Panoramic detection system, detection method and MIMO radar

Abstract

The application discloses a panoramic detection system, a detection method and a MIMO radar, and the system comprises a MIMO radar, a rotating mechanism and a positioning and orientation module; the positioning and orientation module is used for acquiring positioning and orientation data of the MIMO radar at each detection position; the rotating mechanism is used for receiving an instruction of the MIMO radar and rotating to drive the MIMO radar to rotate to different detection positions; the MIMO radar is used for scanning and acquiring detection data in a detection area at each detection position; positioning data of a target in a detection area corresponding to each detection position is calculated according to the positioning and orientation data and the detection data; a common target is determined according to the positioning data of the target in adjacent detection areas; the detection data of the adjacent detection areas is registered and spliced based on the detection data of the common target in the adjacent detection areas, so that the detection data and the positioning data of all targets in a panoramic range are obtained. The application realizes 360-degree panoramic high-resolution detection.

Description

Technical Field

[0001] This invention belongs to the field of radar technology, and particularly relates to a panoramic detection system, detection method and MIMO radar. Background Technology

[0002] MIMO radar (Multiple-Input Multiple-Output radar) is widely used in military and civilian industries due to its high resolution and excellent anti-jamming capabilities, such as marine target detection, autonomous driving, meteorological observation, and deformation monitoring. However, due to the inherent limitations of its radar mechanism, MIMO radar is not suitable for using omnidirectional antennas, which have shortcomings in gain, directivity, and interference suppression. Directional antennas, which can improve energy concentration and signal-to-noise ratio, are more suitable for the performance requirements of MIMO radar. Therefore, the detection range of MIMO radar is generally limited to a fan-shaped area, making it impossible to achieve 360° panoramic imaging. Furthermore, radar detection can only obtain the relative position information between the target and itself. Since the radar's own latitude, longitude, and direction information are unknown, it is impossible to obtain the target's latitude and longitude coordinates, making it difficult to accurately match the radar detection results with the actual target's location. Summary of the Invention

[0003] The purpose of this invention is to provide a panoramic detection system, detection method, and MIMO radar to solve the problems that MIMO radar cannot achieve 360° all-round imaging and that it is difficult to match the radar detection results with the actual target location because it cannot obtain the latitude and longitude information of the target.

[0004] The present invention solves the above-mentioned technical problems through the following technical solution: a panoramic detection system, including a MIMO radar, a rotating mechanism and a positioning and orientation module;

[0005] The positioning and orientation module is connected to the MIMO radar and is used to acquire the positioning and orientation data of the MIMO radar at each detection location;

[0006] The rotating mechanism is connected to the MIMO radar and is used to receive commands from the MIMO radar and rotate to drive the MIMO radar to different detection positions; wherein, the rotation angle of the rotating mechanism is smaller than the angle of the detection area of ​​the MIMO radar.

[0007] The MIMO radar is used to scan and acquire detection data within the corresponding detection area at each detection location; calculate the positioning data of the target within the detection area corresponding to each detection location based on the positioning and orientation data and the detection data; determine a common target based on the positioning data of targets in adjacent detection areas; and register and stitch the detection data of adjacent detection areas based on the detection data of the common target in adjacent detection areas to obtain the detection data and positioning data of all targets within a 360° panoramic range.

[0008] This invention controls a rotating mechanism to periodically rotate a MIMO radar by an angle smaller than the angular size of the detection area, resulting in multiple detection areas with overlapping regions. Then, based on the detection data of common targets within the overlapping regions, the detection data from each region are registered and stitched together to generate a 360° panoramic detection result without blind spots. This overcomes the inherent physical limitations of MIMO radar, achieving 360° panoramic high-resolution detection. Furthermore, it transforms radar detection data from isolated "points" into location data that can be accurately fused and shared with maps, GPS coordinates, etc., enabling geographic registration. This has extremely high application value in military, security, surveying and mapping, and intelligent transportation fields.

[0009] Furthermore, the positioning and orientation module is used to acquire positioning and orientation data of the MIMO radar at each detection location using PPP differential positioning technology.

[0010] Furthermore, the rotating mechanism includes a controller, a servo motor, a reducer, a position sensor, and a turntable. The controller is connected to the signal processing module of the MIMO radar and the control terminal of the servo motor. The output terminal of the servo motor is connected to the turntable through the reducer. The MIMO radar is mounted on the turntable.

