Coordinate transformation cooperative detection method and system based on dual-radar multi-dimensional rotation model

Abstract

The invention relates to a coordinate transformation cooperative detection method and system based on a double-radar multi-dimensional rotation model, and the method comprises the steps: constructing a vehicle-mounted double-radar multi-dimensional rotary table model which is provided with a large rotary table, a large radar, a small radar and a lifting platform; defining a rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model based on a right-hand rule; polar coordinates of a detection target on a polar coordinate system of the small radar are converted into polar coordinates on a polar coordinate system of the large radar through a defined rectangular coordinate system of the vehicle-mounted double-radar multi-dimensional turntable model; the polar coordinates of the detection target on the polar coordinate system of the large radar are inversely converted into polar coordinates on the polar coordinate system of the small radar through the defined rectangular coordinate system of the vehicle-mounted double-radar multi-dimensional turntable model. According to the invention, synchronous rotation and bidirectional coordinate conversion can be realized, dead-angle-free detection is realized, the target positioning and tracking precision is improved, and the vehicle-mounted radar complex scene adaptability and reliability are enhanced.

Description

Technical Field

[0001] This application relates to the field of radar electronics technology, and in particular to a coordinate transformation collaborative detection method and system based on a dual-radar multidimensional rotation model. Background Technology

[0002] With the rapid development of intelligent driving and advanced driver assistance systems (ADAS), vehicle-mounted radar, as a core environmental perception device, needs to meet the requirements of 360° all-space detection, high-precision target positioning, and stable tracking in complex traffic scenarios. Single radars, limited by their field of view, detection range, and anti-interference capabilities, struggle to cope with complex conditions such as obstructed views at urban intersections and adverse weather conditions. Dual-radar collaborative detection, with its advantages of complementary fields of view and redundant data backup, has become a mainstream technology for improving the robustness of perception systems. Among these technologies, achieving data interoperability between the two radars through multi-coordinate system integration and coordinate transformation is the core of supporting the collaborative search and tracking mode, directly impacting the detection efficiency and positioning accuracy of the entire perception system.

[0003] In existing technologies, vehicle-mounted dual radars typically employ a separate, independently deployed design, with two radars installed at different locations within the vehicle. Each radar collects target data through its own detection module, and the data is then fused using a simple algorithm. However, this approach suffers from significant rotational delays and asynchrony between the two radars, easily leading to fragmented fields of view and hindering comprehensive, blind-spot-free collaborative detection across the entire airspace. Furthermore, the independent calibration of each radar's coordinate system results in accumulated errors during coordinate transformation, leading to low accuracy in data exchange between the two radars and impacting target tracking stability. Additionally, the system can only transmit data in one direction, resulting in insufficient anti-interference capabilities and adaptability to complex scenarios.

[0004] Therefore, it is necessary to improve one or more of the problems existing in the above-mentioned related technical solutions.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this disclosure is to provide a coordinate transformation collaborative detection method and system based on a dual-radar multidimensional rotation model, thereby overcoming, to at least to some extent, one or more problems caused by the limitations and defects of related technologies.

[0007] Firstly, this application provides a coordinate transformation cooperative detection method based on a dual-radar multidimensional rotation model, including: A vehicle-mounted dual-radar multi-dimensional turntable model is constructed, consisting of a large turntable, a large radar, a small radar, and a lifting platform. The small radar is mounted on the lifting platform, and the rotation of the large turntable drives the large radar and the small radar to rotate synchronously. The rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model is defined based on the right-hand rule, including: the large turntable rectangular coordinate system, the lifting platform rectangular coordinate system, the large radar rectangular coordinate system, and the small radar rectangular coordinate system. The polar coordinates of the detected target in the polar coordinate system of the small radar are converted into polar coordinates in the polar coordinate system of the large radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model. The polar coordinates of the target in the large radar polar coordinate system are inversely converted into polar coordinates in the small radar polar coordinate system through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model.

[0008] In one possible implementation, the step of constructing a vehicle-mounted dual-radar multi-dimensional turntable model with a large turntable, a large radar, a small radar, and a lifting platform includes: With the center of the large turntable as the origin, the large radar is deployed at the center of the large turntable; A lifting device is installed at the edge of the large turntable, and the small radar is installed on top of the lifting device; Adjust the relative installation positions of the large radar, small radar, lifting device and large turntable so that the detection coverage of the large radar and small radar can achieve 360-degree synergy and complementarity when the large turntable rotates.

