the rotating radar 50 shown in FIG. 5 are only exemplary descriptions, and are not limited thereto. In addition, the rotating radar 50 may include other components, such as a radome, a motor, and a support, in addition to the marked parts.
其中，转动装置51，用于安装在无人机的机体上，该转动装置51包括旋转支架以及带动旋转支架转动的电机。Among them, the rotating device 51 is used to be installed on the body of the unmanned aerial vehicle. The rotating device 51 includes a rotating bracket and a motor that drives the rotating bracket to rotate.
阵列天线52搭载在转动装置51的旋转支架上，转动装置51在无人机的航向方向上带动阵列天线52连续转动。The array antenna 52 is mounted on the rotating support of the rotating device 51, and the rotating device 51 drives the array antenna 52 to continuously rotate in the heading direction of the drone.
可选地，阵列天线52可绕一旋转轴旋转，该旋转轴与平行或基本平行于无人机的航向轴，这样转动装置51可在无人机的航向方向上带动阵列天线52连续转动。Optionally, the array antenna 52 can rotate around a rotation axis that is parallel or substantially parallel to the yaw axis of the drone, so that the rotating device 51 can drive the array antenna 52 to continuously rotate in the yaw direction of the drone.
可选地，转动装置51可在无人机的航向方向上带动阵列天线52进行360度转动，但不限于此。Optionally, the rotating device 51 can drive the array antenna 52 to rotate 360 degrees in the heading direction of the drone, but it is not limited to this.
处理***53，用于控制阵列天线52发射电磁波，并根据阵列天线52接收到的回波信息，确定旋转雷达50探测到的目标的位置信息。The processing system 53 is used to control the array antenna 52 to emit electromagnetic waves, and to determine the position information of the target detected by the rotating radar 50 according to the echo information received by the array antenna 52.
在一可选实施例中，阵列天线52在无人机的俯仰方向上进行电子扫描。In an alternative embodiment, the array antenna 52 performs electronic scanning in the pitch direction of the drone.
可选地，考虑到阵列天线52可能无法做到在俯仰方向上进行360度电子扫描的情况下，在垂直方向上，旋转雷达50可能存在视角盲区。基于此，在一可选实施例中，旋转雷达50底部设有另一阵列天线，另一阵列天线的视场角至少部分覆盖旋转雷达在下方区域的视角盲区。Optionally, considering that the array antenna 52 may not be able to perform 360-degree electronic scanning in the elevation direction, in the vertical direction, the rotating radar 50 may have a blind spot of viewing angle. Based on this, in an alternative embodiment, another array antenna is provided at the bottom of the rotating radar 50, and the field of view of the other array antenna at least partially covers the blind area of the rotating radar in the lower area.
进一步可选地，处理***53具体用于：在电子扫描方向上采用相位测角技术，对回波信息进行地杂波抑制；根据地杂波抑制后的回波信息，确定无人机周围环境中的障碍物的位置信息；将障碍物的位置信息传输给无人机的飞控***，以控制无人机进行避障飞行。Further optionally, the processing system 53 is specifically configured to: adopt phase angle measurement technology in the electronic scanning direction to suppress the ground clutter of the echo information; and determine the surrounding environment of the UAV according to the echo information after the suppression of the ground clutter. The position information of the obstacles; the position information of the obstacles is transmitted to the flight control system of the UAV to control the UAV to avoid obstacles.
进一步可选地，处理***53在电子扫描方向上采用相位测角技术，对回波信息进行地杂波抑制时，具体用于：计算不同接收天线接收到的来自同一目标的回波信息之间的相位差；根据相位差计算目标的波达角信息；根据目标的波达角信息，判断目标是否在无人机的避障范围内；若目标不在无人机的避障范围内，将来自目标的回波信息作为地杂波抑制掉。Further optionally, the processing system 53 adopts the phase angle measurement technology in the electronic scanning direction to suppress the ground clutter of the echo information, which is specifically used to calculate the difference between the echo information from the same target received by different receiving antennas. Calculate the target’s arrival angle information based on the phase difference; determine whether the target is within the UAV’s obstacle avoidance range according to the target’s arrival angle information; if the target is not within the UAV’s obstacle avoidance range, it will come from The target's echo information is suppressed as ground clutter.
在一可选实施例中，处理***53还用于：根据回波信息，计算探测到的地面点信息；根据地面点信息进行地形估计，以得到地面的地形参数；将地面的地形参数传输给无人机的飞控***，以控制无人机进行地形跟随飞行。In an optional embodiment, the processing system 53 is further configured to: calculate the detected ground point information according to the echo information; perform terrain estimation according to the ground point information to obtain the terrain parameters of the ground; and transmit the terrain parameters of the ground to The flight control system of the UAV is used to control the UAV to follow the terrain.
