A vehicle-mounted shelter control system for a millimeter wave access control system
By acquiring and analyzing target distance sequences in real time, combined with motion speed compensation, the problem of trigger delay and excessive damage in millimeter-wave personnel denial systems when targets approach rapidly has been solved, achieving accurate denial triggering and safe target location determination.
Patent Information
- Application Number
- CN202610753418.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-05-28
- Publication Date
- 2026-07-24
AI Technical Summary
Existing millimeter-wave personnel denial systems suffer from trigger delays and excessive damage due to response lag when a target approaches rapidly. They are unable to accurately determine the target's location, and existing technologies ignore the target's motion state, resulting in the loss of motion information during the inherent lag period of the denial system.
The distance to the target is collected in real time by the distance timing interception module, the lag time window is determined based on the preset response lag time, the target distance sequence is generated, the target motion velocity is obtained by the motion analysis determination module, the target analysis distance value is calculated by the displacement compensation analysis module, and finally the denial trigger judgment module determines whether to activate the denial trigger signal.
It achieves adaptive matching for target location determination, avoiding trigger lag and excessive damage, ensuring the accuracy and security of the denial system, and preventing denial failure and excessive damage due to rapid target approach.
Smart Images
Figure CN122449537A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of personnel denial control technology, and more specifically, relates to a millimeter-wave personnel denial system vehicle-mounted control system. Background Technology
[0002] Personnel denial, as a protective measure for important military facilities and other areas, mainly involves emitting high-power millimeter-wave beams to act on the surface of the target personnel, causing them to experience unbearable burning pain instantly, thereby effectively preventing the target from entering or forcing them to leave the specific area.
[0003] Currently, the denial system collects the distance information between the target and the system in real time through laser ranging. When the current distance value is determined to be at or below the preset denial threshold, the system triggers a denial command and starts the millimeter-wave transmitter to irradiate the target with energy.
[0004] Comparing the target distance value collected at the current moment with a preset threshold constitutes a static distance judgment. However, laser ranging and subsequent processing inherently have a time lag. If only the static distance is used without compensating for the target's displacement during the lag time, the current judgment result may not accurately reflect the target's actual position at the end of the lag. Furthermore, the current method ignores the target's own motion state. When the target approaches rapidly, the target distance at the actual trigger moment may be much smaller than the preset threshold, causing a trigger rejection lag.
[0005] Furthermore, due to the short distance, the trigger lag will result in an excessively high power density acting on the target, causing excessive damage.
[0006] In summary, overcoming the inherent response lag in the system that leads to inaccurate target location judgment, thereby avoiding trigger delays and excessive damage risks when the target approaches rapidly, is a pressing technical problem that needs to be solved. Summary of the Invention
[0007] In view of this, in order to solve the above problems, a millimeter-wave personnel denial system vehicle-mounted control system is proposed.
[0008] The objective of this invention can be achieved through the following technical solution: This invention provides a millimeter-wave personnel denial system vehicle-mounted cabin control system, including: a distance timing interception module, which collects target distance in real time through a laser ranging unit mounted on the vehicle cabin, determines a lag time window based on a preset response lag time and the current target distance, intercepts the target distance according to the lag time window, and generates a target distance sequence within the window.
[0009] The motion analysis and determination module performs time-series analysis on the target distance sequence to obtain the target's velocity within the lag time window.
[0010] The displacement compensation analysis module multiplies the target's motion speed by the response lag time to obtain the displacement compensation amount, and adds the displacement compensation amount to the currently acquired target distance value to obtain the target analysis distance value.
[0011] The denial trigger judgment module determines whether a denial trigger signal needs to be activated based on the target analysis distance value. If activation is required, it generates and activates the denial trigger signal.
[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention determines the length of the lag time window according to the preset response lag time and the current target distance, which solves the problem that the fixed time window cannot effectively characterize the movement trend in the lag period when the target distance is too close or too far, and can ensure that the window length of the distance time sequence subsequently intercepted is adaptively matched with the current target distance.
[0013] (2) The present invention dynamically extracts the target distance time sequence before the current moment according to the response lag time, which completely preserves the target motion information within the lag period. Furthermore, it expands the distance data on which the rejection judgment depends from the single-point static distance to a time sequence that includes the motion trend within the lag period, thus breaking the limitation of the prior art that only relies on the current static distance and completely loses the target motion information within the inherent lag period of the system.