[0009] In one possible implementation, the rectangular coordinate system of the large turntable is with the center of the large turntable as the origin, the long side of the large turntable as the x-axis, the short side of the large turntable as the y-axis, and the vertical upward direction as the z-axis, satisfying the right-hand rule; The rectangular coordinates of the lifting platform are defined with the center of the top of the lifting platform as the origin, the long side of the large turntable as the x-axis, the short side of the large turntable as the y-axis, and the vertical upward direction as the z-axis, satisfying the right-hand rule. The rectangular coordinate system of the large radar is with the center of the large radar as the origin, the longer side as the x-axis, the shorter side as the y-axis, and the z-axis perpendicular to the radar surface of the large radar as the upward axis, satisfying the right-hand rule; The rectangular coordinate system of the small radar is with the center of the small radar as the origin, the longer side as the x-axis, the shorter side as the y-axis, and the z-axis perpendicular to the radar surface of the small radar as the upward axis, satisfying the right-hand rule.

[0010] In one possible implementation, the step of converting the polar coordinates of the detected target in the small radar polar coordinate system to polar coordinates in the large radar polar coordinate system through the defined Cartesian coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model includes: The polar coordinates of the target in the polar coordinate system of the small radar are transformed into the rectangular coordinate system of the small radar to obtain the first coordinates; The first coordinate is transformed into the Cartesian coordinate system of the lifting platform to obtain the second coordinate; The second coordinate is transformed into the Cartesian coordinate system of the large turntable to obtain the third coordinate; The third coordinate is transformed into the large radar rectangular coordinate system to obtain the fourth coordinate; The fourth coordinate is transformed into the large radar polar coordinate system to obtain the polar coordinates of the detected target in the large radar polar coordinate system.

[0011] In one possible implementation, the expression for transforming the polar coordinates of the detected target in the polar coordinate system of the small radar to the rectangular coordinate system of the small radar is as follows: in, , , As the first coordinate, This represents the distance of the target detected by the small radar in the small radar's polar coordinate system. Let be the elevation angle of the target detected by the small radar in the small radar polar coordinate system. The azimuth angle of the target detected by the small radar in the small radar polar coordinate system.

[0012] In one possible implementation, the expression for transforming the first coordinate to the Cartesian coordinate system of the lifting platform is: in, , , The second coordinate, This is the azimuth code value for the small radar. This refers to the elevation code value of the small radar. , , The coordinates of the lifting platform center in the small radar Cartesian coordinate system are given.

[0013] In one possible implementation, the expression for transforming the second coordinates to the Cartesian coordinate system of the large turntable is: in, , , As the third coordinate, , , The coordinates of the lifting platform center on the large turntable's rectangular coordinate system are given.

[0014] In one possible implementation, the expression for transforming the third coordinate to the large radar rectangular coordinate system is: in, , , The fourth coordinate. For large radar elevation angles , The coordinates of the center of the large radar axis in the Cartesian coordinate system of the large turntable.

[0015] In one possible implementation, the expression for transforming the fourth coordinate to the large radar polar coordinate system is: in, This represents the distance of the target detected by the small radar to the large radar in the polar coordinate system. The elevation angle of the target detected by the small radar in the polar coordinate system of the large radar. The azimuth angle of the target detected by the small radar in the polar coordinate system of the large radar.

[0016] Secondly, this application provides a coordinate transformation cooperative detection system based on a dual-radar multidimensional rotation model, the system being used to execute the above-described method, the system comprising: A vehicle-mounted dual-radar multi-dimensional turntable model is used to control the synchronous rotation of the large and small radars on it. The coordinate system definition module is used to define the rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model based on the right-hand rule, including: the large turntable rectangular coordinate system, the lifting platform rectangular coordinate system, the large radar rectangular coordinate system and the small radar rectangular coordinate system. The coordinate transformation module is used to convert the polar coordinates of the detected target in the polar coordinate system of the small radar into polar coordinates in the polar coordinate system of the large radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model. The coordinate inverse transformation module is used to convert the polar coordinates of the detected target in the polar coordinate system of the large radar into polar coordinates in the polar coordinate system of the small radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model.