可选地，本实施例的旋转雷达可以是微波雷达、毫米波雷达或激光雷达等。Optionally, the rotating radar in this embodiment may be microwave radar, millimeter wave radar, lidar, or the like.
在本实施例中，旋转雷达的转动装置可在无人机的航向方向上带动阵列天线连续转动。这意味旋转雷达在水平方向上可进行机械旋转扫描，也就是说，旋转雷达可灵活地在水平方向上探测无人机周围环境中存在的目标，有利于提高在水平方向上的探测范围，便于满足无人机对环境感知的需求，进而可满足整机对安全方面的需求。In this embodiment, the rotating device of the rotating radar can drive the array antenna to continuously rotate in the heading direction of the drone. This means that the rotating radar can perform mechanical rotation scanning in the horizontal direction. In other words, the rotating radar can flexibly detect the targets in the surrounding environment of the drone in the horizontal direction, which is beneficial to increase the detection range in the horizontal direction and facilitate Satisfy the UAV's need for environmental perception, which in turn can meet the safety requirements of the whole machine.
进一步，阵列天线可在俯仰方向上进行电子扫描，意味着旋转雷达不仅可以从水平方向上探测无人机周围环境中存在的目标，还可以从垂直方向上探测无人机周围环境中存在的目标，有利于从水平和垂直两个方向上提高探 测范围，便于满足无人机对环境感知的需求，进而可满足整机对安全方面的需求。Furthermore, the array antenna can be electronically scanned in the elevation direction, which means that the rotating radar can not only detect the targets in the surrounding environment of the drone from the horizontal direction, but also detect the targets in the surrounding environment of the drone from the vertical direction. , It is beneficial to increase the detection range in both horizontal and vertical directions, which is convenient to meet the needs of drones for environmental perception, and thus can meet the needs of the whole machine for safety.
本申请实施例提供一种地杂波抑制方法，该方法适用于旋转雷达，该旋转雷达垂直安装在无人机上，该旋转雷达的阵列天线在无人机的俯仰方向上进行电子扫描，且阵列天线能够绕一旋转轴转动，该旋转轴平行或基本平行于无人机的航向轴。关于旋转雷达的其它描述，可参见前述无人机或旋转雷达实施例，在此不再赘述。The embodiment of the application provides a ground clutter suppression method, which is suitable for a rotating radar, the rotating radar is installed vertically on the UAV, the array antenna of the rotating radar is electronically scanned in the pitch direction of the UAV, and the array The antenna can rotate around a rotation axis that is parallel or substantially parallel to the yaw axis of the UAV. For other descriptions of the rotating radar, please refer to the aforementioned embodiments of the unmanned aerial vehicle or rotating radar, which will not be repeated here.
如图6a所示，该地杂波抑制方法包括以下步骤：As shown in Figure 6a, the ground clutter suppression method includes the following steps:
61a、在电子扫描方向上采用相位测角技术，对电磁波的回波信息进行地杂波抑制。61a. The phase angle measurement technology is used in the electronic scanning direction to suppress the ground clutter of the electromagnetic wave echo information.
62a、根据地杂波抑制后的回波信息，确定无人机周围环境中的障碍物的位置信息。62a. Determine the location information of obstacles in the surrounding environment of the drone based on the echo information after ground clutter suppression.
63a、将障碍物的位置信息传输给无人机的飞控***，以控制无人机进行避障飞行。63a. Transmit the location information of the obstacle to the flight control system of the UAV to control the UAV to avoid obstacles.
可选地，步骤61a的一种实施方式包括：计算上阵列天线上不同接收天线接收到的来自同一目标的回波信息之间的相位差；根据的相位差计算目标的波达角信息；根据目标的波达角信息，判断目标是否在无人机的避障范围内；若目标不在无人机的避障范围内，将来自目标的回波信息作为地杂波抑制掉。Optionally, an implementation manner of step 61a includes: calculating the phase difference between the echo information from the same target received by different receiving antennas on the upper array antenna; calculating the arrival angle information of the target according to the phase difference; The wave arrival angle information of the target determines whether the target is within the obstacle avoidance range of the UAV; if the target is not within the obstacle avoidance range of the UAV, the echo information from the target is suppressed as ground clutter.
关于本实施例中各步骤的详细描述可参见无人机实施例中的相应描述，在此不再赘述。For a detailed description of each step in this embodiment, please refer to the corresponding description in the embodiment of the drone, which will not be repeated here.