[0014] (3) This invention obtains the target’s motion speed within the lag window by performing time-series analysis on the target distance sequence, which fully considers the target’s motion state during the lag period, providing accurate speed input for subsequent displacement compensation and avoiding subsequent compensation failure due to speed loss or error.
[0015] (4) The present invention obtains the target analysis distance value by analyzing the displacement compensation amount and adding it to the current acquisition distance value, so that the target analysis distance value can accurately reflect the real position of the target when the lag ends, and synchronizes the triggering time with the actual arrival time of the target at the rejection boundary when the target approaches rapidly, thus avoiding rejection failure caused by trigger lag.
[0016] (5) The present invention uses the target analysis distance value to judge the denial trigger signal, which avoids the trigger lag caused by the spatiotemporal misalignment of the judgment basis and the action time. At the same time, the target denial power is calculated based on the target analysis distance, thereby ensuring the effectiveness of the denial warning and avoiding excessive damage to the target caused by excessive power density when the target approaches. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the system module connection structure of the present invention;
[0018] Figure 2 This is a schematic diagram of the overall implementation process of the present invention;
[0019] Figure 3 This is a schematic diagram of the process for determining the lag time window in this invention. Detailed Implementation
[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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.
[0021] Currently, personnel denial systems typically use laser ranging to determine the target distance and compare it with a preset threshold to trigger denial. However, existing technologies rely solely on the current static distance, ignoring the system's inherent response lag and the target's motion during the lag period. This leads to a mismatch between the trigger timing and the target's actual position, potentially causing trigger lag and excessive damage during rapid approach.
[0022] This invention discloses a millimeter-wave personnel denial system vehicle-mounted control system, which can effectively eliminate trigger lag and avoid causing excessive damage to the target.
[0023] Specifically, please refer to Figure 1 and Figure 2 As shown, this embodiment of the invention provides a vehicle-mounted control system for a millimeter-wave personnel denial system. The system includes a distance timing interception module, a motion analysis and determination module, a displacement compensation analysis module, and a denial trigger judgment module.
[0024] In the above, the motion analysis determination module is connected to the distance time sequence interception module and the displacement compensation analysis module, respectively, and the displacement compensation analysis module is connected to the rejection trigger judgment module.
[0025] The distance time sequence interception module is used to collect target distance in real time through the laser ranging unit mounted on the vehicle cabin, and based on the preset response lag time and the current target distance dynamic lag time window, intercept the target distance according to the lag time window to generate the target distance sequence within the window.
[0026] Understandably, the input of the distance timing acquisition module is connected to the laser ranging unit mounted on the vehicle's container, used to receive the target distance value output by the laser ranging unit in real time. Furthermore, the laser ranging unit continuously acquires the distance between the target and the container at a fixed sampling period (e.g., 20ms).
[0027] For example, in an embodiment of the present invention, the method for setting the response lag time specifically includes: S1, extracting the actual response lag time of each historical denial from the denial log of the vehicle-mounted cabin, and constructing a historical lag time sequence.
[0028] The denial log is generated as follows: Each time a denial trigger signal is activated, the timestamp of its generation is automatically recorded. Simultaneously, the timestamp of the millimeter-wave denial device's actual beam transmission start is recorded via its feedback interface. The time difference between the timestamp of the denial trigger signal's generation and the timestamp of the millimeter-wave denial device's actual beam transmission start is defined as the actual response lag time. The timestamps recorded each time the denial trigger signal is activated are stored in a table format in the vehicle-mounted container's storage unit, forming the denial log.
[0029] S2. Calculate the standard deviation of the historical lag duration series as the lag duration dispersion.
[0030] S3. If the lag duration dispersion is less than the preset dispersion threshold, the dispersion is small, that is, the historical lag response time is stable. The arithmetic mean can accurately reflect the lag time. That is, the arithmetic mean of the historical lag duration sequence is calculated as the preset response lag duration. The dispersion threshold is set as the ratio of the sampling period of the laser ranging unit to the response lag duration specified in the container product specification.
[0031] S4. If the dispersion of the lag duration is greater than or equal to the preset dispersion threshold, the larger dispersion indicates that there are occasional abnormal lags (such as communication congestion or task queuing) in the historical actual response lag duration. In this case, the median value is less affected by extreme values and can provide a more robust lag duration estimate. That is, the median value of the historical lag duration sequence is taken as the preset response lag duration.
