A correlation method for high-voltage line detection of a millimeter wave radar

Abstract

The application belongs to the technical field of millimeter wave radar anti-collision, and particularly relates to a correlation method for high-voltage line detection of a millimeter wave radar, aiming at the problem of large change of high-voltage line detection results of adjacent antenna rows in a millimeter wave radar anti-collision mode, the application avoids the problem of high-voltage line information loss by setting a survival period and converting to geographic coordinates, and correlates the high-voltage line detection results of adjacent antenna rows, preventing the same high-voltage line from being repeatedly recorded. The method can effectively solve the problem of millimeter wave radar high-voltage line information loss, improve the reliability of high-voltage line warning, and ensure the safety of helicopter flight.

Description

Technical Field

[0001] This invention belongs to the field of millimeter-wave radar collision avoidance technology, specifically relating to a correlation method for high-voltage line detection using millimeter-wave radar. Background Technology

[0002] Low-altitude obstacles such as high-voltage power lines are a significant cause of helicopter accidents due to their small size and inconspicuous features, and are also key targets for real-time detection and warning in helicopter collision avoidance systems. Real-time monitoring and early warning of low-altitude obstacles like high-voltage power lines are indispensable functions of helicopter collision avoidance systems. Currently, low-altitude obstacle detection and warning technology based on millimeter-wave radar is relatively mature and widely used in various helicopter models.

[0003] Millimeter-wave radar collision avoidance modes mostly employ a multi-elevation layer scanning method, processing the echo data from each scanned antenna row to obtain information about high-voltage line targets. With multiple elevation layers and a wide range of elevation scanning angles, the actual scenarios corresponding to adjacent antenna rows can differ significantly, easily leading to large discrepancies in detection results. If the original processed results are directly output in such cases, the detected high-voltage line information will be lost, affecting the collision avoidance alarm performance. Summary of the Invention

[0004] In view of this, the present invention provides an association method for high-voltage line detection by millimeter-wave radar, which retains the information of detected high-voltage lines in the form of geographic coordinates and continuously updates the latest detected high-voltage line results, effectively preventing the situation of high-voltage lines being missed, and improving the helicopter's low-altitude flight and obstacle avoidance capabilities.

[0005] To achieve the above-mentioned technical objectives, the specific technical solution adopted by the present invention is as follows:

[0006] A correlation method for high-voltage line detection using millimeter-wave radar, characterized by comprising the following steps:

[0007] Step 1: The current antenna row processing is completed. Update the lifecycle of known high-voltage lines and delete high-voltage lines whose lifecycle has become 0.

[0008] Step 2: Perform coordinate transformation on the high-voltage line information obtained from the current antenna line processing, and temporarily store it as a pending high-voltage line in the form of geographical coordinates;

[0009] Step 3: Calculate the attribute values ​​of the high-voltage line to be determined, including the center point coordinates, direction, and length;

[0010] Step 4: If the length of the high-voltage line to be determined is too short, proceed to step 8; otherwise, proceed to step 5.

[0011] Step 5: Calculate the distance and angle between the unknown high-voltage line and the known high-voltage line. If it is less than a certain specified threshold, set the life cycle of the corresponding known high-voltage line to the maximum and proceed to step 8; otherwise, proceed to step 6.

[0012] Step 6: Determine if the number of known high-voltage lines has reached the upper limit. If not, input the information of the high-voltage lines to be determined into the known high-voltage lines and set the lifespan to the maximum. Otherwise, proceed to step 7.

[0013] Step 7: Find the known high-voltage line with the current minimum lifespan, replace it with the information of the undetermined high-voltage line that meets the conditions, and set the lifespan to the maximum.

[0014] Furthermore, in step 1, once the current antenna row processing ends, the lifetime T of all known high-voltage lines is reduced by 1. If the lifetime becomes 0, the corresponding known high-voltage line information is deleted.