[0017] The technical solution provided in this application may include the following beneficial effects: This application presents a coordinate transformation collaborative detection method and system based on a dual-radar multidimensional rotation model. It enables the large and small radars to rotate synchronously via a large turntable, eliminating the rotation delay and field-of-view fragmentation issues inherent in traditional separate deployments. This achieves 360° airspace detection without blind spots, improving the timeliness of target acquisition in complex scenarios. Furthermore, by defining a multi-dimensional Cartesian coordinate system using a unified right-hand rule, a standardized benchmark is provided for bidirectional polar coordinate transformation between the two radars, ensuring accurate interoperability and adaptation between small radar search data and large radar tracking data, significantly improving target positioning and tracking accuracy. Simultaneously, based on the forward and inverse transformation mechanisms between polar and Cartesian coordinates, it provides a redundant backup guarantee for the dual radars and can flexibly adapt to different detection mission requirements, expanding the application scenarios and environmental adaptability of vehicle-mounted radar systems.

[0018] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0020] Figure 1 This diagram illustrates a flowchart of a coordinate transformation collaborative detection method based on a dual-radar multidimensional rotation model in an exemplary embodiment of this disclosure. Figure 2 A detailed flowchart of step S100 of the coordinate transformation cooperative detection method based on a dual-radar multidimensional rotation model in an exemplary embodiment of this disclosure is shown. Figure 3 This diagram illustrates a vehicle-mounted dual-radar multidimensional turntable model of the coordinate transformation collaborative detection method based on a dual-radar multidimensional rotation model in an exemplary embodiment of this disclosure. Figure 4 This diagram illustrates the definition of the Cartesian coordinate system for the large turntable in the coordinate transformation and collaborative detection method based on a dual-radar multidimensional rotation model, as shown in an exemplary embodiment of this disclosure. Figure 5 This diagram illustrates the definition of the Cartesian coordinate system between the large and small radars in the coordinate transformation collaborative detection method based on a dual-radar multidimensional rotation model, as shown in an exemplary embodiment of this disclosure. Figure 6 This diagram illustrates the definition of the Cartesian coordinate system of the lifting platform in the coordinate transformation and collaborative detection method based on a dual-radar multidimensional rotation model, as shown in an exemplary embodiment of this disclosure. Figure 7A detailed flowchart of step S300 of the coordinate transformation cooperative detection method based on a dual-radar multidimensional rotation model in an exemplary embodiment of this disclosure is shown. Figure 8 A detailed flowchart of step S400 of the coordinate transformation cooperative detection method based on a dual-radar multidimensional rotation model in an exemplary embodiment of this disclosure is shown. Figure 9 This diagram illustrates the structure of a coordinate transformation collaborative detection system based on a dual-radar multidimensional rotation model in an exemplary embodiment of this disclosure. Detailed Implementation

[0021] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that this disclosure will be more comprehensive and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0022] This example implementation first provides a coordinate transformation collaborative detection method based on a dual-radar multidimensional rotation model. This method can be applied to a terminal device, such as a mobile terminal like a mobile phone, desktop computer, personal digital assistant, laptop, tablet, or smartwatch. (Reference) Figure 1 As shown, the method may include the following steps: Step S100: Construct a vehicle-mounted dual-radar multi-dimensional turntable model with a large turntable, a large radar, a small radar, and a lifting platform; the small radar is set on the lifting platform, and the rotation of the large turntable drives the large radar and the small radar to rotate synchronously.

[0023] Step S200: Define the Cartesian coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model based on the right-hand rule, including: the large turntable Cartesian coordinate system, the lifting platform Cartesian coordinate system, the large radar Cartesian coordinate system, and the small radar Cartesian coordinate system.

[0024] Step S300: Convert the polar coordinates of the detected target in the polar coordinate system of the small radar into polar coordinates in the polar coordinate system of the large radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model.

[0025] Step S400: Convert the polar coordinates of the detected target in the polar coordinate system of the large radar into polar coordinates in the polar coordinate system of the small radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model.

[0026] The above method can achieve synchronous rotation of the large and small radars by constructing an integrated vehicle-mounted dual-radar multi-dimensional turntable model, overcoming the limitations of asynchronous rotation and fragmented field of view in traditional dual-radar separate deployments. At the same time, by uniformly defining a multi-dimensional rectangular coordinate system based on the right-hand rule, a standardized coordinate reference framework is built for cross-system conversion of dual-radar detection data. Furthermore, based on the forward and inverse conversion mechanism between polar coordinates and rectangular coordinates, accurate interoperability between small radar search data and large radar tracking data is achieved, effectively improving the target acquisition efficiency, positioning accuracy, and adaptability to complex scenarios of the vehicle-mounted radar system.

[0027] Below, we will refer to Figures 2 to 8 The steps of the method described above in this example embodiment will be explained in more detail.

