Target real displacement measurement method and system capable of eliminating influence of radar self-shaking

Abstract

The invention discloses a target real displacement measurement method and system capable of eliminating the influence of radar shake, and the method comprises the steps: constructing a target observation displacement equation containing target observation displacement and radar shake according to the obtained radar measurement data of multiple targets; constructing a direction cosine matrix according to the observed azimuth angles of the multiple targets; and the observation displacement equations of all the targets are combined to form an equation set, a least square problem is constructed to solve the equation set according to the observation displacement matrix and the direction cosine matrix of the multiple targets, and the displacement vector of the radar and the real displacement of the targets are output. According to the method, the real displacement of the target and the radar self-shaking are separated through data processing, the existing radar does not need to be changed, and the error problem caused by the radar self-shaking is solved.

Description

Technical Field

[0001] The present invention belongs to the field of radar signal processing, and in particular relates to a method for eliminating errors caused by the instability of the radar itself to extract the real displacement of a target, specifically a method and system for measuring the real displacement of a target by eliminating the influence of the shaking of the radar itself. Background Art

[0002] When measuring target displacement, existing radar measurement systems usually assume that the radar installation position is stable. However, in some application scenarios, due to the instability of the radar device's own installation position, its shaking will cause significant errors in the measurement results. Especially when the radar needs to measure the displacement of multiple targets, the radar's own shaking will be superimposed on the measurement results of all targets in an orthogonal decomposition manner, making it difficult to accurately obtain the target's true displacement. Therefore, it is of great significance to propose an effective error correction method.

[0003] The existing method generally measures the vibration of the radar by adding positioning sensors, inertial sensors, etc. to the radar. However, this not only increases the complexity and cost of the radar, but also makes it difficult to ensure the actual effect due to the accuracy limitations of the positioning sensors and the cumulative error effects of the inertial sensors. Summary of the invention

[0004] In order to solve the error problem caused by the instability of the radar itself, the present invention provides a method and system for measuring the real displacement of a target that eliminates the influence of the radar's own shaking. The real displacement of the target and the radar's own shaking are separated through data processing. There is no need to modify the existing radar, thereby eliminating the radar's own shaking.

[0005] According to one aspect of the present invention, a method for measuring the real displacement of a target for eliminating the influence of the shaking of the radar itself is provided, comprising: According to the acquired radar measurement data of multiple targets, a target observation displacement equation including the target observation displacement and the radar's own shaking is constructed; Construct a direction cosine matrix based on the azimuth angles of the observed multiple targets; The observed displacement equations of all targets are combined to form a system of equations, and based on the observed displacement matrix and direction cosine matrix of multiple targets, a least squares problem is constructed to solve the system of equations, and the radar's own displacement vector and the target's true displacement are output.

[0006] As a further technical solution, a least squares problem solving equation system is constructed based on the observed displacement matrix and direction cosine matrix of multiple targets, including: Construct a least squares problem: ,in, represents the multi-target observation displacement matrix, represents the true displacement matrix of multiple targets, represents the displacement vector of the radar itself, represents the direction pre-matrix; Update using iterative optimization algorithm and , until the residual Converge to the preset threshold.

[0007] As a further technical solution, an iterative optimization algorithm is used to update and ,include: Use gradient descent or pseudo-inverse solution to update and .

[0008] As a further technical solution, the method further includes: Collect radar measurement data, including range, azimuth and phase of the target; Interference processing is performed according to the phase to obtain an observed displacement containing an error.

[0009] As a further technical solution, a target observation displacement equation including the target observation displacement and the radar's own shaking is constructed, including: The radar's own shaking is added to the observed value of the target displacement in the form of orthogonal decomposition of the target azimuth.

[0010] According to one aspect of the present invention, a target real displacement measurement system for eliminating the influence of radar shaking itself is provided, comprising: The first main module is used to construct a target observation displacement equation including target observation displacement and radar shaking according to the acquired radar measurement data of multiple targets; The second main module is used to construct a direction cosine matrix according to the azimuth angles of the observed multiple targets; The third main module is used to form a group of equations by combining the observed displacement equations of all targets, and to construct a least squares problem to solve the group of equations based on the observed displacement matrix and direction cosine matrix of multiple targets, and output the radar's own displacement vector and the target's true displacement.

