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Rotor unmanned plane complex environment collision avoidance system based on combination waveforms and signal processing method thereof

A complex environment, unmanned rotor technology, applied in the field of radar, can solve problems such as affecting the obstacle avoidance function

Active 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

However, using vision to achieve obstacle avoidance, environmental changes will have a huge impact on its obstacle avoidance function, greatly affecting its obstacle avoidance function

Method used

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  • Rotor unmanned plane complex environment collision avoidance system based on combination waveforms and signal processing method thereof
  • Rotor unmanned plane complex environment collision avoidance system based on combination waveforms and signal processing method thereof
  • Rotor unmanned plane complex environment collision avoidance system based on combination waveforms and signal processing method thereof

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Experimental program
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Embodiment 1

[0038] Embodiment 1: A long-distance complex environment collision avoidance millimeter-wave radar system for a rotor UAV, including an antenna subsystem, a radio frequency subsystem, a signal conditioning subsystem, and a signal processing subsystem;

[0039] The antenna subsystem forms the transmitting and receiving beams required for radar detection, radiates the transmitting signal to the designated area, and receives the scattered echo signal of the target in the designated area;

[0040] The radio frequency subsystem generates a transmission signal and the frequency of the transmission signal changes according to the law of the modulation signal, so as to realize the output of linear frequency modulation continuous wave;

[0041] The signal conditioning subsystem is used to filter and amplify the amplitude of the intermediate frequency analog signal;

[0042] The signal processing subsystem enables the four-way I / Q intermediate frequency signals output by the signal cond...

Embodiment 2

[0046] Embodiment 2: the signal processing method of the rotor UAV complex environment anti-collision radar system based on combined waveforms described in each scheme of embodiment 1, it is characterized in that, described combined waveform is the FMCW signal and the constant frequency wave of triangular wave modulation The waveform formed by the combination of modulated CW signals, the first section is a triangle wave, and the second section is a constant frequency wave;

[0047] The signal processing method includes the following steps:

[0048] S1. For each segment of the waveform, the IQ data collected by the A / D is subjected to time-frequency FFT transformation, and the time domain data is converted into frequency data;

[0049] S2. Use the complex modulus value after the FFT transformation of each segment of the waveform as the threshold detection CFAR, output the position of the threshold point, calculate the corresponding frequency value according to the point of the ...

Embodiment 3

[0061] Embodiment 3: As a supplement to Embodiment 1, this embodiment mainly introduces the use of millimeter wave radar to realize the obstacle avoidance function of the UAV. Compared with other detection methods, millimeter-wave radar mainly has the advantages of stable detection performance, good environmental adaptation, small size, low price, and can be used in relatively severe rainy and snowy weather.

[0062] In view of the lack of ability to perceive the flight environment of the rotor UAV during its outfield flight, especially the lack of obstacle avoidance ability or lack of obstacle avoidance ability in complex environments, or the obstacle avoidance time is too short to avoid obstacles in time, thus The collision of the rotor UAV caused by the collision causes the damage of the UAV. This embodiment provides a long-distance and complex environment anti-collision millimeter-wave radar system for the rotor UAV. Multiple obstacles, including static targets and dynamic...

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Abstract

The invention relates to a rotor unmanned plane complex environment collision avoidance system based on combination waveforms and a signal processing method thereof, belongs to the signal processing field and solves a technical problem of rotor unmanned plane complex environment collision avoidance. The method is characterized by comprising steps that S1, for each waveform band, for IQ data acquired through an A / D, 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, the overthreshold point position is outputted, corresponding frequency values are calculated according to overthreshold points, frequency matrixes of the corresponding points are acquired, phase values corresponding to the overthreshold points of a constant frequency band are further calculated, and the phase matrixes of the corresponding points are acquired; and S3, for constant frequency waves, the speed matrix is acquired through calculation; for triangular waves, matching of an upper frequency sweep frequency matrix and a lower frequency sweep frequency matrix is carried out to calculate the distance and the speed, and the distance matrix and the speed matrix are acquired.

Description

technical field [0001] The invention belongs to the field of radar, and relates to a complex-environment anti-collision radar system and a signal processing method for a rotor UAV based on a combined waveform. Background technique [0002] In recent years, with the continuous development of technology, the price of civilian small rotor UAVs has become lower and lower, and they are widely used in aerial photography, film shooting, pesticide spraying, on-site rescue, remote sensing mapping, high-voltage line power grid inspection 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 outdoor low-altitude flight safety of rotor UAVs mainly include natural objects such as trees and man-made objects such as power lines, utility poles, and buildings. [0003] UAVs have been developed for many years, and it has long been possible to determine the posi...

Claims

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Application Information

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IPC IPC(8): G01S13/93
CPCG01S13/933
Inventor 田雨农王鑫照
Owner DALIAN ROILAND SCI & TECH CO LTD
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