[0032] It should be noted that by analyzing the actual lag data in historical rejection events and adaptively selecting the mean or median value as the preset response lag time based on its dispersion, the interference of extreme outliers on parameter calibration can be avoided, thereby improving the accuracy of subsequent displacement compensation.
[0033] Considering that when the target is far from the shelter, its radial displacement within the response lag time is relatively small, the complete response lag time can be used as the backtracking window to obtain sufficient motion information. When the target is close to the shelter, its motion has a significant impact on the determination of denial triggering. If a fixed window is still used at this time, too much historical redundant data will be introduced, resulting in a distortion in the estimation of the target's recent motion state.
[0034] Based on this, the embodiments of the present invention determine the lag time window according to the preset response lag time and the current target distance, which can ensure the stability of velocity estimation in the far field and improve the sensitivity and accuracy of compensation in the near field, thereby more effectively overcoming the problem of inaccurate target position judgment caused by response lag.
[0035] Among them, see Figure 3 The process shown is as follows: A1. Calculate the ratio of the current target distance to the effective maximum detection distance corresponding to the laser ranging unit to obtain the relative distance ratio of the target. The effective maximum detection distance is the maximum measurable distance value calibrated by the laser ranging unit at the time of manufacture, which can be obtained from the product specification sheet.
[0036] A2. When the relative distance ratio of the target is greater than the preset threshold, the target is at a relatively far distance, and the displacement per unit time caused by its radial movement is relatively small. The complete response lag time can be used directly as the backtracking window, that is, the preset response lag time can be directly set as the backtracking time.
[0037] A3. When the relative distance to the target is less than or equal to the preset threshold, the target has entered a relatively close area, and its movement has a significant impact on the determination of rejection trigger. The backtracking window should be dynamically shortened according to the relative distance ratio to more accurately capture the motion details of the target in the near field and avoid excessively distant redundant data from interfering with the velocity analysis. That is, the product of the preset response lag time and the relative distance ratio is set as the backtracking time.
[0038] A4. Set the current time as the end point of the lag time window, backtrack the target time from the current time, and use the time reached after backtracking as the starting point of the lag time window.
[0039] Understandably, the preset threshold is used to distinguish whether the target is in the far-field or near-field region. The size of the preset threshold is positively correlated with the size of the shelter's protected area; the larger the protected area, the larger the preset threshold, thus using a longer window at a greater distance. The smaller the protected area, the smaller the corresponding threshold setting, so as to enter the short-window mode more quickly.
[0040] As a preferred example, when the protected area of the shelter is large, the preset threshold can be appropriately increased (e.g., set to 0.7) to use the full response lag time as the backtracking window at a greater distance, thereby capturing earlier motion trends. When the protected area of the shelter is small, the preset threshold can be appropriately decreased (e.g., set to 0.5) to more quickly enter the dynamically shortened window mode, enabling a focus on the accurate analysis of the target's near-field motion. Furthermore, the default value in this embodiment of the invention is preferably 0.6.
[0041] It should be noted that, in this embodiment of the invention, a lag time window is determined. When the target is far away, the window is extended accordingly to capture sufficient motion trends, and when the target is close, the window is automatically shortened to avoid interference from historical data. This achieves adaptive window length variation with target distance. Based on this, the extracted time sequence completely preserves the target motion information within the lag period, thereby solving the problem that existing static distance judgments completely lose the motion state within the lag period.
[0042] The motion analysis and determination module performs time-series analysis on the target distance sequence to obtain the target's motion velocity within the lag time window.
[0043] For example, after obtaining the target distance time series within the lag time window, it is necessary to further analyze the target's velocity within this window in order to compensate for the displacement that occurs during the response lag. In this embodiment of the invention, the specific extraction of the target velocity includes: first, processing the target distance time series using the difference method to generate an instantaneous velocity time series. To facilitate subsequent direction determination, the sign of the velocity value is defined as follows: positive for the direction in which the target moves away from the shelter, and negative for the direction in which the target moves towards the shelter.
[0044] Secondly, the target's movement direction is determined based on the instantaneous velocity time sequence, and the following sub-steps are performed according to the movement direction: E1. If the movement direction is determined to be moving away from the shelter or the direction is uncertain, it means that moving away from the shelter will not cause a denial risk, and no displacement compensation is required. Therefore, the target's movement velocity is directly set to zero, and the subsequent displacement compensation amount is zero. Subsequently, the currently collected target distance value can be directly used as the target analysis distance value for judgment.