在本实施例中，旋转雷达在水平方向上进行机械旋转扫描，在水平方向上可在较大范围内进行探测；进一步，采用相位测角技术，对回波信息进行地杂波抑制，可以更加准确地识别出更大飞行范围内的障碍物，可以更加准确地触发避障功能，降低错误触发避障功能的概率。In this embodiment, the rotating radar performs mechanical rotation scanning in the horizontal direction, and can detect in a larger range in the horizontal direction; further, the phase angle measurement technology is adopted to suppress the ground clutter of the echo information, which can be more Accurately identifying obstacles within a larger flight range can trigger the obstacle avoidance function more accurately and reduce the probability of falsely triggering the obstacle avoidance function.
相应地，本申请实施例提供一种存储有计算机程序的计算机可读存储介 质，当计算机程序被处理器执行时，致使处理器执行以下操作：Correspondingly, the embodiments of the present application provide a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor causes the processor to perform the following operations:
在电子扫描方向上采用相位测角技术，对电磁波的回波信息进行地杂波抑制；根据地杂波抑制后的回波信息，确定无人机周围环境中的障碍物的位置信息；将障碍物的位置信息传输给无人机的飞控***，以控制无人机进行避障飞行。Phase angle measurement technology is used in the electronic scanning direction to suppress the ground clutter of the electromagnetic wave echo information; according to the echo information after the ground clutter suppression, the position information of the obstacles in the surrounding environment of the UAV is determined; the obstacles The position information is transmitted to the flight control system of the UAV to control the UAV to avoid obstacles.
除上述操作之外，处理器还可以执行图6a所示实施例中的其它操作，关于其它操作可参见图6a所示实施例中的描述，在此不再赘述。In addition to the foregoing operations, the processor may also perform other operations in the embodiment shown in FIG. 6a. For other operations, refer to the description in the embodiment shown in FIG. 6a, which will not be repeated here.
本申请实施例提供一种地形估计方法，该方法适用于旋转雷达，该旋转雷达垂直安装在无人机上，该旋转雷达的阵列天线能够绕一旋转轴转动，该旋转轴平行或基本平行于无人机的航向轴。关于旋转雷达的其它描述，可参见前述无人机或旋转雷达实施例，在此不再赘述。The embodiment of the present application provides a terrain estimation method, which is suitable for a rotating radar, which is installed vertically on an unmanned aerial vehicle, and the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially parallel to the unmanned aerial vehicle. The heading axis of the man-machine. For other descriptions of the rotating radar, please refer to the aforementioned embodiments of the unmanned aerial vehicle or rotating radar, which will not be repeated here.
如图6b所示，该地形估计方法包括以下步骤：As shown in Figure 6b, the terrain estimation method includes the following steps:
61b、根据旋转雷达接收到的回波信息，计算探测到的地面点信息。61b. Calculate the detected ground point information according to the echo information received by the rotating radar.
62b、根据地面点信息进行地形估计，以得到地面的地形参数。62b. Perform terrain estimation based on ground point information to obtain terrain parameters on the ground.
63b、将地面的地形参数传输给无人机的飞控***，以控制无人机进行地形跟随飞行。63b. Transmit the terrain parameters of the ground to the flight control system of the UAV to control the UAV to perform terrain following flight.
关于本实施例中各步骤的详细描述，可参见前述实施例，在此不再赘述。For a detailed description of each step in this embodiment, please refer to the foregoing embodiment, which will not be repeated here.
在本实施例中，旋转雷达垂直安装于无人机的机体，这样旋转雷达在水平和垂直两个方向上都能够在更大范围内探测无人机周围环境中的地形信息，使得无人机可以更加精准地进行地形跟随飞行，也可以更加精准地实现山地AB点功能，降低撞机概率，提高飞行安全性。In this embodiment, the rotating radar is installed vertically on the body of the UAV, so that the rotating radar can detect the terrain information in the surrounding environment of the UAV in a larger range in both the horizontal and vertical directions, so that the UAV can It can perform terrain-following flight more accurately, and it can also achieve the function of point AB in mountain areas more accurately, reducing the probability of collision and improving flight safety.
相应地，本申请实施例提供一种存储有计算机程序的计算机可读存储介质，当计算机程序被处理器执行时，致使处理器执行以下操作：Correspondingly, an embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor is caused to perform the following operations:
根据旋转雷达接收到的回波信息，计算探测到的地面点信息；根据地面点信息进行地形估计，以得到地面的地形参数；将地面的地形参数传输给无人机的飞控***，以控制无人机进行地形跟随飞行。Calculate the detected ground point information according to the echo information received by the rotating radar; perform terrain estimation based on the ground point information to obtain the terrain parameters of the ground; transmit the terrain parameters of the ground to the flight control system of the UAV to control The drone performs terrain-following flight.