[0015] Furthermore, step 2 specifically involves: obtaining the latitude and longitude of the aircraft's starting position, denoted as... A geographic coordinate system is established with λ0 as the origin, using the North-West-Sky coordinate axis. The latitude and longitude of the current antenna reference point are denoted as λ0 and λ0 respectively. and λ REF The high-voltage line detected by the current antenna line is called the undetermined high-voltage line. The northward and westward distances of the undetermined high-voltage line's points relative to the reference point are denoted as Δx and Δy, respectively. The coordinates x and y of the undetermined high-voltage line's points in the geographic coordinate system are calculated using the following formula:

[0016]

[0017] Furthermore, step 3 specifically involves:

[0018] Calculate the attribute values ​​of the high-voltage line to be determined, including the center point coordinates, direction, and length.

[0019] The starting point of the undetermined high-voltage line is designated by geographical coordinates x1, y1, and the ending point by geographical coordinates x2, y2. The center point coordinates x0, y0 are calculated using the following formula:

[0020]

[0021]

[0022] The direction of the undetermined high-voltage line is represented by the angle Θ between the line connecting the starting and ending points and the X-axis. The calculation formula is as follows:

[0023]

[0024] The length l of the undetermined high-voltage line is obtained using the formula for the distance between two points:

[0025]

[0026] Furthermore, step 4 specifically involves: determining the length of the undetermined high-voltage line; if it is less than the threshold φ1, then proceed to step 8; otherwise, proceed to step 5.

[0027] Furthermore, step 5 specifically includes:

[0028] From step 3, we obtain the center point coordinates of the undetermined high-voltage line as x0, y0, and the center point coordinates of the known high-voltage line as x0', y0'. We calculate the distance l' between their center points and use it as a reference value for the distance between the undetermined high-voltage line and the known high-voltage line. The formula is as follows:

[0029]

[0030] From step 3, the direction of the undetermined high-voltage line is denoted as Θ, and the direction of the known high-voltage line is denoted as Θ0. The angle Θ' between the undetermined high-voltage line and the known high-voltage line is calculated using the following formula:

[0031]

[0032] Determine whether l' and Θ' are less than the thresholds φ2 and φ3, respectively. If they are, proceed to step 8; otherwise, proceed to step 6.

[0033] Furthermore, step 6 specifically involves: determining whether the number of known high-voltage lines has reached the upper limit; if not, inputting the information of the undetermined high-voltage lines into the known high-voltage line database and assigning them the maximum lifespan T. max Otherwise, proceed to step 7.

[0034] Furthermore, step 7 specifically involves: finding the known high-voltage line with the shortest lifespan, replacing it with information about the undetermined high-voltage line, and setting the lifespan to the maximum value T. max .

[0035] Furthermore, the correlation method for millimeter-wave radar high-voltage line detection also includes:

[0036] Step 8: Process the results of the next antenna row and return to Step 1.

[0037] By adopting the above technical solution, the present invention can bring the following beneficial effects:

[0038] To address the issue of significant variations in high-voltage line detection results between adjacent antenna rows in millimeter-wave radar collision avoidance mode, this invention avoids the loss of high-voltage line information by setting a lifespan and converting the data to geographic coordinates. Furthermore, it correlates the detection results of high-voltage lines between adjacent antenna rows to prevent the same high-voltage line from being repeatedly recorded. This method effectively solves the problem of lost high-voltage line information detected by millimeter-wave radar, improves the reliability of high-voltage line alarms, and ensures helicopter flight safety. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a flowchart of a correlation method for high-voltage line detection using millimeter-wave radar according to a specific embodiment of the present invention;

[0041] Figure 2 This is a processing effect diagram before the correlation method for high-voltage line detection using millimeter-wave radar in this embodiment of the present invention is applied;

[0042] Figure 3 This is a processing effect diagram after using the correlation method for high-voltage line detection with millimeter-wave radar in a specific embodiment of the present invention. Detailed Implementation

[0043] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings.

[0044] The following specific examples illustrate the implementation of this disclosure. Those skilled in the art can easily understand other advantages and effects of this disclosure from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. This disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this disclosure. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0045] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using other structures and / or functionalities besides one or more of the aspects set forth herein.

[0046] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this disclosure. The drawings only show the components related to this disclosure and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0047] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.