[0028] In step S100, a vehicle-mounted dual-radar multi-dimensional turntable model is constructed, which includes a large turntable, a large radar, a small radar, and a lifting platform. The small radar is set on the lifting platform, and the rotation of the large turntable drives the large radar and the small radar to rotate synchronously.

[0029] It should be noted that, as Figure 3 As shown, the vehicle-mounted dual-radar multi-dimensional turntable model solves the problems of asynchronous rotation and low collaborative detection efficiency when dual radars are installed separately in the traditional way by integrating the deployment of the large turntable. The large turntable synchronously drives the dual radars to rotate, which can ensure the consistency of their detection timing and provide the hardware foundation for subsequent coordinate collaborative transformation.

[0030] In one embodiment, such as Figure 2 As shown, step S100 may include the following sub-steps.

[0031] In step S110, the large radar is deployed at the center of the large turntable, with the center of the large turntable as the origin.

[0032] It should be noted that deploying the large radar at the center of the large turntable can improve the stability of the large radar during rotation, and make the force more balanced at the center position. On the other hand, it can make the large radar serve as the reference radar for the entire detection system, and its central deployment position facilitates the establishment of a unified coordinate reference system in the future.

[0033] Furthermore, the large radar has a first pitch and lift mechanism.

[0034] It should be noted that the first pitch and lift mechanism can independently adjust the vertical detection angle of the large radar, which can adapt to the target tracking needs at different altitudes, such as low-altitude UAVs and high-altitude aircraft. At the same time, in conjunction with the rotation of the large turntable, the large radar can achieve flexible detection in three-dimensional space.

[0035] In step S120, a lifting device is installed at the edge of the large turntable, and the small radar is installed on top of the lifting device.

[0036] It should be noted that setting up a lifting device and installing a small radar at the edge of the large turntable not only utilizes the space at the edge of the turntable, but also raises the installation height of the small radar through the lifting device. This can effectively prevent the small radar from being blocked by the large radar or the turntable itself, and expand the horizontal detection field of the small radar.

[0037] Furthermore, the small radar has an azimuth rotation mechanism and a second pitch lifting structure.

[0038] It should be noted that the azimuth rotation mechanism allows the small radar to independently adjust its horizontal detection direction on the lifting platform, while the second pitch lifting structure can supplement the vertical detection flexibility of the small radar. The combination of the two allows the small radar to achieve more accurate local area search based on the lifting height, thus complementing the global tracking of the large radar.

[0039] In step S130, the relative installation positions of the large radar, small radar, lifting device and large turntable are adjusted so that the detection coverage of the large radar and small radar can achieve 360-degree synergy and complementarity when the large turntable rotates.

[0040] It should be noted that the relative position adjustment here needs to be adapted in conjunction with the detection parameters of the two radars, such as detection range and angle range. The core of 360-degree synergy and complementarity is to make the search blind spot of the small radar covered by the large radar and the tracking blind spot of the large radar filled by the small radar, so as to achieve a detection effect without blind spots in the entire airspace.

[0041] In step S200, the rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model is defined based on the right-hand rule, including: the large turntable rectangular coordinate system, the lifting platform rectangular coordinate system, the large radar rectangular coordinate system, and the small radar rectangular coordinate system.

[0042] It should be noted that, as Figure 4-6 As shown, choosing the right-hand rule to define the rectangular coordinate system ensures that the coordinate axis directions of each coordinate system are logically consistent and unambiguous. At the same time, defining these four rectangular coordinate systems is to build a hierarchical coordinate link between the large turntable, the lifting platform, and the large / small radars, providing a standardized benchmark framework for the subsequent cross-system conversion of dual-radar detection data.

[0043] In one embodiment, the rectangular coordinate system of the large turntable is with the center of the large turntable as the origin, the long side of the large turntable as the x-axis, the short side of the large turntable as the y-axis, and the vertical upward direction as the z-axis, satisfying the right-hand rule; The rectangular coordinates of the lifting platform are defined with the center of the top of the lifting platform as the origin, the long side of the large turntable as the x-axis, the short side of the large turntable as the y-axis, and the vertical upward direction as the z-axis, satisfying the right-hand rule. The rectangular coordinate system of the large radar is with the center of the large radar as the origin, the longer side as the x-axis, the shorter side as the y-axis, and the z-axis perpendicular to the radar surface of the large radar as the upward axis, satisfying the right-hand rule; The rectangular coordinate system of the small radar is with the center of the small radar as the origin, the longer side as the x-axis, the shorter side as the y-axis, and the z-axis perpendicular to the radar surface of the small radar as the upward axis, satisfying the right-hand rule.

