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Rotor unmanned plane short distance collision avoidance system signal processing system and method based on combination waveforms

A technology with unmanned rotors and combined waveforms, which is used in radio wave measurement systems, radio wave reflection/re-radiation, utilization of re-radiation, etc. question

Inactive Publication Date: 2018-03-09
DALIAN ROILAND SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There are two main reasons why UAVs repeatedly collide with high-voltage lines: 1. The size of high-voltage lines is relatively small, which is difficult to identify with the naked eye at high altitude; 2. Existing UAVs rarely have anti-collision functions

Method used

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  • Rotor unmanned plane short distance collision avoidance system signal processing system and method based on combination waveforms
  • Rotor unmanned plane short distance collision avoidance system signal processing system and method based on combination waveforms
  • Rotor unmanned plane short distance collision avoidance system signal processing system and method based on combination waveforms

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0065] Embodiment 1: A short-range anti-collision system based on a combined waveform of a rotary-wing UAV, including an ARM processing system, a signal generator, a voltage-controlled oscillator, a transmitter, a receiver, a mixer, a signal conditioning circuit, an A / D converter, one end of the ARM chip is connected to the signal generator, the signal generator is connected to the voltage-controlled oscillator, the voltage-controlled oscillator is respectively connected to the transmitter and the first end of the mixer, and the second end of the mixer is connected The receiver, the third end of the mixer is connected to the signal conditioning circuit, the signal conditioning circuit is connected to the A / D converter, and the A / D converter is connected to the other end of the ARM chip.

[0066] The working principle of the UAV anti-collision millimeter-wave radar system is to use the frequency difference between the transmitted signal and the echo signal to determine the dist...

Embodiment 2

[0068] Embodiment 2: As a supplementary technical solution to Embodiment 1, the transmitter is a transmit antenna, and the receiver is a three-row receive antenna. The three rows of receiving antennas form two receiving antennas through the back feeding network, which are arrayed in the form of microstrip rectangular patches. The transmitting antenna and the receiving antenna are connected with the microwave circuit on the back through the via hole. The ARM processing system includes an ARM processing module, a power supply module, a serial port module and a CAN module. The AMR processing module sends the four-way I / Q intermediate frequency signal output by the signal conditioning circuit into the four-way I / Q intermediate frequency signal output by the ARM chip through the signal conditioning circuit. AD acquisition channel, output through serial port module or CAN module.

[0069] In this embodiment, the transmitter and receiver are mainly: 1. to form the transmitting and r...

Embodiment 3

[0073] Embodiment 3: For each of the short-range collision avoidance systems for rotorcraft based on combined waveforms in Embodiments 1 and 2, this embodiment provides a corresponding signal processing method. In this method, the radar center frequency f is 24.125 GHz, The combined waveform is a combined waveform of a sawtooth wave and a constant frequency wave. The transmission waveform is a combined waveform of a sawtooth wave and a constant frequency wave. The first segment of the waveform is a sawtooth wave, the period is 10ms, and the operating frequency varies from 24.025GHz. Change to 24.225GHz with a bandwidth of 200MHz. The second section selects constant frequency wave with a period of 10ms and a working frequency of 24.125GHz. The emission waveform is as figure 1 shown.

[0074] The processing method includes the following steps:

[0075] S1. For each segment of the waveform, remove the IQ data collected by the A / D, remove the front part of the data points and t...

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Abstract

The invention relates to a rotor unmanned plane short distance collision avoidance system signal processing system and method based on combination waveforms, belongs to the radar signal processing field and solves a technical problem of unmanned plane collision avoidance. The method comprises steps that S1, for each waveform band, front data points of IQ data acquired through an A / D are removed, DC removal after data point removal is carried out, time frequency FFT transformation is carried out, and time domain data is converted into frequency data; S2, CFAR threshold detection of a complex modulus value of each waveform band after FFT transformation is carried out, for the data after CFAR threshold detection, each data is made to be a distance unit, binary accumulation of the data of eachdistance unit is carried out, a first peak point surpassing the threshold is outputted, and the phase is acquired through calculation; and S3, one or more types of a difference frequency value of a sawtooth band, a Doppler frequency value of a constant frequency band, a relative velocity value, a relative distance value and a direction angle is calculated.

Description

technical field [0001] The invention belongs to the field of radar signal processing, and relates to a signal processing system and method for a short-range collision avoidance system of a rotary-wing unmanned aerial vehicle. Background technique [0002] In recent years, with the continuous development of technology, the price of civilian small drones is getting lower and lower, and it is widely used in aerial photography, movies, agriculture, real estate, news, fire protection, rescue, energy, remote sensing mapping, wildlife protection and other fields. . However, because the rotor drone is prone to collision with obstacles when flying at low altitude, the rotor drone is damaged. At present, the objects that threaten the safety of low-altitude outdoor flying of rotary-wing drones mainly include natural objects such as trees and man-made objects such as power lines, utility poles, and buildings. According to the statistics of relevant foreign institutions, helicopters wi...

Claims

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Application Information

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IPC IPC(8): G01S13/58G01S13/34G01S13/93
CPCG01S13/343G01S13/584G01S13/93
Inventor 田雨农王鑫照
Owner DALIAN ROILAND SCI & TECH CO LTD
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