除上述操作之外，处理器还可以执行图6b所示实施例中的其它操作，关于其它操作可参见图6b示实施例中的描述，在此不再赘述。In addition to the foregoing operations, the processor may also perform other operations in the embodiment shown in FIG. 6b. For other operations, refer to the description in the embodiment shown in FIG. 6b, which will not be repeated here.
需要说明的是，本申请实施例提供的垂直安装旋转雷达的方案，不仅仅适用于无人机，可适用于无人驾驶车辆等任何自主移动设备。基于此，本申请实施例还提供一种自主移动设备，该自主移动设备包括：设备本体，旋转雷达和控制***。It should be noted that the scheme of vertically installing a rotating radar provided in the embodiments of the present application is not only applicable to unmanned aerial vehicles, but also applicable to any autonomous mobile devices such as unmanned vehicles. Based on this, an embodiment of the present application also provides an autonomous mobile device, which includes: a device body, a rotating radar, and a control system.
其中，旋转雷达垂直安装于设备本体上；旋转雷达的阵列天线能够绕一旋转轴转动，旋转轴平行或基本平行于自主移动设备的航向轴。控制***，与旋转雷达通信连接；其中，旋转雷达将其探测到的目标的位置信息发送给控制***；控制***根据旋转雷达探测到的目标的位置信息，控制自主移动设备行进。Among them, the rotating radar is installed vertically on the device body; the array antenna of the rotating radar can rotate around a rotation axis that is parallel or substantially parallel to the heading axis of the autonomous mobile device. The control system is communicatively connected with the rotating radar; among them, the rotating radar sends the position information of the detected target to the control system; the control system controls the autonomous mobile device to travel according to the position information of the target detected by the rotating radar.
在本实施例中，自主移动设备的航向轴与无人机的航向轴的定义相同或相似，可参见上文中对无人机的航向轴的定义，在此不再赘述。In this embodiment, the definition of the yaw axis of the autonomous mobile device is the same as or similar to that of the yaw axis of the UAV, please refer to the definition of the yaw axis of the UAV above, which will not be repeated here.
在一可选实施例中，旋转雷达的阵列天线能够绕旋转轴进行360度转动。In an optional embodiment, the array antenna of the rotating radar can rotate 360 degrees around the axis of rotation.
在一可选实施例中，旋转雷达可以是微波雷达、毫米波雷达或激光雷达。In an optional embodiment, the rotating radar may be microwave radar, millimeter wave radar or lidar.
在一可选实施例中，旋转雷达的阵列天线在俯仰方向上进行电子扫描。In an alternative embodiment, the array antenna of the rotating radar performs electronic scanning in the elevation direction.
在一可选实施例中，旋转雷达可以在电子扫描方向(即垂直或俯仰方向)上采用相位测角技术，对电磁波的回波信息进行地杂波抑制，根据地杂波抑制后的回波信息，确定自主移动设备周围环境中的障碍物的位置信息；将确定出的障碍物的位置信息提供给自主移动设备的控制***，以供控制***根据障碍物的位置信息控制自主移动设备进行避障。In an optional embodiment, the rotating radar can use phase angle measurement technology in the electronic scanning direction (ie vertical or pitch direction) to suppress the ground clutter of the electromagnetic wave echo information, based on the echo information after the ground clutter suppression. , Determine the location information of obstacles in the surrounding environment of the autonomous mobile device; provide the determined location information of the obstacle to the control system of the autonomous mobile device for the control system to control the autonomous mobile device to avoid obstacles based on the location information of the obstacle .
其中，与旋转雷达相关的描述，可参见前述实施例，在此不再赘述。Among them, the description related to the rotating radar can refer to the foregoing embodiment, which will not be repeated here.
在一可选实施例中，自主移动设备为无人驾驶车辆，且旋转雷达安装于无人驾驶车辆的车体的顶部或前方。可选地，无人驾驶车辆可以是自动送货车、无人驾驶的小轿车、无人驾驶拖拉机等等。In an optional embodiment, the autonomous mobile device is an unmanned vehicle, and the rotating radar is installed on the top or front of the body of the unmanned vehicle. Alternatively, the unmanned vehicle may be an autonomous delivery vehicle, an unmanned car, an unmanned tractor, and so on.