[0044] It should be noted that the coordinate axis directions of each coordinate system are designed to meet the needs of actual scenarios. The x / y axes of the large turntable correspond to the long / short sides of its structure, which facilitates physical position calibration during installation. The z-axis of the large and small radars is perpendicular to their own radar surfaces and pointing upwards because the core detection direction of the radar extends along the axis perpendicular to the radar surface, which can be directly associated with the radar's detection angle and coordinate parameters, greatly simplifying the subsequent conversion steps of detection data.

[0045] In step S300, the polar coordinates of the detected target in the polar coordinate system of the small radar are converted into polar coordinates in the polar coordinate system of the large radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model.

[0046] It should be noted that the polar coordinate data detected by the small radar as a search radar cannot be directly accessed by the large radar. Through the intermediate transformation of the Cartesian coordinate system, the search results of the small radar can be standardized into a polar coordinate format that the large radar can recognize, providing data support for the collaborative working mode of the two radars.

[0047] In one embodiment, such as Figure 7 As shown, step S300 may include the following sub-steps: In step S310, the polar coordinates of the target in the polar coordinate system of the small radar are transformed to the rectangular coordinate system of the small radar to obtain the first coordinates.

[0048] It should be noted that converting the polar coordinates of the small radar into its own rectangular coordinates is a necessary prerequisite for cross-coordinate system transformation. Polar coordinates are only applicable to the radar's own detection description and cannot be directly used for translation or rotation transformations between multiple coordinate systems. On the other hand, rectangular coordinates are a universal quantification form of spatial position, which can support the subsequent transmission of target position information between coordinate systems with different structures.

[0049] Furthermore, the expression for transforming the polar coordinates of the detected target in the polar coordinate system of the small radar to the rectangular coordinate system of the small radar is as follows: in, , , As the first coordinate, This represents the distance of the target detected by the small radar in the small radar's polar coordinate system. Let be the elevation angle of the target detected by the small radar in the small radar polar coordinate system. The azimuth angle of the target detected by the small radar in the small radar polar coordinate system.

[0050] It should be noted that the azimuth angle is... The angular components corresponding to the horizontal direction determine the x and y axis coordinates; pitch angle. The angular component corresponding to the vertical direction determines the z-axis coordinate. By combining trigonometric functions, the three-dimensional position of the target in the small radar rectangular coordinate system can be accurately restored.

[0051] In step S320, the first coordinates are transformed into the Cartesian coordinate system of the lifting platform to obtain the second coordinates.

[0052] It should be noted that the lifting platform is the structural connection carrier between the small radar and the large turntable. Therefore, converting the first coordinate to the lifting platform's rectangular coordinate is an intermediate link in realizing the link from the local coordinate of the small radar to the global coordinate of the large turntable. It is necessary to perform conversion based on the fixed installation position parameters of the lifting platform and the small radar, such as relative displacement, to ensure the accuracy of coordinate transmission.

[0053] Furthermore, the expression for transforming the first coordinates to the Cartesian coordinate system of the lifting platform is as follows: in, , , The second coordinate, This is the azimuth code value for the small radar. This refers to the elevation code value of the small radar. , , The coordinates of the lifting platform center in the small radar Cartesian coordinate system are given.

[0054] In step S330, the second coordinates are transformed into the rectangular coordinate system of the large turntable to obtain the third coordinates.

[0055] It should be noted that the coordinates of the lifting platform center in the large turntable's rectangular coordinate system are fixed values ​​determined during the turntable assembly stage. Therefore, by simply superimposing the second coordinate with this fixed coordinate, the position anchoring from the small radar associated coordinate system to the large turntable's global coordinate system can be completed, providing a unified global reference for the subsequent conversion to the large radar coordinate system.

[0056] Furthermore, the expression for transforming the second coordinates to the Cartesian coordinate system of the large turntable is as follows: in, , , As the third coordinate, , , The coordinates of the lifting platform center on the large turntable's rectangular coordinate system are given.

[0057] In step S340, the third coordinate is transformed into the large radar rectangular coordinate system to obtain the fourth coordinate.

[0058] It should be noted that, based on the fixed installation position parameters of the large radar in the rectangular coordinate system of the large turntable, such as the relative displacement between the center of the large radar and the center of the large turntable, the third coordinate in the global coordinate system of the large turntable is mapped to the local rectangular coordinate of the large radar itself; the converted fourth coordinate will be directly used as the basis data for subsequent polar coordinate conversion of the large radar.

