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Anti-collision millimeter-wave radar system and signal processing method for rotor UAV

A millimeter wave radar, unmanned rotor technology, applied in the field of signal processing, can solve problems such as damage and collision of rotor drones

Active Publication Date: 2021-04-20
DALIAN ROILAND SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the rotor UAV is prone to collision with obstacles when flying at low altitude, resulting in damage to the rotor UAV, the present invention proposes a method for processing the anti-collision millimeter-wave radar signal of the rotor UAV to solve the problem. Calculate the speed, distance and angle of the obstacle, so that the obstacle can be avoided

Method used

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  • Anti-collision millimeter-wave radar system and signal processing method for rotor UAV

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Embodiment 1

[0015] Embodiment 1: a kind of rotor UAV short-distance collision avoidance system based on combined waveform, including ARM processing system, signal generator, voltage-controlled oscillator, transmitter, receiver, mixer, signal conditioning circuit, 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 to The receiver and the third end of the mixer are 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.

[0016] 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 distance and...

Embodiment 2

[0018] Embodiment 2: As a supplementary technical solution to Embodiment 1, the transmitter is a transmitting antenna, and the receiver is a three-row receiving antenna. The three rows of receiving antennas form two receiving antennas through the back feed network, and use microstrip rectangular patches to form an array. The transmitting antenna and receiving antenna are connected to 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 enters the four-way I / Q intermediate frequency signals output by the signal conditioning circuit into the four-way I / Q intermediate frequency signals carried by the ARM chip through the signal conditioning circuit. AD acquisition channel, output through serial port module or CAN module.

[0019] In this embodiment, the transmitter and receiver are mainly: 1. Forming the transmitting and receivin...

Embodiment 3

[0023] Embodiment 3: In embodiment 1 or 2, each rotor UAV anti-collision millimeter-wave radar system, this embodiment provides its corresponding signal processing method, including the following steps:

[0024] S1. the IQ data collected by the A / D in the channel 1 and the channel 2 are removed to direct current; the method for the step S1 to be direct current is: calculate the mean value of the upper and lower frequency sweep IQ data collected by the AD in the channel 1 , each data point of the IQ two-way subtracts the calculated mean value respectively; calculates the mean value of the up-sweep frequency IQ two-way data collected by the AD in channel 2, and subtracts the calculated mean value from each data point of the IQ two-way; this step mainly It serves the purpose of removing direct current.

[0025] S2. carry out FFT transformation to the IQ data collected by the A / D in channel 1 and channel 2 after the direct current removal, and convert the time domain data into fre...

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Abstract

The anti-collision millimeter-wave radar system and signal processing method of the rotor UAV belong to the field of signal processing, and are used to solve the problem that the rotor UAV is prone to collision with obstacles when flying at low altitude, resulting in damage to the rotor UAV. The technical points are: S1. Remove DC from the IQ data collected by A / D in channel 1 and channel 2; S2. Perform FFT transformation on the IQ data collected by A / D in channel 1 and channel 2 after removing DC , convert the time-domain data into frequency data; S3. Perform CFAR threshold detection on the complex modulus value after FFT transformation, output the first peak point that passes the threshold, and obtain the upper sweep frequency value and the corresponding lower sweep frequency value in channel 1 Frequency value, and the up-sweep frequency value in channel 2, and calculate the phase in channel 1 and channel 2 according to the respective up-sweep frequency.

Description

technical field [0001] The invention belongs to the field of signal processing and relates to a radar signal processing method. 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 line embodiments, utility poles, and buildings. [0003] Since the working wavelength of the millimeter-wave radar is between 1mm and 10mm, compared with other detection methods, it mainly has the advantages of stable de...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S13/933G01S13/536G01S7/35
CPCG01S7/352G01S13/536G01S13/933
Inventor 田雨农王鑫照
Owner DALIAN ROILAND SCI & TECH CO LTD