[0011] The position sensor is used to monitor the orientation of the turntable's zero point; the controller is used to receive instructions from the MIMO radar and control the servo motor to rotate according to the instructions and feedback data from the position sensor, thereby driving the MIMO radar to rotate to the corresponding detection position.

[0012] Based on the same concept, the present invention also provides a panoramic detection method based on MIMO radar, wherein the MIMO radar is connected to a rotation mechanism and a positioning and orientation module, and the detection method includes:

[0013] The positioning and orientation module is used to acquire the positioning and orientation data of the MIMO radar at the current detection location;

[0014] The MIMO radar initiates scanning at the current detection location and acquires detection data within the current detection area; it then calculates the positioning data of the target within the current detection area based on the positioning and orientation data and the detection data.

[0015] The rotating mechanism rotates under the command of the MIMO radar, driving the MIMO radar to the next detection position; wherein the rotation angle of the rotating mechanism is smaller than the angle of the detection area of ​​the MIMO radar.

[0016] Repeat the above steps until the MIMO radar completes 360° panoramic detection and obtains detection data and target positioning data in multiple detection areas;

[0017] A common target is determined based on the location data of targets in adjacent detection areas;

[0018] Based on the detection data of the common target, the detection data of adjacent detection areas are registered and stitched together to obtain the detection data and positioning data of all targets within the 360° panoramic range.

[0019] Furthermore, the detection data within the current detection area includes the target's distance relative to the radar and the angle between the target and the radar normal; the target's location data within the current detection area is the target's latitude and longitude, calculated using the following formula:

[0020] ;

[0021] ;

[0022] in, This represents the latitude and longitude of the target within the k-th detection area; This represents the latitude and longitude of the MIMO radar at the k-th detection location; This represents the distance of the target relative to the radar within the k-th detection area; This represents the angle between the target and the radar normal within the k-th detection area; This indicates the orientation of the MIMO radar at the k-th detection position.

[0023] Furthermore, common targets are determined based on the location data of targets in adjacent detection areas, including:

[0024] Determine the overlapping area between the k-th detection region and the (k+1)-th detection region;

[0025] Calculate the distance between target i in the kth detection area and target j in the (k+1)th detection area within the overlapping region based on the target's location data;

[0026] Determine whether the distance is less than a set distance threshold. If so, target i in the k-th detection area and target j in the (k+1)-th detection area are common targets in adjacent detection areas.

[0027] Furthermore, based on the detection data of the common target in adjacent detection areas, the detection data of adjacent detection areas are registered and stitched together, including:

[0028] Calculate the homography transformation matrix based on the detection data of the common target in adjacent detection areas;

[0029] Based on the homography transformation matrix, all targets in the (k+1)th detection region are mapped to the kth detection region, and the detection data of common targets in the kth detection region are fused to achieve the registration and stitching of detection data in adjacent detection regions.

[0030] Based on the same concept, the present invention also provides a MIMO radar, wherein the MIMO radar is mounted on a rotating mechanism and its detection position is changed by the rotation of the rotating mechanism, the MIMO radar being used for:

[0031] Scan and acquire detection data within the corresponding detection area at each detection location; calculate the target location data within the detection area corresponding to each detection location based on the positioning and orientation data of the MIMO radar at each detection location and the detection data; determine the common target based on the target location data in adjacent detection areas; register and stitch the detection data of adjacent detection areas based on the detection data of the common target in adjacent detection areas to obtain the detection data and location data of all targets within the 360° panoramic range.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] This invention controls a rotating mechanism to periodically rotate a MIMO radar by an angle smaller than the angular size of the detection area, resulting in multiple detection areas with overlapping regions. Then, based on the detection data of common targets within the overlapping regions, the detection data from each region are registered and stitched together to generate a 360° panoramic detection result without blind spots. This overcomes the inherent physical limitations of MIMO radar, achieving 360° panoramic high-resolution detection. Furthermore, it transforms radar detection data from isolated "points" into location data that can be accurately fused and shared with maps, GPS coordinates, etc., enabling geographic registration. This has extremely high application value in military, security, surveying and mapping, and intelligent transportation fields. Attached Figure Description

[0034] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only one embodiment of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a structural block diagram of the panoramic detection system in an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the detection area of ​​the MIMO radar at two adjacent detection positions in an embodiment of the present invention;