[0059] Furthermore, the expression for transforming the third coordinate to the large radar rectangular coordinate system is as follows: in, , , The fourth coordinate. For large radar elevation angles , The coordinates of the center of the large radar axis in the Cartesian coordinate system of the large turntable.

[0060] In step S350, the fourth coordinate is transformed to the large radar polar coordinate system to obtain the polar coordinates of the detected target in the large radar polar coordinate system.

[0061] It should be noted that the tracking and control logic of the large radar operates based on its own polar coordinate parameters. Therefore, converting the fourth coordinate into the polar coordinate of the large radar allows the target information searched by the small radar to be directly adapted to the tracking system of the large radar, ultimately realizing the dual-radar collaborative function from the small radar's target search and discovery to the large radar's precise locking and tracking.

[0062] Furthermore, the expression for transforming the fourth coordinate to the large radar polar coordinate system is as follows: in, This represents the distance of the target detected by the small radar to the large radar in the polar coordinate system. The elevation angle of the target detected by the small radar in the polar coordinate system of the large radar. The azimuth angle of the target detected by the small radar in the polar coordinate system of the large radar.

[0063] In step S400, the polar coordinates of the detected target in the polar coordinate system of the large radar are inversely converted into polar coordinates in the polar coordinate system of the small radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model.

[0064] It should be noted that this step is the reverse data conversion process of step S300. Its core function is to realize the two-way communication of detection data between the two radars. When the large radar tracks the target but the small radar needs to perform a fine search of the area around the target, this reverse conversion can convert the tracking polar coordinates of the large radar into the search polar coordinates that the small radar can recognize. This allows the system to have the two-way collaborative capability of small radar searching to guide large radar tracking and large radar tracking to guide small radar searching, thereby improving the flexibility of target detection in complex scenarios.

[0065] In one embodiment, such as Figure 8 As shown, step S400 may include the following sub-steps: In step S410, the polar coordinates of the target on the large radar polar coordinate system are transformed to the rectangular coordinate system of the large radar to obtain the fourth coordinates.

[0066] It should be noted that the polar coordinates of the large radar are a proprietary data format of its tracking system and cannot be directly transformed between multiple coordinate systems; while the rectangular coordinates are a universal quantization form of spatial position and must be transformed first before the target position can be transferred between different coordinate systems in subsequent stages.

[0067] Furthermore, the expression for transforming the polar coordinates of the detected target in the polar coordinate system of the large radar to the rectangular coordinate system of the large radar is as follows: in, This represents the distance of the detected target in the large radar's polar coordinate system. The elevation angle of the target detected by the large radar in the large radar polar coordinate system. The azimuth angle of the target detected by the large radar in the large radar polar coordinate system.

[0068] In step S420, the fourth coordinate is transformed into the rectangular coordinate system of the large turntable to obtain the third coordinate.

[0069] It should be noted that this transformation is the link between the local coordinates of the large radar and the global coordinates of the large turntable in the reverse link. It is necessary to perform reverse conversion based on the fixed installation parameters of the large radar and the large turntable. For example, the coordinates of the center of the large radar axis in the Cartesian coordinate system of the large turntable are used to restore the fourth coordinate in the Cartesian coordinate system of the large radar to the position in the global coordinate system of the large turntable. This provides a unified global reference for the subsequent reverse conversion to the coordinate system of the lifting platform and the small radar.

[0070] Furthermore, the expression for transforming the fourth coordinate to the Cartesian coordinate system of the large turntable is as follows: .

[0071] In step S430, the third coordinate is transformed into the Cartesian coordinate system of the lifting platform to obtain the second coordinate.

[0072] It should be noted that this transformation is the link between the global coordinates of the large turntable and the local coordinates of the lifting platform in the inverse transformation link. It requires inverse calculation based on the fixed position parameters of the lifting platform center in the rectangular coordinate system of the large turntable. Through this step, the target position can be restored from the global coordinate system of the large turntable to the local coordinate system of the lifting platform, providing a basis for the subsequent inverse transformation to the small radar coordinate system.

[0073] Furthermore, the expression is: .

[0074] In step S440, the second coordinates are transformed into the small radar rectangular coordinate system to obtain the first coordinates.

[0075] It should be noted that the conversion needs to be based on the fixed installation position parameters of the small radar and the lifting platform, as well as the encoder status parameters of the small radar. Its purpose is to accurately restore the target position in the lifting platform coordinate system to the rectangular coordinates of the small radar itself, laying the foundation for the final conversion to the polar coordinates of the small radar.

[0076] Furthermore, the expression is: .

