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Rotor unmanned plane collision avoidance millimeter wave radar signal processing method

A millimeter-wave radar and unmanned rotor technology, applied in the field of signal processing, can solve problems such as collisions and achieve accurate target judgment

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

[0003] In order to solve the problem that the rotor UAV is prone to collision with obstacles when it is flying at low altitude, the present invention proposes a method for processing the anti-collision millimeter wave radar signal of the rotor UAV to detect the speed, distance and orientation of the obstacles. Angle calculation, so as to detect obstacles and avoid collisions

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  • Rotor unmanned plane collision avoidance millimeter wave radar signal processing method
  • Rotor unmanned plane collision avoidance millimeter wave radar signal processing method
  • Rotor unmanned plane collision avoidance millimeter wave radar signal processing method

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Embodiment 1

[0018] Embodiment 1: a kind of rotor UAV anti-collision millimeter-wave radar signal processing method, comprises the following steps:

[0019] S1. AD data collection;

[0020] S2. to direct current;

[0021] S3. Window function processing;

[0022] S4. FFT transformation;

[0023] S5. Threshold detection;

[0024] S6. Binary detection;

[0025] S7. Calculate one or a combination of speed, distance or angle.

[0026] in:

[0027] The concrete method of described step S1 is:

[0028] (1) digitize the continuous IQ data in channel 1 and channel 2 through AD sampling;

[0029] (2) Divide the data collected in channel 1 and channel 2 into up-sweep data and down-sweep data of the triangular wave, remove the first part of the data points and go to direct current, perform time-frequency FFT transformation, and convert the time-domain data into Frequency data; the removal of the first part of the data points is to remove the first part of the data points collected by AD in the...

Embodiment 2

[0053] Embodiment 2: This embodiment is a supplement to Embodiment 1. This embodiment mainly introduces the use of millimeter wave radar to realize the obstacle avoidance function of the drone. 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 detection performance, good environmental adaptability, small size, low price, and can be used in relatively bad rainy and snowy weather. Therefore, the present invention focuses on the realization of the signal processing method of the UAV obstacle avoidance function system based on the millimeter wave radar.

[0054] This embodiment is mainly to complete the measurement of the distance, speed and orientation of the environmental obstacles in front of the rotor drone by the rotor drone. The obstacles ahead are mainly for people, trees, walls, nets, and high-voltage lines. The patent of this embodiment mainly uses the millimete...

Embodiment 3

[0086] Embodiment 3: For the peak processing in each of the above schemes, this embodiment provides a peak processing method applied to UAV signals:

[0087] Set a peak point threshold factor α, which is used to limit the absolute value of the difference between the detected maximum peak point crossing the threshold and the maximum peak point that appeared in the previous cycle, so that the absolute value of the difference must not be greater than the peak point threshold factor α:

[0088] The expression is as follows:

[0089] |L_max(k)-L_max(k-1)|≤α;

[0090]

[0091] Among them: L_max(k) is the coordinate of the maximum peak point crossing the threshold in k period, L_max(k-1) is the coordinate of the maximum peak point in the previous period, and k represents the kth moment; v max is the maximum flight speed of the UAV, λ is the millimeter-wave radar wavelength, fs is the sampling rate, and N is the number of FFT points;

[0092] If at time k, the absolute value diff...

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Abstract

The invention relates to a rotor unmanned plane collision avoidance millimeter wave radar signal processing method, belongs to the signal processing field and solves a problem of bump between a rotorunmanned plane and a barrier during low altitude flight of the rotor unmanned plane. The method is characterized by comprising steps of S1, AD data acquisition; S2, DC removal; S3, window function processing; S4, FFT transformation; S5, threshold detection; S6, binary detection; and S7, calculation of one or combination of the speed, the distance or the angle.

Description

technical field [0001] The invention belongs to the field of signal processing, and relates to a signal processing method of a rotor drone anti-collision millimeter-wave radar. 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. Contents of the invention [0003] In order to solve the problem that the rotor UAV is prone to collision with obstacles when it is ...

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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