[0045] E2. If the direction of movement is determined to be closer to the shelter, the standard deviation of the instantaneous velocity time series is calculated to assess the degree of fluctuation in the target velocity within the window. When the standard deviation is less than or equal to a preset fluctuation threshold, it indicates that the target velocity within the window is relatively stable. In this case, the instantaneous velocity at the end of the window in the instantaneous velocity time series is taken as the target velocity. The preset fluctuation threshold is directly adopted from the minimum resolvable velocity value specified in the laser ranging unit product specification.
[0046] E3. When the standard deviation is greater than the preset fluctuation threshold, it indicates that the target speed fluctuates significantly. In this case, a linear regression is performed on the instantaneous speed time series to obtain the regression slope. If the regression slope is greater than the preset slope threshold, it indicates that the target may be accelerating or decelerating towards the target. The predicted value at the end of the window of the regression line is then taken as the target speed. If the regression slope is less than or equal to the preset slope threshold, it indicates that the speed fluctuation is mainly random noise rather than a trend change. The mean of the instantaneous speed time series is then taken as the target speed.
[0047] Understandably, the preset slope threshold is used to determine whether there is a significant trend change in the instantaneous velocity time series (such as the target accelerating or decelerating towards it), and can be set with reference to the following formula: , To preset the slope threshold, To improve the ranging accuracy of the laser ranging unit, The sampling period is the range, where the ranging accuracy and sampling period are product specification parameters of the laser ranging unit, which can be obtained directly from the equipment manual.
[0048] Through the above multi-level judgment, the most reasonable velocity estimate can be adaptively selected under different motion states, thereby improving the accuracy of displacement compensation.
[0049] Furthermore, the specific process for determining the target's movement direction is as follows: Considering that the data at the beginning of the window may not accurately reflect the target's current movement direction and interfere with the direction judgment result, in order to reduce this interference and make the direction judgment result mainly reflect the target's movement trend in the latter half of the window, this embodiment of the invention extracts a subsequence from the middle of the time to the end of the window as the analysis velocity sequence. This allows the direction judgment to focus more on the target's recent changes in movement direction.
[0050] Obtain the instantaneous velocities at the start and end points of the velocity sequence and denote them as the first velocity value and the second velocity value, respectively.
[0051] If both the first and second velocity values are greater than 0, the target is determined to be moving away from the container.
[0052] If the second velocity value is greater than 0 and the first velocity value is less than or equal to 0, then the ratio of the number of sampling points with positive velocity values in the velocity sequence to the total number of sampling points in the sequence is calculated. When this ratio is greater than or equal to a preset ratio threshold, the target's movement direction is determined to be moving away from the shelter; otherwise, the target's movement direction is determined to be uncertain. The preset ratio threshold can preferably be set as follows: That is, when more than two-thirds of the sampling points in the analyzed velocity sequence have positive velocities, the target is determined to be moving away from the shelter.
[0053] The aforementioned judgment rules fully consider the changes in the sign of the velocity value, effectively distinguishing the target's motion patterns and thus improving the accuracy of target behavior recognition around the shelter. They also take into account the continuity of motion trends, providing a reliable directional basis for subsequent velocity extraction.
[0054] The displacement compensation analysis module multiplies the target's motion speed by the response lag time to obtain the displacement compensation amount, and adds the displacement compensation amount to the currently collected target distance value to obtain the target analysis distance value.
[0055] After obtaining the target velocity, the displacement compensation analysis module first determines whether displacement compensation calculation is needed to avoid introducing unnecessary calculations when no compensation is required.
[0056] For example, in an embodiment of the present invention, the specific process of displacement compensation judgment is as follows: obtain the minimum resolvable displacement distance value of the laser ranging unit at the current target distance. The minimum resolvable displacement distance value refers to the nominal ranging accuracy of the laser ranging unit. This ranging accuracy is a fixed indicator calibrated when the laser ranging unit leaves the factory and can be directly read from its product specification.
[0057] Calculate the ratio of the minimum resolvable displacement distance to the preset response lag time, and use this ratio as the preset compensation speed threshold.
[0058] If the absolute value of the target's velocity is greater than the compensation velocity threshold, it indicates that the displacement of the target within the response lag time exceeds the minimum resolvable capability of the laser ranging unit, and displacement compensation calculation is required.