[0077] In step S450, the first coordinates are transformed to the small radar polar coordinate system to obtain the polar coordinates of the detected target in the small radar polar coordinate system.

[0078] It should be noted that the target information tracked by the large radar will be converted into a search polar coordinate format that can be directly called by the small radar, realizing the function of the large radar tracking and guiding the small radar to conduct fine search; the polar coordinate parameters are fully compatible with the search control logic of the small radar, and can directly drive the small radar to accurately detect the target area.

[0079] Furthermore, the expression for transforming the first coordinates to the small radar polar coordinate system is as follows: in, This represents the distance of the target detected by the large radar in the polar coordinate system of the small radar. The elevation angle of the target detected by the large radar in the polar coordinate system of the small radar. The azimuth angle of the target detected by the large radar in the polar coordinate system of the small radar.

[0080] Furthermore, the technical effects of this application are further illustrated through simulation experiments.

[0081] Simulation conditions: The basic detection parameters are set as follows: the target's distance, elevation angle, and azimuth angle in the small radar coordinate system [10000m, 0°, 0°]. To verify the correctness of the method, the elevation code values ​​of both the small and large radars are set to 30°, and the azimuth angle is also set to 0°. The lifting height is 2m. The coordinates of the small radar center in the center coordinate system of the lifting top platform are [0 0 0.5]. The coordinates of the lifting top platform center in the large turntable coordinate system are [-4 0 2]. The coordinates of the large radar axis center in the large turntable coordinate system are [0 1 1].

[0082] Simulation results and analysis: The target's coordinates in the small radar rectangular coordinate system are [10000, 0, 0]m, and the target's coordinates in the large radar rectangular coordinate system are [9996 16 8]m. The target's range, elevation angle, and azimuth angle in the large radar coordinate system are [10000m, 0°, -0.01°].

[0083] Furthermore, this example embodiment also provides a coordinate transformation cooperative detection system based on a dual-radar multidimensional rotation model. (Reference) Figure 9 As shown, the system may include: A vehicle-mounted dual-radar multi-dimensional turntable model is used to control the synchronous rotation of the large and small radars on it. The coordinate system definition module is used to define the rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model based on the right-hand rule, including: the large turntable rectangular coordinate system, the lifting platform rectangular coordinate system, the large radar rectangular coordinate system and the small radar rectangular coordinate system. The coordinate transformation module is used to convert the polar coordinates of the detected target in the polar coordinate system of the small radar into polar coordinates in the polar coordinate system of the large radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model. The coordinate inverse transformation module is used to convert the polar coordinates of the detected target in the polar coordinate system of the large radar into polar coordinates in the polar coordinate system of the small radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model.

[0084] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A coordinate transformation collaborative detection method based on a dual-radar multidimensional rotation model, characterized in that, include: A vehicle-mounted dual-radar multi-dimensional turntable model is constructed, consisting of a large turntable, a large radar, a small radar, and a lifting platform. The small radar is mounted on the lifting platform, and the rotation of the large turntable drives the large radar and the small radar to rotate synchronously. The rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model is defined based on the right-hand rule, including: the large turntable rectangular coordinate system, the lifting platform rectangular coordinate system, the large radar rectangular coordinate system, and the small radar rectangular coordinate system. The polar coordinates of the detected target in the polar coordinate system of the small radar are converted into polar coordinates in the polar coordinate system of the large radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model. The polar coordinates of the target in the large radar polar coordinate system are inversely converted into polar coordinates in the small radar polar coordinate system through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model.

2. The coordinate transformation cooperative detection method based on a dual-radar multidimensional rotation model according to claim 1, characterized in that, The steps for constructing a vehicle-mounted dual-radar multi-dimensional turntable model with a large turntable, a large radar, a small radar, and a lifting platform include: With the center of the large turntable as the origin, the large radar is deployed at the center of the large turntable; A lifting device is installed at the edge of the large turntable, and the small radar is installed on top of the lifting device; Adjust the relative installation positions of the large radar, small radar, lifting device and large turntable so that the detection coverage of the large radar and small radar can achieve 360-degree synergy and complementarity when the large turntable rotates.

