Ground clutter suppression method, module and device for UAV obstacle avoidance radar

Abstract

The invention discloses a ground clutter suppression method, module and device for UAV obstacle avoidance radar. The steps of the method include: S1. Obtain the flight state information of UAV and the information of the target track detected by the obstacle avoidance radar According to the flight state information of the UAV and the information of the target trajectory, it is preliminarily judged whether the detected target trajectory is ground clutter, if it is transferred to step S2; S2. Obtain the braking distance of the UAV and the trajectory distance of the target , according to the size relationship between the braking distance of the UAV and the track distance of the target, it is determined whether to perform clutter suppression processing. The invention can be applied to the UAV obstacle avoidance radar to realize the suppression of moving ground clutter, and realizes simple operation, low cost and good suppression effect.

Description

technical field [0001] The invention relates to the technical field of UAV obstacle avoidance radar target detection, in particular to a ground clutter suppression method, module and device for UAV obstacle avoidance radar. Background technique [0002] With the rapid growth of the drone market in industries such as agriculture, electric power, and industry, the key technologies of drones are becoming more and more intelligent. As a key technology for UAV safety, the automatic obstacle avoidance system can minimize UAV collision with obstacles, thereby reducing the possibility of UAV damage and personal accidents. Ultrasonic obstacle avoidance, laser obstacle avoidance, and visual obstacle avoidance have irreparable defects in detection ability, weather influence, night work ability, temperature stability, and cost. However, radar obstacle avoidance solutions such as millimeter-wave radar have low cost. , good performance and able to support all-weather and all-weather work...

AI Technical Summary

Problems solved by technology

[0005] 1. Since the MTI system is mainly composed of a delay line canceller, although the delay line canceller structure can have a strong suppression effect on static clutter signals, it will also affect the speed just near the zero value of the filter frequency response. The target has stronger suppression, as the peak value of the frequency response of the above-mentioned single delay line canceller appears at f=(2n+1) / (2f r ), the zero value occurs at f=nf r (n≥0), so it can be used for f=nf r The clutter at (n=0,±1,±2,…) has a very good suppression effect, but it also has a strong suppression effect on the moving target whose speed is just located here, and the corresponding speed at this time is also is blind speed;

[0006] 2. When the MTI filter suppresses clutter, it is mainly aimed at static clutter, which cannot have a good suppression effect on moving clutter. In the application field of UAV obstacle avoidance radar, since the UAV is a moving platform , the ground clutter signal is usually motion clutter, and the clutter will change with the movement of the UAV. The clutter suppression based on the MTI filter cannot be applied to the motion platform such as the UAV obstacle avoidance radar

[0007] In summary, from the perspective of the echo detection signal alone, the ground clutter signal and the real target echo signal are the same, and it is difficult to directly distinguish and suppress them, and the traditional method of suppressing stationary platform clutter cannot be applied to UAV obstacle avoidance The suppression of moving ground clutter is realized in radar, so it is urgent to provide a ground clutter suppression method suitable for UAV obstacle avoidance radar, so as to realize the effective suppression of moving ground clutter in UAV obstacle avoidance radar

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