[0037] Figure 3This is a schematic diagram of the radar normal and the target direction in an embodiment of the present invention;

[0038] Figure 4 This is a flowchart of the panoramic detection method based on MIMO radar in an embodiment of the present invention. Detailed Implementation

[0039] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. Example 1

[0041] Conventional MIMO radars are directional detectors with limited detection range, covering only a single fan-shaped area. They also lack their own latitude, longitude, and orientation information, making it impossible to obtain the target's latitude and longitude. To address these technical problems, this invention provides a panoramic detection system. This system uses a high-precision rotating mechanism to control the MIMO radar to periodically rotate and scan, seamlessly stitching together multiple detection data points. Without sacrificing the high performance of the MIMO radar itself, it expands the limited fan-shaped detection area into a complete 360° panoramic detection. Simultaneously, it achieves a leap from "relative coordinates" to "absolute geographic coordinates" in the detection data, enhancing the usability and value of the data.

[0042] Figure 1 A structural block diagram of the panoramic detection system provided by the present invention is shown. Figure 1 As shown, the panoramic detection system includes a MIMO radar, a rotating mechanism, and a positioning and orientation module. The MIMO radar is connected to the rotating mechanism and the positioning and orientation module.

[0043] The positioning and orientation module is used to acquire the positioning and orientation data of the MIMO radar at each detection location. Specifically, the positioning and orientation module obtains the latitude, longitude, and orientation of the MIMO radar at each detection location. The radar orientation refers to the angle γ (0° < γ < 360°) north of east of the radar normal. The MIMO radar is mounted on a rotating mechanism. After the MIMO radar is set up, the positioning and orientation module can be used to obtain the latitude, longitude, and orientation of the MIMO radar at the current detection location. After completing the detection at the current location, the rotating mechanism drives the MIMO radar to the next detection location, and the positioning and orientation module is used to obtain the latitude, longitude, and orientation of the MIMO radar at the next detection location. This process continues, and the positioning and orientation module can be used to obtain the latitude, longitude, and orientation of the MIMO radar at each detection location.

[0044] In a specific embodiment of the present invention, the positioning and orientation module uses PPP differential positioning technology to acquire the positioning and orientation data of the MIMO radar at each detection location.

[0045] Precise Point Positioning (PPP) is a high-precision positioning technology based on the Global Navigation Satellite System (GNSS). This technology is a wide-area deployment solution that accurately models and corrects systematic errors such as satellite orbit and clock bias by introducing precise ephemeris and satellite clock error correction information. This allows users to achieve centimeter-level three-dimensional positioning with a single receiver, without relying on local differential base stations. However, traditional PPP technology typically requires a long convergence time to achieve high-precision positioning. To improve its real-time performance, PPP technology can be combined with differential positioning technology. Regional augmentation signals can assist the PPP solution process, effectively shortening the convergence time and achieving centimeter-level real-time precise positioning over a wide area. Under this fusion architecture, not only is positioning accuracy significantly improved, but orientation accuracy can also be better than 1°.

[0046] The rotating mechanism receives commands from the MIMO radar and rotates to move the radar to different detection positions. After the MIMO radar completes detection at the current position, it sends a command to the rotating mechanism, which then rotates to move the radar to the next detection position. To ensure overlap between adjacent detection areas, the rotation angle of the rotating mechanism is smaller than the angle of the MIMO radar's detection area. Figure 2As shown, the MIMO radar's detection area at each detection position has an angle of α, and the rotation angle of the rotating mechanism is θ, where θ < α. After rotation, the MIMO radar's latitude and longitude remain unchanged at the next detection position, but its orientation changes. The rotating mechanism rotates N times in the same direction, obtaining N+1 detection areas. The N+1th detection area overlaps with or connects to the first detection area, ensuring that the N+1 detection areas cover 360°, achieving omnidirectional imaging. Here, N equals 360° / θ-1. In this embodiment, as... Figure 2 As shown, the rotating mechanism rotates N times in a clockwise direction.

[0047] In a specific embodiment of the present invention, the rotation mechanism includes a controller, a servo motor, a reducer, a position sensor, and a turntable. The controller is connected to the signal processing module of the MIMO radar and the control terminal of the servo motor. The output terminal of the servo motor is connected to the turntable through the reducer. The position sensor is used to monitor the position of the turntable's zero point orientation. The controller is used to receive instructions from the MIMO radar and control the servo motor to rotate according to the instructions and the feedback data from the position sensor, thereby driving the MIMO radar to rotate to the corresponding detection position.