3. The coordinate transformation cooperative detection method based on a dual-radar multidimensional rotation model according to claim 1, characterized in that, The rectangular coordinate system of the large turntable is with the center of the large turntable as the origin, the long side of the large turntable as the x-axis, the short side of the large turntable as the y-axis, and the vertical upward as the z-axis, satisfying the right-hand rule; The rectangular coordinates of the lifting platform are defined with the center of the top of the lifting platform as the origin, the long side of the large turntable as the x-axis, the short side of the large turntable as the y-axis, and the vertical upward direction as the z-axis, satisfying the right-hand rule. The rectangular coordinate system of the large radar is with the center of the large radar as the origin, the longer side as the x-axis, the shorter side as the y-axis, and the z-axis perpendicular to the radar surface of the large radar as the upward axis, satisfying the right-hand rule; The rectangular coordinate system of the small radar is with the center of the small radar as the origin, the longer side as the x-axis, the shorter side as the y-axis, and the z-axis perpendicular to the radar surface of the small radar as the upward axis, satisfying the right-hand rule.

4. The coordinate transformation and cooperative detection method based on a dual-radar multidimensional rotation model according to claim 1, characterized in that, The step of converting the polar coordinates of the detected target in the polar coordinate system of the small radar, through the defined Cartesian coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model, into polar coordinates in the polar coordinate system of the large radar includes: The polar coordinates of the target in the polar coordinate system of the small radar are transformed into the rectangular coordinate system of the small radar to obtain the first coordinates; The first coordinate is transformed into the Cartesian coordinate system of the lifting platform to obtain the second coordinate; The second coordinate is transformed into the Cartesian coordinate system of the large turntable to obtain the third coordinate; The third coordinate is transformed into the large radar rectangular coordinate system to obtain the fourth coordinate; The fourth coordinate is transformed into the large radar polar coordinate system to obtain the polar coordinates of the detected target in the large radar polar coordinate system.

5. The coordinate transformation and cooperative detection method based on a dual-radar multidimensional rotation model according to claim 4, characterized in that, The expression for transforming the polar coordinates of the detected target in the polar coordinate system of the small radar to the rectangular coordinate system of the small radar is as follows: in, , , As the first coordinate, This represents the distance of the target detected by the small radar in the small radar's polar coordinate system. Let be the elevation angle of the target detected by the small radar in the small radar polar coordinate system. The azimuth angle of the target detected by the small radar in the small radar polar coordinate system.

6. The coordinate transformation cooperative detection method based on a dual-radar multidimensional rotation model according to claim 4, characterized in that, The expression for transforming the first coordinates to the Cartesian coordinate system of the lifting platform is: in, , , The second coordinate, This is the azimuth code value for the small radar. This refers to the elevation code value of the small radar. , , The coordinates of the lifting platform center in the small radar Cartesian coordinate system are given.

7. The coordinate transformation cooperative detection method based on a dual-radar multidimensional rotation model according to claim 4, characterized in that, The expression for transforming the second coordinates to the Cartesian coordinate system of the large turntable is: in, , , As the third coordinate, , , The coordinates of the lifting platform center on the large turntable's rectangular coordinate system are given.

8. The coordinate transformation cooperative detection method based on a dual-radar multidimensional rotation model according to claim 4, characterized in that, The expression for transforming the third coordinate to the large radar rectangular coordinate system is as follows: in, , , The fourth coordinate. For large radar elevation angles , The coordinates of the center of the large radar axis in the Cartesian coordinate system of the large turntable.

9. The coordinate transformation cooperative detection method based on a dual-radar multidimensional rotation model according to claim 4, characterized in that, The expression for transforming the fourth coordinate to the large radar polar coordinate system is as follows: in, This represents the distance of the target detected by the small radar to the large radar in the polar coordinate system. The elevation angle of the target detected by the small radar in the polar coordinate system of the large radar. The azimuth angle of the target detected by the small radar in the polar coordinate system of the large radar.

10. A coordinate transformation cooperative detection system based on a dual-radar multidimensional rotation model, characterized in that, The system is used to perform the method as described in any one of claims 1 to 9, the system comprising: A vehicle-mounted dual-radar multi-dimensional turntable model is used to control the synchronous rotation of the large and small radars on it. The coordinate system definition module is used to define the rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model based on the right-hand rule, including: the large turntable rectangular coordinate system, the lifting platform rectangular coordinate system, the large radar rectangular coordinate system and the small radar rectangular coordinate system. The coordinate transformation module is used to convert the polar coordinates of the detected target in the polar coordinate system of the small radar into polar coordinates in the polar coordinate system of the large radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model. The coordinate inverse transformation module is used to convert the polar coordinates of the detected target in the polar coordinate system of the large radar into polar coordinates in the polar coordinate system of the small radar through the defined rectangular coordinate system of the vehicle-mounted dual-radar multi-dimensional turntable model.

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