[0048] In one embodiment of the present invention, a correlation method for high-voltage line detection using millimeter-wave radar is proposed, such as... Figure 1 As shown, it includes the following steps:

[0049] Step 1: The current antenna row processing is completed. Update the lifecycle of known high-voltage lines and delete high-voltage lines whose lifecycle has become 0.

[0050] Step 2: Perform coordinate transformation on the high-voltage line information obtained from the current antenna line processing, and temporarily store it as a pending high-voltage line in the form of geographical coordinates;

[0051] Step 3: Calculate the attribute values ​​of the high-voltage line to be determined, including the center point coordinates, direction, and length;

[0052] Step 4: If the length of the high-voltage line to be determined is too short, proceed to step 8; otherwise, proceed to step 5.

[0053] Step 5: Calculate the distance and angle between the unknown high-voltage line and the known high-voltage line. If it is less than a certain specified threshold, set the life cycle of the corresponding known high-voltage line to the maximum and proceed to step 8; otherwise, proceed to step 6.

[0054] Step 6: Determine if the number of known high-voltage lines has reached the upper limit. If not, input the information of the high-voltage lines to be determined into the known high-voltage lines and set the lifespan to the maximum. Otherwise, proceed to step 7.

[0055] Step 7: Find the known high-voltage line with the current minimum lifespan, replace it with the information of the undetermined high-voltage line that meets the conditions, and set the lifespan to the maximum.

[0056] In this embodiment, in step 1, the current antenna row processing ends, the lifetime T of all known high-voltage lines is reduced by 1, and if the lifetime becomes 0, the corresponding known high-voltage line information is deleted.

[0057] In this embodiment, step 2 specifically involves: obtaining the latitude and longitude of the aircraft's starting position, denoted as... A geographic coordinate system is established with λ0 as the origin, using the North-West-Sky coordinate axis. The latitude and longitude of the current antenna reference point are denoted as λ0 and λ0 respectively. and λ REF The high-voltage line detected by the current antenna line is called the undetermined high-voltage line. The northward and westward distances of the undetermined high-voltage line's points relative to the reference point are denoted as Δx and Δy, respectively. The coordinates x and y of the undetermined high-voltage line's points in the geographic coordinate system are calculated using the following formula:

[0058]

[0059] In this embodiment, step 3 specifically includes:

[0060] Calculate the attribute values ​​of the high-voltage line to be determined, including the center point coordinates, direction, and length.

[0061] The starting point of the undetermined high-voltage line is designated by geographical coordinates x1, y1, and the ending point by geographical coordinates x2, y2. The center point coordinates x0, y0 are calculated using the following formula:

[0062]

[0063]

[0064] The direction of the undetermined high-voltage line is represented by the angle Θ between the line connecting the starting and ending points and the X-axis. The calculation formula is as follows:

[0065]

[0066] The length l of the undetermined high-voltage line is obtained using the formula for the distance between two points:

[0067]

[0068] In this embodiment, step 4 specifically involves: determining the length of the high-voltage line to be determined; if it is less than the threshold φ1, then step 8 is executed; otherwise, step 5 is executed.

[0069] In this embodiment, step 5 specifically includes:

[0070] From step 3, we obtain the center point coordinates of the undetermined high-voltage line as x0, y0, and the center point coordinates of the known high-voltage line as x0', y0'. We calculate the distance l' between their center points and use it as a reference value for the distance between the undetermined high-voltage line and the known high-voltage line. The formula is as follows:

[0071]

[0072] From step 3, the direction of the undetermined high-voltage line is denoted as Θ, and the direction of the known high-voltage line is denoted as Θ0. The angle Θ' between the undetermined high-voltage line and the known high-voltage line is calculated using the following formula:

[0073]

[0074] Determine whether l' and Θ' are less than the thresholds φ2 and φ3, respectively. If they are, proceed to step 8; otherwise, proceed to step 6.

[0075] In this embodiment, step 6 specifically involves: determining whether the number of known high-voltage lines has reached the upper limit; if not, inputting the information of the undetermined high-voltage lines into the known high-voltage line list and assigning them the maximum lifespan T. max Otherwise, proceed to step 7.