[0011] According to one aspect of the present invention, there is provided a radar measuring device, which is equipped with the target real displacement measuring system for eliminating the influence of the shaking of the radar itself.

[0012] According to one aspect of the present invention, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium stores computer instructions, wherein the computer instructions enable the computer to execute the steps of the target real displacement measurement method for eliminating the influence of the radar's own shaking.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a method for measuring the real displacement of a target which eliminates the influence of the shaking of the radar itself. The method utilizes the observation data of multiple targets, establishes a mathematical model of the target observation results and the shaking of the radar itself, and jointly solves the multi-target data to separate the real displacement of the target from the shaking of the radar itself, thereby obtaining the real displacement of the target and the shaking of the radar itself, and eliminating the error caused by the instability of the radar itself.

[0014] The present invention does not require any modification to the existing radar, and completely solves the error problem caused by the instability of the radar itself from the perspective of data processing. Compared with the prior art, it does not increase the complexity and cost of the radar, and can effectively ensure the error correction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings used in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic flow chart of a method for measuring the true displacement of a target by eliminating the influence of the shaking of the radar itself provided in an embodiment of the present invention.

[0017] Figure 2 A schematic diagram of the structure of a target real displacement measurement system for eliminating the influence of radar self-shaking provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In addition, the technical features in the various embodiments or single embodiments provided by the present invention are arbitrarily combined with each other to form a new technical solution. This combination is not restricted by the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in this field to achieve. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that this combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0019] See also Figure 1The embodiment of the present invention provides a target real displacement measurement method that eliminates the influence of radar self-shaking. First, according to the acquired radar measurement data of multiple targets, a target observation displacement equation including the target observation displacement and the radar self-shaking is constructed; then, a direction cosine matrix is ​​constructed according to the azimuth angles of the observed multiple targets; finally, the observation displacement equations of all targets are combined to form an equation group, and according to the observation displacement matrix and the direction cosine matrix of the multiple targets, a least squares problem is constructed to solve the equation group, and the radar's own displacement vector and the target's real displacement are output.

[0020] When the embodiment of the present invention uses a radar to collect observation data of multiple targets, it is taken into account that the displacement of each target is different, but the radar's own shaking will be superimposed on the observation value of the target displacement in the form of orthogonal decomposition of the target azimuth, and the target azimuth can be measured. Therefore, by establishing a mathematical model of the target observation result and the radar's own shaking, and jointly solving the multi-target data in combination with the target azimuth, the real displacement of the target and the shaking of the radar itself can be separated, thereby obtaining the real displacement of the target with the radar's own shaking eliminated.

[0021] The raw data measured by radar includes the distance, azimuth, and phase of the target. After interference processing based on the phase, the observed displacement containing various errors is obtained.

[0022] As a preferred embodiment, the target real displacement measurement method for eliminating the influence of the radar's own shaking provided in the embodiment of the present invention may include the steps of data collection, data processing, error separation and output.

[0023] In the data collection step, the existing radar is used to collect the distance, phase and azimuth data of multiple targets in a conventional manner. After collecting data at different times, the deformation observation of each target is obtained through interference.

[0024] In the data processing step, a direction cosine matrix is ​​constructed based on the azimuth angle of the target.

[0025] In the error separation step, the observed data is processed using a mathematical model that includes the target observed displacement and the radar's own shaking to separate the target's true displacement from the radar's own shaking. Finally, the target's true displacement and the radar's own displacement vector are output.

[0026] Specifically, for the i-th target observed by the radar, its observed displacement at time t is Can be decomposed into:

[0027] in: To observe the displacement vector, it contains radial and lateral components; is the real displacement vector of target i; is the displacement vector of the radar itself.