在本实施例中，自主移动设备上垂直安装有旋转雷达，基于旋转雷达在 水平和垂直两个方向上都能够在更大范围内探测自主移动设备周围环境中的目标，本实施例提供的自主移动设备在水平避障等功能上会有很大提升，有利于提升用户体验。In this embodiment, a rotating radar is installed vertically on the autonomous mobile device. Based on the fact that the rotating radar can detect targets in the surrounding environment of the autonomous mobile device in a larger range in both horizontal and vertical directions, the autonomous mobile device provided by this embodiment Mobile devices will greatly improve the level of obstacle avoidance and other functions, which is conducive to improving the user experience.
本领域内的技术人员应明白，本发明的实施例可提供为方法、***、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
本发明是参照根据本发明实施例的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。In a typical configuration, the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or equipment including a series of elements not only includes those elements, but also includes Other elements that are not explicitly listed, or they also include elements inherent to such processes, methods, commodities, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, commodity, or equipment that includes the element.
本领域技术人员应明白，本申请的实施例可提供为方法、***或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, this application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。The foregoing descriptions are only examples of the present application, and are not used to limit the present application. For those skilled in the art, this application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the scope of the claims of this application.

Claims (34)

  1. 一种无人机，其特征在于，包括：An unmanned aerial vehicle, characterized in that it includes:
    机体；Body
    旋转雷达，垂直安装在所述机体上；所述旋转雷达的阵列天线能够绕一旋转轴转动，且所述旋转轴平行或基本平行于所述无人机的航向轴；A rotating radar is installed vertically on the body; the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially parallel to the heading axis of the drone;
    飞控***，与所述旋转雷达通信连接；其中，所述旋转雷达将其探测的目标的位置信息发送给所述飞控***，所述飞控***根据所述旋转雷达探测到的目标的位置信息，控制所述无人机飞行。The flight control system is communicatively connected with the rotating radar; wherein the rotating radar sends the position information of the target detected by the rotating radar to the flight control system, and the flight control system is based on the position of the target detected by the rotating radar Information to control the flight of the drone.
  2. 根据权利要求1所述的无人机，其特征在于，所述旋转雷达的阵列天线在俯仰方向上进行电子扫描。The unmanned aerial vehicle according to claim 1, wherein the array antenna of the rotating radar performs electronic scanning in the elevation direction.
  3. 根据权利要求1所述的无人机，其特征在于，所述旋转雷达的阵列天线能够绕所述旋转轴进行360度转动。The unmanned aerial vehicle according to claim 1, wherein the array antenna of the rotating radar can rotate 360 degrees around the rotation axis.
  4. 根据权利要求1所述的无人机，其特征在于，所述旋转雷达垂直安装在所述机体下方。The unmanned aerial vehicle according to claim 1, wherein the rotating radar is vertically installed under the body.
  5. 根据权利要求4所述的无人机，其特征在于，还包括：The drone of claim 4, further comprising:
    下视雷达，安装于所述旋转雷达下方，其视场角至少部分覆盖所述旋转雷达在下方区域的视角盲区。The down-looking radar is installed under the rotating radar, and its field of view angle at least partially covers the blind spot of the rotating radar in the lower area.
  6. 根据权利要求5所述的无人机，其特征在于，所述下视雷达为设置于所述旋转雷达底部的阵列天线。The unmanned aerial vehicle according to claim 5, wherein the downward-looking radar is an array antenna arranged at the bottom of the rotating radar.
  7. 根据权利要求3所述的无人机，其特征在于，还包括：The drone of claim 3, further comprising:
    上视雷达，安装在所述机体上方，其视场角至少部分覆盖所述旋转雷达在上方区域的视角盲区。The top-looking radar is installed above the body, and its field of view angle at least partially covers the blind spot of the rotating radar in the upper area.
  8. 根据权利要求1所述的无人机，其特征在于，所述旋转雷达为微波雷达。The UAV according to claim 1, wherein the rotating radar is a microwave radar.
  9. 根据权利要求2所述的无人机，其特征在于，所述旋转雷达还用于：The UAV according to claim 2, wherein the rotating radar is also used for:
    在所述电子扫描方向上采用相位测角技术，对电磁波的回波信息进行地 杂波抑制；根据地杂波抑制后的回波信息，确定所述无人机周围环境中的障碍物的位置信息；将所述障碍物的位置信息传输给所述飞控***；The phase angle measurement technology is adopted in the electronic scanning direction to suppress the ground clutter of the electromagnetic wave echo information; determine the position information of the obstacles in the surrounding environment of the drone according to the echo information after the ground clutter suppression ; Transmit the location information of the obstacle to the flight control system;
    所述飞控***具体根据所述障碍物的位置信息，控制所述无人机进行避障飞行。The flight control system specifically controls the UAV to perform obstacle avoidance flight according to the location information of the obstacle.