[0059] If the absolute value of the target's velocity is less than or equal to the compensation velocity threshold, it indicates that the target's displacement within the response lag time is within the range of measurement resolution capability. No compensation calculation is required, and the target distance value collected at the current moment can be directly used as the target analysis distance value.
[0060] The denial trigger judgment module determines whether a denial trigger signal needs to be activated based on the target analysis distance value. If activation is required, a denial trigger signal is generated and activated.
[0061] For example, in an embodiment of the present invention, the specific process of determining whether to activate the denial trigger signal is as follows: determine whether the target analysis distance value is less than or equal to the preset denial trigger distance value; if so, determine that the denial trigger signal needs to be activated.
[0062] If the target analysis distance value is greater than the rejection trigger distance value, then it is further determined whether the target analysis distance value is less than or equal to the preset warning distance threshold. If the target analysis distance value is less than or equal to the preset warning distance threshold, considering that if the target continues to approach rapidly within this range, the response lag will cause the target to have already crossed the rejection trigger distance value and entered a closer area at the actual trigger time, in order to avoid trigger delay, this embodiment of the invention dynamically adjusts the rejection trigger distance value according to the changing trend of the target analysis distance, so as to appropriately increase it to trigger in advance. The preset warning distance threshold is greater than the rejection trigger distance value. If the target analysis distance value is greater than the preset warning distance threshold, it is determined that the rejection trigger signal does not need to be activated.
[0063] After the adjustment is completed, it is determined again whether the target analysis distance is less than or equal to the adjusted denial trigger distance. If so, it is determined that the denial trigger signal needs to be activated; otherwise, it is determined that the denial trigger signal does not need to be activated.
[0064] Understandably, the preset denial trigger distance is the critical distance at which denial is expected to be initiated. When the target analysis distance is less than or equal to this value, it is determined that denial should be triggered immediately. This value can be set according to the safety boundary of the shelter's protected area, for example, 20m. The warning distance threshold represents the starting distance at which attention should be paid to the approaching behavior of a target; this value is typically set to 1.5 to 2 times the denial trigger distance.
[0065] Furthermore, when the target analysis distance value is between the rejection trigger distance value and the warning distance threshold, the following dynamic adjustment steps are performed: Record the target analysis distance values at the current time and the previous K sampling times to form an original distance sequence, where K is a positive integer, preferably between 5 and 10, with a default value of 5. This sequence is used to analyze the recent trend of target distance changes.
[0066] Calculate the difference between two adjacent values in the original distance sequence to obtain the first-order difference value, and construct the first-order difference sequence. The sign and magnitude of the first-order difference value reflect the direction and rate of change of the target distance. A negative value indicates that the target is approaching, and a positive value indicates that the target is moving away.
[0067] Starting from the end of the first-order difference sequence and tracing back, count the number of consecutive negative difference values whose absolute values exceed a preset trend threshold; this number is recorded as the consecutive negative out-of-range occurrence. The trend threshold is used to determine whether the target distance has deviated significantly. This threshold can be set to 1 to 2 times the minimum resolvable displacement distance of the laser ranging unit, with a default value of 1.
[0068] If the number of consecutive negative out-of-tolerance cycles If the number of occurrences is greater than or equal to a preset threshold, the target is determined to be in a rapid approach state. The threshold value is a positive integer not less than 3, preferably between 3 and 5. In this embodiment of the invention, the default value is 3, meaning that adjustment is triggered when three consecutive difference values are negative and their absolute values exceed the preset trend threshold.
[0069] When the target is determined to be in a rapid approach state, the adjusted denial trigger distance value is calculated. The calculation formula is as follows: , To preset the warning distance threshold, The preset rejection trigger distance value, The number of difference values in the first-order difference sequence. This represents a function that takes the minimum value.
[0070] This represents the proportion of consecutive negative out-of-order occurrences to the total sequence length. The larger this proportion, the greater the increase in the adjusted rejection trigger distance value. This is to ensure that the upper limit of the adjusted denial trigger distance value does not exceed the warning distance threshold.
[0071] If the number of consecutive negative out-of-tolerance cycles If the number of attempts is less than the preset threshold, the trigger rejection distance value will be set to... .
[0072] Furthermore, when the determination result indicates that a denial trigger signal needs to be activated, for example, in this embodiment of the invention, the denial trigger signal carries the target analysis distance value at the current moment. The specific process of generating and activating the denial trigger signal is as follows: First, based on the baseline denial power corresponding to the target analysis distance and the preset denial trigger distance value, the target denial power is calculated. The specific calculation formula is as follows: .