[0028] Radar displacement The observation effect on each target depends on the target's azimuth Specifically, the decomposition at the target i position is:

[0029] in: and are the horizontal and vertical components of the radar's own displacement; and are the direction cosine and direction sine of the azimuth angle of target i.

[0030] Therefore, the observed displacement can be reformulated as:

[0031] Assuming that the radar observes N targets, at time t we have:

[0032] in: for The observed displacement matrix contains the observed displacements of all targets; for The real displacement matrix of is the radar's own displacement vector; C is The direction cosine matrix is ​​defined as:

[0033] The simultaneous equations are: .

[0034] This equation is difficult to solve by conventional methods, but the observed displacement of multiple targets And the known direction cosine matrix C, we can construct the following least squares problem:

[0035] Further, and The solution steps include: Step 1, Initialization and ; Step 2: Use an iterative optimization algorithm (such as gradient descent or pseudo-inverse solution) to update and ; Step 3, until the residual Converges to the preset threshold, at this time and are the displacement matrices of the radar and the target respectively.

[0036] The implementation basis of each embodiment of the present invention is to implement programmed processing through a device with a processor function. Therefore, in engineering practice, the technical solutions and functions of each embodiment of the present invention are encapsulated into various modules. Based on this reality, on the basis of the above embodiments, an embodiment of the present invention provides a target real displacement measurement system that eliminates the influence of radar self-shaking, and the system is used to execute the target real displacement measurement method that eliminates the influence of radar self-shaking in the above method embodiment.

[0037] See also Figure 2 The system includes: a first main module, which is used to construct a target observation displacement equation including target observation displacement and radar shaking according to the acquired radar measurement data of multiple targets; a second main module, which is used to construct a direction cosine matrix according to the azimuth angles of the observed multiple targets; a third main module, which is used to jointly form an equation group of the observation displacement equations of all targets, and to construct a least squares problem to solve the equation group according to the observation displacement matrix and direction cosine matrix of the multiple targets, and output the displacement vector of the radar itself and the real displacement of the target.

[0038] The target real displacement measurement system provided by the embodiment of the present invention eliminates the influence of the radar's own shaking, and aims at the error problem caused by the instability of the radar itself. Figure 2 By combining several modules in the system, the real displacement of the target and the radar's own shaking are separated through data processing, and the existing radar does not need to be modified, thus eliminating the radar's own shaking.

[0039] It should be noted that the system embodiment provided by the present invention is used to implement the methods in the above method embodiment as well as the methods in other method embodiments provided by the present invention. The only difference is that the corresponding functional modules are set. The principle is basically the same as the principle of the above system embodiment provided by the present invention. As long as the technical personnel in this field refer to the specific technical solutions in other method embodiments on the basis of the above system embodiment, obtain the corresponding technical means and the technical solutions composed of these technical means by combining the technical features, and on the premise of ensuring the practicality of the technical solutions, improve the modules in the above system embodiment to obtain the corresponding system class embodiments, which are used to implement the methods in other method class embodiments. For example: Based on the content of the above system embodiment, as a preferred embodiment, in the embodiment of the present invention, a target real displacement measurement system that eliminates the influence of the radar's own shaking is provided, wherein the third main module is further used to execute the following instructions: Construct a least squares problem: ,in, represents the multi-target observation displacement matrix, represents the true displacement matrix of multiple targets, represents the displacement vector of the radar itself, represents the direction pre-matrix; Update using iterative optimization algorithm and , until the residual Converge to the preset threshold.

[0040] Based on the content of the above system embodiment, as a preferred embodiment, a target real displacement measurement system that eliminates the influence of radar self-shaking is provided in the embodiment of the present invention, and the third main module is also used to execute the following instructions: update using gradient descent or pseudo-inverse solution and .

[0041] Based on the content of the above system embodiment, as a preferred embodiment, in the embodiment of the present invention, a target real displacement measurement system that eliminates the influence of the radar's own shaking is provided, wherein the first main module is also used to execute the following instructions: Collect radar measurement data, including range, azimuth and phase of the target; Interference processing is performed according to the phase to obtain an observed displacement containing an error.