[0048] The rotation mechanism, driven by a servo motor, features fast response and high control precision. Combined with the controller's closed-loop control algorithm, it can quickly and accurately rotate the MIMO radar to the next detection position. High rotation speed reduces the time required to complete a 360° scan, enabling better capture and tracking of dynamic targets and meeting real-time monitoring needs. High precision ensures accurate radar orientation information at each detection position, which is beneficial for subsequent stitching processing.

[0049] MIMO radar is used to scan and acquire detection data within the corresponding detection area at each detection location; based on the positioning and orientation data of the MIMO radar at each detection location and the detection data within the corresponding detection area, the positioning data of the target within the detection area corresponding to each detection location is calculated; based on the positioning data of the target in the adjacent detection area, a common target is determined; based on the detection data of the common target in the adjacent detection area, the detection data of the adjacent detection area are registered and stitched together to obtain the detection data and positioning data of all targets within the 360° panoramic range.

[0050] MIMO radar employs a multiple-transmit, multiple-receive architecture and a linear frequency-modulated continuous wave (LFM) system, enabling time-division multiplexing for both transmission and reception, with only one transmit channel operating at any given time. A MIMO radar includes an antenna, system clock, frequency source module, transmitter, receiver, and signal processing module. The antenna is used for directional transmission and reception of radio frequency (RF) signals, i.e., transmitting electromagnetic wave signals and receiving RF echo signals. The system clock provides a unified timing reference for the entire radar system, ensuring that all components operate in a phase-coherent coordinated state. The frequency source module generates two low-phase-noise, coherent linear RF signals; one serves as the excitation signal for the transmit link, and the other as the local oscillator input for the receiver's mixer stage. The transmitter controls the transmission of signals from each channel according to a preset timing sequence, amplifies the RF signals to a predetermined power level, and feeds them to the transmitting antenna. The receiver amplifies the RF echo acquired by the receiving antenna with low noise and down-converts it to an intermediate frequency (IF) using the IF signal. The signal processing module acquires and digitizes the IF output signal to complete subsequent signal analysis and information extraction. MIMO radar has two-dimensional imaging capabilities, which can accurately obtain the relative position information between the target and the radar.

[0051] MIMO radar has a corresponding detection area at each detection location. This detection area is fan-shaped and has an angle of α. At each detection location (same latitude and longitude, different orientations), the MIMO radar initiates a scan, acquiring a set of echo data. This echo data is then processed to obtain the detection data within the corresponding detection area. The detection data includes the target's distance relative to the radar, the target's angle relative to the radar normal, and the target's position in the radar coordinate system.

[0052] MIMO radar employs a leading intermediate frequency (IF) receiver architecture, where there is a direct linear relationship between the target's distance relative to the radar and the IF frequency, specifically:

[0053] (1)

[0054] in, This indicates the intermediate frequency (IF) of the receiver. Indicates the sweep slope, Indicates the distance of the target relative to the radar. This represents the speed of light. Therefore, the distance between the target and the radar can be obtained from the receiver's intermediate frequency.

[0055] The angle between a target and the radar normal can be obtained using phase angle measurement. Phase angle measurement measures the angle by comparing the phase difference between the echo signals received by multiple antennas. When a distant target is located at an angle β to the radar normal, its reflected electromagnetic wave can be approximated as a plane wave. If the distance between the receiving antennas is d, the electromagnetic wave will produce a path difference ∆R when reaching different antennas, thus causing a phase difference. By measuring and processing the phase difference between channels, the angle β between the target direction and the radar normal can be calculated, that is, the angle β between the target and the radar normal (e.g., the angle between the target and the radar normal). Figure 3 (as shown)

[0056] (2)

[0057] in, Indicates the phase difference between receiving channels. Indicates the wavelength of the radar radio frequency signal. This represents the path difference between the signals received by the two receiving antennas.

[0058] The target's position in the radar coordinate system can be calculated based on the target's distance relative to the radar and the angle between the target and the radar normal.