  10. 根据权利要求9所述的无人机，其特征在于，所述旋转雷达在进行地杂波抑制时，具体用于：The unmanned aerial vehicle according to claim 9, characterized in that, when the rotating radar performs ground clutter suppression, it is specifically used for:
    计算不同接收天线接收到的来自同一目标的回波信息之间的相位差；根据所述相位差计算所述目标的波达角信息；根据所述目标的波达角信息，判断所述目标是否在所述无人机的避障范围内；若所述目标不在所述无人机的避障范围内，将来自所述目标的回波信息作为地杂波抑制掉。Calculate the phase difference between the echo information from the same target received by different receiving antennas; calculate the arrival angle information of the target according to the phase difference; determine whether the target is the target according to the arrival angle information of the target Within the obstacle avoidance range of the UAV; if the target is not within the obstacle avoidance range of the UAV, the echo information from the target is suppressed as ground clutter.
  11. 根据权利要求1-10任一项所述的无人机，其特征在于，所述旋转雷达还用于：根据电磁波的回波信息，计算地面点信息；根据所述地面点信息进行地形估计，以得到地面的地形参数；将所述地面的地形参数传输给所述飞控***；The unmanned aerial vehicle according to any one of claims 1-10, wherein the rotating radar is further used to: calculate ground point information according to the echo information of electromagnetic waves; perform terrain estimation according to the ground point information, To obtain terrain parameters of the ground; transmit the terrain parameters of the ground to the flight control system;
    所述飞控***具体根据所述地面的地形参数，控制所述无人机进行地形跟随飞行。The flight control system specifically controls the UAV to perform terrain following flight according to the terrain parameters of the ground.
  12. 根据权利要求10所述的无人机，其特征在于，所述地面的地形参数至少包括：地面的坡度；The UAV according to claim 10, wherein the terrain parameters of the ground at least include: the slope of the ground;
    所述飞控***具体用于：根据所述地面的坡度，计算所述无人机以指定高度沿着所述地面平行飞行所需的速度控制量；将所述速度控制量分解为上升和向前两个控制分量；将上升和向前两个控制分量提供给所述无人机的动力***，以控制所述无人机进行地形跟随飞行。The flight control system is specifically configured to: calculate the speed control amount required for the UAV to fly parallel along the ground at a specified height according to the slope of the ground; and decompose the speed control amount into ascent and direction The first two control components; the ascent and the forward two control components are provided to the power system of the UAV to control the UAV to perform terrain following flight.
  13. 一种自主移动设备，其特征在于，包括：An autonomous mobile device, characterized in that it comprises:
    设备本体；Equipment body;
    旋转雷达，垂直安装于所述设备本体上；所述旋转雷达的阵列天线能够绕一旋转轴转动，所述旋转轴平行或基本平行于所述自主移动设备的航向轴；The rotating radar is installed vertically on the device body; the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially parallel to the heading axis of the autonomous mobile device;
    控制***，与所述旋转雷达通信连接；其中，所述旋转雷达将其探测到 的目标的位置信息发送给控制***；所述控制***根据所述旋转雷达探测到的目标的位置信息，控制所述自主移动设备行进。The control system is communicatively connected to the rotating radar; wherein the rotating radar sends the position information of the detected target to the control system; the control system controls the control system according to the position information of the target detected by the rotating radar Describes the movement of autonomous mobile devices.
  14. 根据权利要求13所述的自主移动设备，其特征在于，所述旋转雷达的阵列天线在俯仰方向上进行电子扫描。The autonomous mobile device according to claim 13, wherein the array antenna of the rotating radar performs electronic scanning in the elevation direction.
  15. 根据权利要求13或14所述的自主移动设备，其特征在于，所述自主移动设备为无人驾驶车辆，且所述旋转雷达安装于所述无人驾驶车辆的车体的顶部或前方。The autonomous mobile device according to claim 13 or 14, wherein the autonomous mobile device is an unmanned vehicle, and the rotating radar is installed on the top or front of the body of the unmanned vehicle.