[0073] in, Analyze the distance value for the target. Deny power for target This is a preset minimum power limit, which is based on the minimum effective power specification of the millimeter-wave denial device and can be obtained from the equipment specifications. The reference rejection power corresponding to the preset rejection trigger distance value is typically the rejection trigger distance value. Standard power at that location This represents the function that takes the maximum value.
[0074] The ratio of the target analysis distance value to the denial trigger distance value is used to reflect the proximity of the target to the denial boundary. The smaller the value, the closer the target is to the rejection boundary. At this point, the required rejection power is reduced proportionally to minimize the risk of excessive harm to personnel. Simultaneously, by maximizing the function, the target rejection power is ensured to be no less than [a certain value]. This avoids rejection failure due to insufficient power. Conversely, when the target is far away, the ratio is close to 1, and the rejection power is close to the initial power to ensure sufficient rejection effect.
[0075] Subsequently, based on the calculated target denial power, a denial trigger control command containing that power value is generated according to the millimeter-wave denial device's preset control interface protocol. This control command is sent to the millimeter-wave denial device, which responds to the command by immediately transmitting a millimeter-wave beam at the target denial power until the target leaves the denial area or the default transmission duration is reached.
[0076] By dynamically adjusting the denial trigger distance value and adaptively calculating the power, denial can be triggered in advance when the target approaches rapidly, while avoiding trigger delays or excessive damage caused by fixed thresholds.
[0077] The above content is merely an example and illustration of the concept of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, and all such modifications and additions should fall within the protection scope of the present invention.
Claims
1. A millimeter-wave personnel denial system vehicle-mounted control system, characterized in that, The system includes: The distance time sequence interception module collects the target distance in real time through the laser ranging unit mounted on the vehicle cabin, determines the lag time window based on the preset response lag time and the current target distance, intercepts the target distance according to the lag time window, and generates the target distance sequence within the window; The motion analysis and determination module performs time-series analysis on the target distance sequence to obtain the target's velocity within the lag time window. The displacement compensation analysis module multiplies the target's motion velocity by the response lag time to obtain the displacement compensation amount, and adds the displacement compensation amount to the currently acquired target distance value to obtain the target analysis distance value; The denial trigger judgment module determines whether a denial trigger signal needs to be activated based on the target analysis distance value. If activation is required, it generates and activates the denial trigger signal.
2. The vehicle-mounted control system for a millimeter-wave personnel denial system as described in claim 1, characterized in that: The response hysteresis duration is set in the following manner: Extract the actual response delay time for each historical denial from the denial log of the vehicle-mounted modular unit, and construct a historical delay time sequence; Calculate the standard deviation of the historical lag duration series as the lag duration dispersion; If the lag duration dispersion is less than the preset dispersion threshold, the arithmetic mean of the historical lag duration sequence is calculated as the preset response lag duration. Otherwise, the median value of the historical lag time sequence is taken as the preset response lag time.
3. The vehicle-mounted control system for a millimeter-wave personnel denial system as described in claim 1, characterized in that: The process for determining the lag time window is as follows: The relative distance ratio of the target is obtained by calculating the ratio of the current target distance to the maximum effective detection distance corresponding to the laser ranging unit; When the target relative distance ratio is greater than the preset threshold, the preset response lag time is set as the backtracking time; otherwise, the product of the preset response lag time and the relative distance ratio is set as the backtracking time. Set the current time as the end point of the lag time window, backtrack the target time from the current time, and use the time reached after backtracking as the starting point of the lag time window.
4. The vehicle-mounted control system for a millimeter-wave personnel denial system as described in claim 1, characterized in that: The specific steps for extracting the target's motion velocity are as follows: The target distance sequence is calculated using the finite difference method to generate an instantaneous velocity time series, where velocity values are positive in the direction away from the container and negative in the direction closer to the container; Based on the instantaneous velocity time sequence, the target's direction of movement is determined. If the direction of movement is away from the shelter or the direction is uncertain, the target's velocity is set to zero. If the direction of movement is towards the shelter, calculate the standard deviation of the instantaneous velocity time series; When the standard deviation is less than or equal to the preset fluctuation threshold, the instantaneous velocity at the end of the window in the instantaneous velocity time series is taken as the target motion velocity; otherwise, linear regression is performed on the instantaneous velocity time series to obtain the regression slope. When the regression slope is greater than the preset slope threshold, the predicted value of the regression line at the end of the window is used as the target motion speed. When the regression slope is less than or equal to the preset slope threshold, the mean of the instantaneous velocity time series is used as the target motion speed.