[0059] The MIMO radar receives positioning and orientation data from the positioning and orientation module at each detection location. Combined with its own acquired detection data within the corresponding detection area, the MIMO radar can calculate the target's positioning data (latitude and longitude) within that area for each detection location. The specific calculation formula is as follows:

[0060] (3)

[0061] (4)

[0062] in, This represents the latitude and longitude of the target within the k-th detection area; This represents the latitude and longitude of the MIMO radar at the k-th detection location; This represents the distance of the target relative to the radar within the k-th detection area; This represents the angle between the target and the radar normal within the k-th detection area; This indicates the orientation of the MIMO radar at the k-th detection position.

[0063] The rotating mechanism rotates N times, resulting in N+1 detection positions and N+1 detection areas, with overlapping areas between adjacent detection areas. Since the same target shares the same latitude and longitude, a common target can be determined based on the latitude and longitude of targets within two adjacent detection areas. A common target refers to a target that is detected by the MIMO radar in both adjacent detection areas and represents the same physical existence. In a specific embodiment of this invention, the MIMO radar is used to determine the common target based on the positioning data of targets within adjacent detection areas, specifically including:

[0064] Determine the overlapping area between the k-th detection region and the (k+1)-th detection region;

[0065] Calculate the distance between target i in the k-th detection area and target j in the (k+1)-th detection area within the overlapping region based on the latitude and longitude of the target.

[0066] Determine if the distance is less than the set distance threshold. If so, it indicates that target i and target j are the same target, that is, target i in the k-th detection area and target j in the (k+1)-th detection area are common targets in adjacent detection areas.

[0067] The common target is a bridge connecting adjacent detection areas. By registering and stitching the detection data of adjacent detection areas based on the detection data of the common target within those areas, the detection and positioning data of all targets within a 360° panoramic view can be obtained. The specific process is as follows:

[0068] Calculate the homography transformation matrix based on the detection data of the common target in adjacent detection areas;

[0069] Based on the homography transformation matrix, all targets in the (k+1)th detection region are mapped to the kth detection region, and the detection data of common targets in the kth detection region are fused to achieve the registration and stitching of detection data in adjacent detection regions.

[0070] The system of this invention is equipped with a rotating mechanism for the MIMO radar. The rotating mechanism precisely controls the scanning direction of the MIMO radar, thereby expanding the radar's detection range. The precise latitude, longitude, and orientation of the MIMO radar are obtained using positioning and orientation technology. Combined with its own detection data, the latitude and longitude of the target can be calculated. By using the common target in the overlapping area of ​​adjacent detection areas, registration is performed to stitch together the detection data of multiple detection areas, and finally, a 360° detection result with known latitude and longitude of all targets is obtained.

[0071] The speed of 360° imaging in synthetic aperture radar (SAR) is affected by the turntable. The turntable needs to complete a 360° rotation to obtain a 260° imaging result. The turntable's rotation speed, in turn, affects the performance of the SAR. If the turntable rotates too fast, it reduces the radar's accumulation time and lowers its detection performance. In this invention, the MIMO radar does not sample data during the rotation of the rotating mechanism. The rotation speeds of the servo motor and turntable do not affect the radar's testing performance, and these speeds can be set very high. Since the detection area of ​​a MIMO radar typically has an angle greater than 90°, by setting the rotation step of the rotating mechanism to 72° per rotation, only five detection results need to be stitched together to complete 360° imaging.

[0072] The positioning and orientation module utilizes PPP differential positioning technology to accurately obtain the radar's latitude, longitude, and orientation, achieving centimeter-level positioning accuracy and less than 1° orientation accuracy. Based on the radar's latitude, longitude, and orientation, as well as the relative position information between the target and the radar, the latitude and longitude of the detected targets can be obtained. By stitching together multiple detection results, the latitude and longitude of all targets can be obtained. Therefore, the system of this invention has advantages such as high rotational speed, high-precision positioning, and 360° imaging. Example 2

[0073] Figure 4 This invention illustrates a panoramic detection method based on MIMO radar, wherein the MIMO radar is connected to a rotation mechanism and a positioning and orientation module. For example... Figure 4 As shown, the detection method includes the following steps:

[0074] Step 1: Use the positioning and orientation module to obtain the positioning and orientation data of the MIMO radar at the current detection location.