[0042] Based on the content of the above system embodiment, as a preferred embodiment, in the embodiment of the present invention, a target real displacement measurement system that eliminates the influence of the radar's own shaking is provided, wherein the first main module is also used to execute the following instructions: The radar's own shaking is added to the observed value of the target displacement in the form of orthogonal decomposition of the target azimuth.

[0043] Based on the same inventive concept as the above embodiment, an embodiment of the present invention further provides a radar measurement device, which is equipped with the target real displacement measurement system for eliminating the influence of the radar's own shaking.

[0044] Based on the same inventive concept as the above-mentioned embodiment, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the steps of the target real displacement measurement method for eliminating the influence of the radar's own shaking.

[0045] In summary, the present invention utilizes observation data of multiple targets, establishes a mathematical model of target observation results and radar shaking, and jointly solves the multi-target data to separate the real displacement of the target from the shaking of the radar, thereby obtaining the real displacement of the target and the shaking of the radar, thereby solving the error problem caused by the instability of the radar itself. The present invention does not require modification of the existing radar and can be achieved only through data processing.

[0046] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. The flowcharts shown in the accompanying drawings are merely exemplary and do not necessarily include all the contents and operations / steps, nor do they necessarily have to be executed in the order described. For example, some operations / steps may be further decomposed, while some operations / steps may be combined or partially combined, so the actual execution order may change according to the actual situation.

[0047] The terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions, for example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to the steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A method for measuring the target's true displacement by eliminating the influence of the radar's own shaking, characterized in that: include: According to the acquired radar measurement data of multiple targets, a target observation displacement equation including the target observation displacement and the radar's own shaking is constructed; Construct a direction cosine matrix based on the azimuth angles of the observed multiple targets; The observed displacement equations of all targets are combined to form a system of equations, and based on the observed displacement matrix and direction cosine matrix of multiple targets, a least squares problem is constructed to solve the system of equations, and the radar's own displacement vector and the target's true displacement are output.

2. The target real displacement measurement method for eliminating the influence of radar self-shaking according to claim 1 is characterized in that: According to the observed displacement matrix and direction cosine matrix of multiple targets, the least squares problem is solved to solve the equations, including: Construct a least squares problem: ,in, represents the multi-target observation displacement matrix, represents the true displacement matrix of multiple targets, represents the displacement vector of the radar itself, represents the direction pre-matrix; Update using iterative optimization algorithm and , until the residual Converge to the preset threshold.

3. The target real displacement measurement method for eliminating the influence of radar self-shaking according to claim 2 is characterized in that: Update using iterative optimization algorithm and ,include: Use gradient descent or pseudo-inverse solution to update and .

4. The target real displacement measurement method for eliminating the influence of radar self-shaking according to claim 1 is characterized in that: The method further comprises: Collect radar measurement data, including range, azimuth and phase of the target; Interference processing is performed according to the phase to obtain an observed displacement containing an error.

5. The target real displacement measurement method for eliminating the influence of radar self-shaking according to claim 1 is characterized in that: Construct the target observation displacement equation including the target observation displacement and the radar's own shaking, including: The radar's own shaking is added to the observed value of the target displacement in the form of orthogonal decomposition of the target azimuth.

6. The target real displacement measurement system that eliminates the influence of the radar's own shaking is characterized by: include: The first main module is used to construct a target observation displacement equation including target observation displacement and radar shaking according to the acquired radar measurement data of multiple targets; The second main module is used to construct a direction cosine matrix according to the azimuth angles of the observed multiple targets; The third main module is used to form a group of equations by combining the observed displacement equations of all targets, and to construct a least squares problem to solve the group of equations based on the observed displacement matrix and direction cosine matrix of multiple targets, and output the radar's own displacement vector and the target's true displacement.

7. A radar measuring device, characterized in that: A target real displacement measurement system for eliminating the influence of the radar's own shaking as described in claim 6 is provided.

8. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, which enable the computer to execute the steps of the target real displacement measurement method for eliminating the influence of radar self-shaking according to any one of claims 1 to 5.

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