5. The vehicle-mounted control system for a millimeter-wave personnel denial system as described in claim 4, characterized in that: The specific process for determining the target's direction of movement is as follows: Locate the midpoint of the instantaneous velocity time series and extract the subsequence from the midpoint to the end of the window as the velocity series for analysis; Obtain the instantaneous velocities at the start and end points of the velocity sequence for analysis, and record them as the first velocity value and the second velocity value, respectively. If both the first and second velocity values are greater than 0, the target is determined to be moving away from the container. If the second velocity value is greater than 0 and the first velocity value is less than or equal to 0, then the ratio of the number of sampling points with positive velocity values in the velocity sequence to the total number of sampling points in the sequence is calculated. When the ratio is greater than or equal to the preset ratio threshold, the target's movement direction is determined to be away from the container; otherwise, the target's movement direction is determined to be uncertain. If the second velocity value is less than 0, the target's movement direction is determined to be towards the container; if the second velocity value is 0, the target's movement direction is determined to be uncertain.
6. The vehicle-mounted control system for a millimeter-wave personnel denial system as described in claim 1, characterized in that: Before obtaining the displacement compensation amount, a displacement compensation judgment is also performed. The specific judgment process is as follows: Obtain the minimum resolvable displacement distance value of the laser ranging unit; The preset compensation speed threshold is obtained by calculating the ratio of the minimum resolvable displacement distance to the preset response lag time. If the absolute value of the target's velocity is greater than the preset compensation velocity threshold, then it is determined that displacement compensation calculation is required. Otherwise, it is determined that no displacement compensation calculation is needed, and the target distance value collected at the current moment is used as the target analysis distance value.
7. The vehicle-mounted control system for a millimeter-wave personnel denial system as described in claim 1, characterized in that: The specific steps for determining whether to activate the rejection trigger signal are as follows: Determine whether the target analysis distance value is less than or equal to the preset denial trigger distance value. If so, determine whether the denial trigger signal needs to be activated. Otherwise, determine whether the target analysis distance value is less than or equal to the preset warning distance threshold. If it is less than or equal to the target analysis distance, dynamically adjust the denial triggering distance value according to the changing trend of the target analysis distance. If it is greater than the target analysis distance, determine that it is not necessary to start the denial triggering signal. If the target analysis distance is less than or equal to the adjusted denial trigger distance value, it is determined that a denial trigger signal needs to be activated; if it is greater than the adjusted denial trigger distance value, it is determined that a denial trigger signal does not need to be activated.
8. The vehicle-mounted control system for a millimeter-wave personnel denial system as described in claim 7, characterized in that: The specific steps for dynamically adjusting the denial trigger distance value are as follows: Record the target analysis distance values at the current time and the previous K sampling times to form the original distance sequence, where K is a positive integer; Calculate the difference between two adjacent values in the original distance sequence to obtain the first-order difference value, and construct the first-order difference sequence; Starting from the end of the first-order difference sequence and tracing back, count the number of consecutive negative difference values whose absolute values exceed a preset trend threshold; this number is recorded as the consecutive negative out-of-range occurrence. ; If the number of consecutive negative out-of-tolerance events is greater than or equal to a preset threshold, the target is determined to be in a rapid approach state, and the adjusted rejection trigger distance value is calculated. , Preset warning distance threshold, The preset rejection trigger distance value, The number of difference values in the first-order difference sequence; Otherwise, set the denial trigger distance value to... .
9. The vehicle-mounted control system for a millimeter-wave personnel denial system as described in claim 8, characterized in that: The denial trigger signal carries the target analysis distance value at the current moment. Generating and initiating the denial trigger signal includes: Calculate the target denial power based on the baseline denial power corresponding to the target analysis distance and the preset denial trigger distance value; Based on the calculated target denial power, a denial trigger control command containing that power value is generated and fed back to the millimeter-wave denial device, which then transmits a millimeter-wave beam at the target denial power.
10. The vehicle-mounted control system for a millimeter-wave personnel denial system as described in claim 9, characterized in that: The specific formula for calculating the target rejection power is as follows: , Analyze the distance value for the target. Deny power for target This is the preset minimum power limit. The baseline rejection power is the value corresponding to the preset rejection trigger distance.