[0075] The detection range of a MIMO radar is a fan-shaped detection area with radius r and an included angle or subtended angle α. After the MIMO radar is set up in a certain direction, the positioning and orientation module can acquire the positioning and orientation data of the MIMO radar at the first detection position. The positioning and orientation data includes the latitude and longitude of the MIMO radar and its orientation, where the radar orientation refers to the angle γ of the radar normal being north of east. When the MIMO radar is rotated to the next detection position by a rotating mechanism, the positioning and orientation module can acquire the positioning and orientation data of the MIMO radar at the second detection position; and so on, acquiring the positioning and orientation data of the MIMO radar at each detection position. The positioning and orientation module transmits the positioning and orientation data of the MIMO radar at each detection position to the MIMO radar's signal processing module.

[0076] Step 2: The MIMO radar starts scanning at the current detection location and acquires detection data within the current detection area; it calculates the positioning data of the target within the current detection area based on the positioning and orientation data and the detection data.

[0077] The MIMO radar starts scanning at the first detection position, completes a set of echo data acquisition, processes the echo data to obtain the detection data in the first detection area. The detection data includes the target's distance relative to the radar, the angle between the target and the radar normal, and the target's position in the radar coordinate system. When the MIMO radar is rotated to the next detection position by the rotating mechanism, the MIMO radar starts scanning at the second detection position, completes a set of echo data acquisition, processes the echo data to obtain the detection data in the second detection area; and so on, the MIMO radar itself can acquire the detection data in each detection area. Based on the positioning and orientation data of the MIMO radar at the kth detection position and the detection data in the kth detection area, the positioning data of the target in the kth detection area can be calculated, see formulas (3) and (4) in Example 1.

[0078] Step 3: The rotating mechanism rotates under the command of the MIMO radar, driving the MIMO radar to the next detection position; wherein, the rotation angle of the rotating mechanism is smaller than the angle of the detection area of ​​the MIMO radar.

[0079] After the MIMO radar acquires detection data within the corresponding detection area at the k-th detection position, it sends a command to the rotation mechanism. The controller of the rotation mechanism controls the servo motor to rotate under the command, thereby driving the MIMO radar to rotate, changing its orientation, and reaching the next detection position.

[0080] Step 4: Repeat steps 1 to 3 until the MIMO radar completes 360° panoramic detection and obtains detection data and target location data in multiple detection areas.

[0081] The rotating mechanism rotates N times in the same direction, resulting in N+1 detection areas. The N+1th detection area overlaps with or connects to the first detection area, ensuring that the N+1 detection areas cover 360°, achieving omnidirectional imaging. Here, N equals 360° / θ-1. Therefore, when determining the rotation angle θ of the rotating mechanism, we can determine whether the MIMO radar has completed 360° panoramic detection by judging whether the number of rotations reaches N.

[0082] Step 5: Determine the common target based on the positioning data of targets in adjacent detection areas.

[0083] In a specific embodiment of the present invention, determining a common target based on the positioning data of targets within adjacent detection areas includes:

[0084] Step 5.1: Determine the overlap area between the k-th detection region and the (k+1)-th detection region;

[0085] Step 5.2: Calculate the distance between target i in the kth detection area and target j in the (k+1)th detection area within the overlapping region based on the latitude and longitude of the target;

[0086] Step 5.3: Determine whether the distance is less than the set distance threshold. If so, it means that target i and target j are the same target, that is, target i in the k-th detection area and target j in the (k+1)-th detection area are common targets in adjacent detection areas.

[0087] Step 6: Based on the detection data of common targets, register and stitch the detection data of adjacent detection areas to obtain the detection data and positioning data of all targets within the 360° panoramic range.

[0088] In a specific embodiment of the present invention, the registration and stitching of detection data from adjacent detection areas based on detection data of a common target includes:

[0089] Step 6.1: Calculate the homography transformation matrix based on the detection data of the common target in adjacent detection areas.

[0090] Let P be the position of a common target P in the k-th detection area. k (i.e., the target position in the radar coordinate system) is At position P in the (k+1)th detection region k+1 (i.e., the target position in the radar coordinate system) is Location P k With position P k+1 The homography transformation relationship between them is completely described by a 3x3 nonsingular matrix H:

[0091] (5)

[0092] Where H represents the homography transformation matrix. The mathematical expression for the homography transformation in homogeneous coordinate space is:

[0093] (6)

[0094] in, Indicates position P k+1 The homogeneous coordinates are mapped to the k-th detection region. The position P is obtained by normalizing the homogeneous coordinates to Cartesian coordinates. k+1 The actual location mapped to the k-th detection region, which is related to location P. k They are the same, therefore:

[0095] (7)

[0096] (8)

[0097] If there are m common targets in the overlapping area of ​​two adjacent detection areas, the homography transformation matrix H can be solved according to formulas (7) and (8) generated by the m common targets.

