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Method for detecting terrain obstacles with unmanned vehicle-borne radar based on echo characteristics

A technology of vehicle-mounted radar and detection method, which is applied in radio wave measurement system, radio wave reflection/reradiation, measurement device, etc. Advanced problems to achieve the effect of enhancing the ability to work around the clock, overcoming smoke, dust, rain and fog, and saving the servo system

Inactive Publication Date: 2014-01-01
CNGC INST NO 206 OF CHINA ARMS IND GRP
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Problems solved by technology

But they have a huge defect that they cannot work in clouds, rain and smog, and millimeter-wave radar can well meet the requirements of all-weather work, but the disadvantage is that its resolution cannot reach the level of lidar
[0003] At present, there is little research on the method of detecting terrain obstacles using millimeter-wave radar alone, which is mainly due to two aspects: First, the echo characteristics of terr...

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  • Method for detecting terrain obstacles with unmanned vehicle-borne radar based on echo characteristics
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  • Method for detecting terrain obstacles with unmanned vehicle-borne radar based on echo characteristics

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Embodiment Construction

[0025] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0026] (1) The relative motion model of vehicle radar and obstacles. figure 1 It shows the feasibility of extracting Doppler features of obstacles. where v 1 is the horizontal speed of the radar relative to the obstacle, which is determined by the speed of the vehicle platform, is the azimuth angle of the obstacle, θ is the pitch angle of the obstacle, H is the height of the radar installation, and h is the height of the obstacle. The azimuth angle information can be obtained by the azimuth super-resolution method of the linear array. For obstacles at different heights, the elevation angles are different, which will produce different Doppler frequency shifts, which means that obstacles can be obtained from the Doppler frequency shift. The pitch information of the object.

[0027] (2) Analysis of echo characteristics of terrain obstacles and construction of h...

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Abstract

The invention provides a method for detecting terrain obstacles with an unmanned vehicle-borne radar based on echo characteristics. Through the echo Doppler frequency shift characteristics and the high-resolution range profile characteristics of the terrain obstacles, detection and recognition on slopes and ditches are achieved. The method is suitable for being applied to the small unmanned vehicle-borne millimeter-wave radar. Compared with the prior art, the unmanned vehicle-borne anti-collision radar designed through the method has the advantages that radar miniaturization is achieved conveniently, detection on the directions and pitching information of the obstacles can be achieved through a one-dimensional linear array, and a complex servo system is eliminated. The millimeter-wave radar is used for detecting the terrain obstacles, the influence of smoke, dust, rain, fog and other bad weather can be overcome, and the all-day working capacity of the radar is enhanced.

Description

technical field [0001] The invention belongs to the field of radar target detection and target recognition, and in particular relates to a detection method for unmanned vehicle radar terrain obstacles based on echo characteristics. Background technique [0002] Due to the huge potential applications of unmanned ground vehicles (ALVs) in both military and civilian applications, this field has been a research hotspot in recent years. Stable and reliable detection of terrain obstacles (mainly referring to raised steep slopes and sunken ditches) is a prerequisite for unmanned vehicles to realize their various functions. The current method is mainly based on stereo vision, laser radar or the information fusion of the two. The wide use of laser radar and infrared equipment is due to its high resolution, high accuracy of distance measurement and angle measurement, small and light equipment, etc. . But they have a huge defect that they cannot work in clouds, rain and smog, and mil...

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Application Information

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IPC IPC(8): G01S13/94G01S7/41G01S13/935
CPCG01S7/411G01S7/412G01S13/04G01S13/882G01S13/935
Inventor 景雄杜自成王伟李飞
Owner CNGC INST NO 206 OF CHINA ARMS IND GRP
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