[0076] In this embodiment, step 7 specifically involves: finding the known high-voltage line with the shortest lifespan, replacing it with information about the undetermined high-voltage line, and setting the lifespan to the maximum value T. max .

[0077] In this embodiment, the correlation method for millimeter-wave radar high-voltage line detection further includes:

[0078] Step 8: Process the results of the next antenna row and return to Step 1.

[0079] Based on the working mechanism of millimeter-wave radar collision avoidance mode, this embodiment proposes a correlation method for high-voltage line detection using millimeter-wave radar.

[0080] In response to the situation where the processing results of adjacent antenna rows differ significantly, the processing flow of this embodiment retains the high-voltage line information of the first few antenna rows and performs coordinate transformation to continuously display the information of detected high-voltage lines in the form of geographical coordinates, thereby improving the high-voltage line alarm capability.

[0081] In response to the situation where adjacent antenna rows detect the same high-voltage line, this embodiment performs data association processing to effectively avoid the repeated recording of information about the same high-voltage line. Figure 2 , 3 This is a comparison chart showing the processing results.

[0082] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A correlation method for high-voltage line detection using millimeter-wave radar, characterized in that, Includes the following steps: Step 1: The current antenna row processing ends. Update the lifetime of known high-voltage lines and delete high-voltage lines whose lifetime becomes 0. The current antenna row processing ends. Decrease the lifetime T of all known high-voltage lines by 1. If the lifetime becomes 0, delete the corresponding known high-voltage line information. Step 2: Perform coordinate transformation on the high-voltage line information obtained from the current antenna line processing, and temporarily store it as a pending high-voltage line in the form of geographical coordinates. Specifically, obtain the latitude and longitude of the aircraft's starting position, denoted as... and A geographic coordinate system is established with the aircraft's initial position as the origin, using the North-West-Sky coordinate axis. The latitude and longitude of the current antenna reference point are denoted as follows: and The high-voltage line detected by the current antenna line is called the undetermined high-voltage line. The northward and westward distances of the undetermined high-voltage line relative to the reference point are denoted as follows: and The coordinates (x and y) of the point on the unknown high-voltage line in the geographic coordinate system are calculated using the following formula: ； Step 3: Calculate the attribute values ​​of the high-voltage line to be determined, including the center point coordinates, direction, and length. The starting point of the undetermined high-voltage line is denoted by the geographical coordinates x1, y1, and the ending point by the geographical coordinates x2, y2; the center point coordinates x0, y0 are calculated using the following formula: The direction of the undetermined high-voltage line is represented by the angle Θ between the line connecting the starting and ending points and the X-axis. The calculation formula is as follows: The length l of the undetermined high-voltage line is obtained using the formula for the distance between two points: ； Step 4: If the length of the high-voltage line to be determined is too short, if it is less than the threshold φ1, then proceed to step 8; otherwise, proceed to step 5. Step 5: Obtain the center point coordinates of the undetermined high-voltage line (x0, y0) from Step 3, and the center point coordinates of the known high-voltage line (x0', y0'). Calculate the distance l' between their center points, and use it as a reference value for the distance between the undetermined and known high-voltage lines. The formula is as follows: From step 3, the direction of the undetermined high-voltage line is denoted as Θ, and the direction of the known high-voltage line is denoted as Θ0. The angle Θ' between the undetermined high-voltage line and the known high-voltage line is calculated using the following formula: Determine whether l' and Θ' are less than the thresholds φ2 and φ3, respectively. If yes, proceed to step 8; otherwise, proceed to step 6. Step 6: Determine if the number of known high-voltage lines has reached the upper limit. If not, input the information of the undetermined high-voltage lines into the known high-voltage line list and assign them the maximum lifespan T. max Otherwise, proceed to step 7; Step 7: Find the known high-voltage line with the shortest lifespan, replace it with the information of the high-voltage line to be determined, and set the lifespan to the maximum value T. max ; Step 8: Process the results of the next antenna row and return to Step 1.

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