  16. 一种旋转雷达，其特征在于，包括：转动装置、阵列天线和处理***；A rotating radar, characterized by comprising: a rotating device, an array antenna and a processing system;
    所述转动装置，用于安装在无人机的机体上，所述转动装置包括旋转支架以及带动所述旋转支架转动的电机；The rotating device is configured to be installed on the body of the unmanned aerial vehicle, and the rotating device includes a rotating bracket and a motor that drives the rotating bracket to rotate;
    所述阵列天线搭载在所述转动装置的所述旋转支架上，所述转动装置在无人机的航向方向上带动所述阵列天线连续转动；The array antenna is mounted on the rotating bracket of the rotating device, and the rotating device drives the array antenna to continuously rotate in the heading direction of the drone;
    所述处理***，用于控制所述阵列天线发射电磁波，并根据所述阵列天线接收到的回波信息，确定所述旋转雷达探测到的目标的位置信息。The processing system is configured to control the array antenna to emit electromagnetic waves, and determine the position information of the target detected by the rotating radar according to the echo information received by the array antenna.
  17. 根据权利要求16所述的旋转雷达，其特征在于，所述阵列天线在所述无人机的俯仰方向上进行电子扫描。The rotating radar according to claim 16, wherein the array antenna performs electronic scanning in the pitch direction of the UAV.
  18. 根据权利要求17所述的旋转雷达，其特征在于，所述处理***具体用于：在所述电子扫描方向上采用相位测角技术，对所述回波信息进行地杂波抑制；根据地杂波抑制后的回波信息，确定所述无人机周围环境中的障碍物的位置信息；将所述障碍物的位置信息传输给所述无人机的飞控***，以控制无人机进行避障飞行。The rotating radar according to claim 17, wherein the processing system is specifically configured to: adopt phase angle measurement technology in the electronic scanning direction to suppress the ground clutter of the echo information; The suppressed echo information is used to determine the position information of obstacles in the surrounding environment of the UAV; the position information of the obstacles is transmitted to the flight control system of the UAV to control the UAV to avoid Obstacle flight.
  19. 根据权利要求18所述的旋转雷达，其特征在于，所述处理***具体用于：计算不同接收天线接收到的来自同一目标的回波信息之间的相位差；根据所述相位差计算所述目标的波达角信息；根据所述目标的波达角信息，判断所述目标是否在所述无人机的避障范围内；若所述目标不在所述无人机的避障范围内，将来自所述目标的回波信息作为地杂波抑制掉。The rotating radar according to claim 18, wherein the processing system is specifically configured to: calculate the phase difference between the echo information from the same target received by different receiving antennas; and calculate the phase difference according to the phase difference. Information about the arrival angle of the target; determine whether the target is within the obstacle avoidance range of the UAV according to the information about the arrival angle of the target; if the target is not within the obstacle avoidance range of the UAV, The echo information from the target is suppressed as ground clutter.
  20. 根据权利要求16-19任一项所述的旋转雷达，其特征在于，所述处理***具体用于：根据所述回波信息，计算地面点信息；根据所述地面点信息进行地形估计，以得到地面的地形参数；将所述地面的地形参数传输给所述无人机的飞控***，以控制所述无人机进行地形跟随飞行。The rotating radar according to any one of claims 16-19, wherein the processing system is specifically configured to: calculate ground point information according to the echo information; perform terrain estimation according to the ground point information to Obtain the terrain parameters of the ground; transmit the terrain parameters of the ground to the flight control system of the UAV to control the UAV to perform terrain following flight.
  21. 根据权利要求16-19任一项所述的旋转雷达，其特征在于，所述转动装置在无人机的航向方向上带动所述阵列天线进行360度转动。The rotating radar according to any one of claims 16-19, wherein the rotating device drives the array antenna to rotate 360 degrees in the heading direction of the drone.
  22. 根据权利要求16-19任一项所述的旋转雷达，其特征在于，所述旋转雷达底部设有另一阵列天线，所述另一阵列天线的视场角至少部分覆盖所述旋转雷达在下方区域的视角盲区。The rotating radar according to any one of claims 16-19, wherein another array antenna is provided at the bottom of the rotating radar, and the field of view of the another array antenna at least partially covers the rotating radar below The viewing angle blind zone of the area.
  23. 根据权利要求16-19任一项所述的旋转雷达，其特征在于，所述旋转雷达为微波雷达。The rotating radar according to any one of claims 16-19, wherein the rotating radar is a microwave radar.