[0098] Step 6.2: Based on the homography transformation matrix, map all targets in the (k+1)th detection region to the kth detection region, and fuse the detection data of common targets in the kth detection region to achieve registration and stitching of detection data in adjacent detection regions.

[0099] Based on the homography transformation matrix H, all targets (i.e., target positions in the radar coordinate system) within the (k+1)th detection region are mapped to the kth detection region. The mapped kth detection region contains the detection data from the (k+1)th detection region and the detection data from the original kth detection region. Since a single common target P has two latitude and longitude coordinates in the kth detection region after mapping, these two coordinates need to be fused so that the mapped common target P has only one latitude and longitude coordinate in the kth detection region. In this example, the average of the two coordinates can be taken to obtain the fused coordinates.

[0100] Specifically, based on the homography transformation matrix, all targets in the (N+1)th detection region are mapped to the Nth detection region, and the detection data of common targets in the Nth detection region are fused to obtain the fused Nth detection region. Similarly, based on the homography transformation matrix, all targets in the fused Nth detection region are mapped to the (N-1)th detection region, and the detection data of common targets in the (N-1)th detection region are fused to obtain the fused (N-1)th detection region. This process continues, and based on the homography transformation matrix, all targets in the fused 2nd detection region are mapped to the fused 1st detection region, and the detection data of common targets in the fused 1st detection region are fused to obtain the fused 1st detection region. The fused 1st detection region contains detection and positioning data for all targets within a 360° range.

[0101] In some specific embodiments of the present invention, the panoramic detection method can be combined with the features of the panoramic detection system in Embodiment 1 of the present invention, and vice versa, so it will not be described in detail here. Example 3

[0102] This invention also provides a MIMO radar, which is mounted on a rotating mechanism and changes its detection position by rotating the mechanism. The MIMO radar is used for:

[0103] Scan and acquire detection data within the corresponding detection area at each detection location; calculate the target location data within the detection area corresponding to each detection location based on the positioning and orientation data of the MIMO radar at each detection location and the detection data; determine the common target based on the target location data in adjacent detection areas; register and stitch the detection data of adjacent detection areas based on the detection data of the common target in adjacent detection areas to obtain the detection data and location data of all targets within the 360° panoramic range.

[0104] In a specific embodiment of the present invention, a positioning and orientation module is used to acquire the positioning and orientation data of the MIMO radar at each detection location.

[0105] In some specific embodiments of the present invention, the MIMO radar can be combined with the features of the panoramic detection system in Embodiment 1 of the present invention, and vice versa, so it will not be described in detail here.

[0106] The above description only discloses specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or modifications that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A panoramic detection system, characterized in that, The system includes a MIMO radar, a rotating mechanism, and a positioning and orientation module; The positioning and orientation module is connected to the MIMO radar and is used to acquire the positioning and orientation data of the MIMO radar at each detection location; The rotating mechanism is connected to the MIMO radar and is used to receive commands from the MIMO radar and rotate to drive the MIMO radar to different detection positions; wherein, the rotation angle of the rotating mechanism is smaller than the angle of the detection area of ​​the MIMO radar. The MIMO radar is used to scan and acquire detection data within the corresponding detection area at each detection location; calculate the positioning data of the target within the detection area corresponding to each detection location based on the positioning and orientation data and the detection data; determine a common target based on the positioning data of the target in adjacent detection areas; and register and stitch the detection data of adjacent detection areas based on the detection data of the common target in adjacent detection areas to obtain the detection data and positioning data of all targets within a 360° panoramic range. The detection data within the detection area includes the target's distance relative to the radar and the angle between the target and the radar normal; the target's location data within the detection area is its latitude and longitude, calculated using the following formula: ； ； in, This represents the latitude and longitude of the target within the k-th detection area; This represents the latitude and longitude of the MIMO radar at the k-th detection location; This represents the distance of the target relative to the radar within the k-th detection area; This represents the angle between the target and the radar normal within the k-th detection area; This indicates the orientation of the MIMO radar at the k-th detection position.

