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Time-space synchronous millimeter wave radar and visual information fusion method

A millimeter-wave radar and visual information technology, applied in the field of millimeter-wave radar and visual measurement, can solve problems such as insufficient accuracy, low adaptability, and undetected targets, and achieve increased accuracy, high computing speed, and increased real-time performance. Effect

Active Publication Date: 2021-07-30
TIANJIN UNIV
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  • Claims
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Problems solved by technology

Single sensor detection has a series of shortcomings such as insufficient precision and low adaptability
For example, the millimeter-wave radar sensor can accurately output the distance information of all targets ahead, but because there is no more intuitive image information display, it is impossible to accurately identify the targets ahead, and because the millimeter-wave radar is highly sensitive to metal, so It is easy to be interfered by clutter and cause the target detection position to shift and the target is not detected, which seriously affects the real-time performance and stability of target tracking; the real-time image information of the target in front can be obtained by using the camera, but for the capture of the target It is difficult to obtain the actual relative position information between the positioning and the target, so it is also difficult to meet the real-time position detection of the measured target in front

Method used

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Embodiment Construction

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0027] As shown in the accompanying drawings, a space-time synchronized millimeter-wave radar and visual information fusion method of the present invention includes the following steps:

[0028] Step 1, utilizing the packet data analysis of the millimeter-wave radar sensor to complete the initial positioning of the measured target, the specific steps are:

[0029] First, install the millimeter-wave radar sensor on the front of the moving train, take the geometric center of the largest plane of the millimeter-wave radar as the coordinate origin, and take the forward direction of the moving train as Y rw Axis, the vertical upward direction is Z rw Axis, the direction on the right side of the train is X rw Axis, establish a millimeter-wave radar three-dimensional Cartesian coordinate system. The pitch angle, yaw angle and roll angle of the mil...

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Abstract

The invention discloses a time-space synchronous millimeter wave radar and visual information fusion method, which mainly comprises the following three steps of: 1, finishing initial positioning of a front same-rail train by utilizing message data analysis of a millimeter wave radar sensor; and step 2, using a visual sensor to complete traveling track detection of a traveling train and image position detection of a front same-rail train based on an image processing technology; and step 3, fusing the millimeter wave radar information and the visual information based on a time-space synchronous combined calibration method, and completing accurate identification and positioning of the front same-rail train. According to the time-space synchronous millimeter wave radar and visual information fusion method, the problems of insufficient precision, low adaptability and the like in single sensor detection are solved, the real-time monitoring of the distance between the running train and the front same-rail train is realized, and the running safety of the train is improved.

Description

technical field [0001] The invention relates to the field of millimeter-wave radar and visual measurement, in particular to a method for measuring distance of an orbital target based on fusion of millimeter-wave radar and visual information. Background technique [0002] In order to improve the safety of train operation in the rail transit operation system, it is necessary to monitor the distance between the train and the target in front in real time. Single sensor detection has a series of shortcomings such as insufficient precision and low adaptability. For example, the millimeter-wave radar sensor can accurately output the distance information of all targets ahead, but because there is no more intuitive image information display, it is impossible to accurately identify the targets ahead, and because the millimeter-wave radar is highly sensitive to metal, so It is easy to be interfered by clutter and cause the target detection position to shift and the target is not detec...

Claims

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Application Information

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IPC IPC(8): G01S13/86G01S13/08G06K9/62
CPCG01S13/867G01S13/08G06F18/25
Inventor 丁雅斌王晨迁李云飞
Owner TIANJIN UNIV
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