  24. 一种地杂波抑制方法，适用于旋转雷达，其特征在于，所述旋转雷达垂直安装在无人机上，所述旋转雷达的阵列天线在所述无人机的俯仰方向上进行电子扫描，且所述阵列天线能够绕一旋转轴转动，所述旋转轴平行或基本平行于所述无人机的航向轴；所述方法包括：A ground clutter suppression method, suitable for rotating radar, characterized in that the rotating radar is vertically installed on an unmanned aerial vehicle, the array antenna of the rotating radar is electronically scanned in the pitch direction of the unmanned aerial vehicle, and The array antenna is capable of rotating around a rotation axis, the rotation axis being parallel or substantially parallel to the heading axis of the drone; the method includes:
    在所述电子扫描方向上采用相位测角技术，对电磁波的回波信息进行地杂波抑制；Adopting phase angle measurement technology in the electronic scanning direction to suppress the ground clutter of the echo information of the electromagnetic wave;
    根据地杂波抑制后的回波信息，确定所述无人机周围环境中的障碍物的位置信息；Determine the location information of obstacles in the surrounding environment of the drone according to the echo information after ground clutter suppression;
    将所述障碍物的位置信息传输给所述无人机的飞控***，以控制所述无人机进行避障飞行。The position information of the obstacle is transmitted to the flight control system of the UAV to control the UAV to perform obstacle avoidance flight.
  25. 根据权利要求24所述的方法，其特征在于，在所述电子扫描方向上采用相位测角技术，对电磁波的回波信息进行地杂波抑制，包括：The method according to claim 24, wherein the phase angle measurement technology is used in the electronic scanning direction to suppress the ground clutter of the electromagnetic wave echo information, comprising:
    计算上不同接收天线接收到的来自同一目标的回波信息之间的相位差；Calculate the phase difference between the echo information from the same target received by different receiving antennas;
    根据所述的相位差计算所述目标的波达角信息；Calculating the arrival angle information of the target according to the phase difference;
    根据所述目标的波达角信息，判断所述目标是否在所述无人机的避障范围内；Judging whether the target is within the obstacle avoidance range of the UAV according to the arrival angle information of the target;
    若所述目标不在所述无人机的避障范围内，将来自所述目标的回波信息作为地杂波抑制掉。If the target is not within the obstacle avoidance range of the UAV, the echo information from the target is suppressed as ground clutter.
  26. 根据权利要求24或25所述的方法，其特征在于，所述旋转雷达的阵列天线能够绕所述旋转轴进行360度转动。The method according to claim 24 or 25, wherein the array antenna of the rotating radar can rotate 360 degrees around the rotation axis.
  27. 根据权利要求24或25所述的方法，其特征在于，所述旋转雷达垂直安装在所述机体下方。The method according to claim 24 or 25, wherein the rotating radar is vertically installed under the body.
  28. 根据权利要求24或25所述的方法，其特征在于，所述旋转雷达为微波雷达。The method according to claim 24 or 25, wherein the rotating radar is a microwave radar.
  29. 一种地形估计方法，适用于旋转雷达，其特征在于，所述旋转雷达垂直安装在无人机上，所述旋转雷达的阵列天线能够绕一旋转轴转动，且所述旋转轴平行或基本平行于所述无人机的航向轴；所述方法包括：A terrain estimation method, suitable for rotating radar, characterized in that the rotating radar is vertically installed on the unmanned aerial vehicle, the array antenna of the rotating radar can rotate around a rotation axis, and the rotation axis is parallel or substantially parallel to The yaw axis of the drone; the method includes:
    根据所述旋转雷达接收到的回波信息，计算地面点信息；Calculating ground point information according to the echo information received by the rotating radar;
    根据所述地面点信息进行地形估计，以得到地面的地形参数；Perform terrain estimation according to the ground point information to obtain terrain parameters of the ground;
    将所述地面的地形参数传输给所述无人机的飞控***，以控制所述无人机进行地形跟随飞行。The terrain parameters of the ground are transmitted to the flight control system of the UAV to control the UAV to perform terrain following flight.
  30. 根据权利要求29所述的方法，其特征在于，所述旋转雷达的阵列天线在俯仰方向上进行电子扫描。The method according to claim 29, wherein the array antenna of the rotating radar performs electronic scanning in the elevation direction.
  31. 根据权利要求29或30所述的方法，其特征在于，所述旋转雷达的阵列天线能够绕所述旋转轴进行360度转动。The method according to claim 29 or 30, wherein the array antenna of the rotating radar can rotate 360 degrees around the rotation axis.
  32. 根据权利要求29或30所述的方法，其特征在于，所述旋转雷达垂直安装在所述机体下方。The method according to claim 29 or 30, wherein the rotating radar is vertically installed under the body.
  33. 根据权利要求29或30所述的方法，其特征在于，所述旋转雷达为微波雷达。The method according to claim 29 or 30, wherein the rotating radar is a microwave radar.
  34. 一种存储有计算机程序的计算机可读存储介质，其特征在于，当所述计算机程序被处理器执行时，致使所述处理器执行权利要求24-33任一项所述方法中的步骤。A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to execute the steps in the method of any one of claims 24-33.
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