2. The panoramic detection system according to claim 1, characterized in that, The positioning and orientation module is used to acquire positioning and orientation data of the MIMO radar at each detection location using PPP differential positioning technology.

3. The panoramic detection system according to claim 1 or 2, characterized in that, The rotating mechanism includes a controller, a servo motor, a reducer, a position sensor, and a turntable. The controller is connected to the signal processing module of the MIMO radar and the control terminal of the servo motor. The output terminal of the servo motor is connected to the turntable through the reducer. The MIMO radar is mounted on the turntable. The position sensor is used to monitor the orientation of the turntable's zero point; the controller is used to receive instructions from the MIMO radar and control the servo motor to rotate according to the instructions and feedback data from the position sensor, thereby driving the MIMO radar to rotate to the corresponding detection position.

4. A panoramic detection method based on MIMO radar, characterized in that, The MIMO radar is connected to the rotation mechanism and the positioning and orientation module, and the detection method includes: The positioning and orientation module is used to acquire the positioning and orientation data of the MIMO radar at the current detection location; The MIMO radar initiates scanning at the current detection location and acquires detection data within the current detection area; it then calculates the positioning data of the target within the current detection area based on the positioning and orientation data and the detection data. The rotating mechanism rotates under the command of the MIMO radar, driving the MIMO radar to the next detection position; wherein the rotation angle of the rotating mechanism is smaller than the angle of the detection area of ​​the MIMO radar. Repeat the above steps until the MIMO radar completes 360° panoramic detection and obtains detection data and target positioning data in multiple detection areas; A common target is determined based on the location data of targets in adjacent detection areas; Based on the detection data of the common target, the detection data of adjacent detection areas are registered and stitched together to obtain the detection data and positioning data of all targets within the 360° panoramic range; The detection data within the current detection area includes the target's distance relative to the radar and the angle between the target and the radar normal; the target's location data within the current detection area is its latitude and longitude, calculated using the following formula: ； ； in, This represents the latitude and longitude of the target within the k-th detection area; This represents the latitude and longitude of the MIMO radar at the k-th detection location; This represents the distance of the target relative to the radar within the k-th detection area; This represents the angle between the target and the radar normal within the k-th detection area; This indicates the orientation of the MIMO radar at the k-th detection position.

5. The panoramic detection method based on MIMO radar according to claim 4, characterized in that, Based on the location data of targets in adjacent detection areas, common targets are identified, including: Determine the overlapping area between the k-th detection region and the (k+1)-th detection region; Calculate the distance between target i in the kth detection area and target j in the (k+1)th detection area within the overlapping region based on the target's location data; Determine whether the distance is less than a set distance threshold. If so, target i in the k-th detection area and target j in the (k+1)-th detection area are common targets in adjacent detection areas.

6. The panoramic detection method based on MIMO radar according to claim 4 or 5, characterized in that, Based on the detection data of the common target in adjacent detection areas, the detection data of adjacent detection areas are registered and stitched together, including: Calculate the homography transformation matrix based on the detection data of the common target in adjacent detection areas; Based on the homography transformation matrix, all targets in the (k+1)th detection region are mapped to the kth detection region, and the detection data of common targets in the kth detection region are fused to achieve the registration and stitching of detection data in adjacent detection regions.

7. A MIMO radar, characterized in that, The MIMO radar is mounted on a rotating mechanism and its detection position is changed by the rotation of the rotating mechanism. The MIMO radar is used for: Scan and acquire detection data within the corresponding detection area at each detection location; calculate the target location data within the detection area corresponding to each detection location based on the positioning and orientation data of the MIMO radar at each detection location and the detection data; determine the common target based on the target location data in adjacent detection areas; register and stitch the detection data of adjacent detection areas based on the detection data of the common target in adjacent detection areas to obtain the detection data and location data of all targets within the 360° panoramic range. The detection data within the detection area includes the target's distance relative to the radar and the angle between the target and the radar normal; the target's location data within the detection area is its latitude and longitude, calculated using the following formula: ； ； in, This represents the latitude and longitude of the target within the k-th detection area; This represents the latitude and longitude of the MIMO radar at the k-th detection location; This represents the distance of the target relative to the radar within the k-th detection area; This represents the angle between the target and the radar normal within the k-th detection area; This indicates the orientation of the MIMO radar at the k-th detection position.

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