Miniature security radar monitoring system
阅读说明：本技术 微型安防雷达监控系统 (Miniature security radar monitoring system ) 是由 李红霞 胡晨曦 周少杰 于 2019-09-18 设计创作，主要内容包括：本发明微型安防雷达监控系统,有收发单元、信号处理单元和数据处理单元；收发单元发射和接收调频连续波信号,经低噪声放大器再与本振信号混频,又经滤波器和ADC采样得到数字中频信号,信号处理单元对中频信号进行距离维、多普勒维及天线阵元维FFT,得到各采样点的距离、径向速度和方位信息；并经多普勒维和距离维的CFAR滤除杂波和噪声,检出距离、方位、径向速度、幅度等信息的目标点迹信息；经串口发送给数据处理单元,数据处理单元将收到的点迹信息经DBSCAN和目标跟踪算法,得到目标的位置和航向航速运动信息,信息经网络报给服务器；服务器将目标航迹信息显示、汇算及报警,同时控制视频监控单元对设定区域精准安防监控。(The invention relates to a miniature security radar monitoring system, which comprises a receiving and transmitting unit, a signal processing unit and a data processing unit; the receiving and transmitting unit transmits and receives frequency modulation continuous wave signals, the frequency modulation continuous wave signals are mixed with local oscillation signals through a low noise amplifier, digital intermediate frequency signals are obtained through sampling of a filter and an ADC, the signal processing unit conducts FFT on the intermediate frequency signals in a distance dimension, a Doppler dimension and an antenna array element dimension to obtain distance, radial speed and direction information of each sampling point; filtering clutter and noise by a CFAR (computational fluid dynamics) of a Doppler dimension and a distance dimension, and detecting target point trace information of information such as distance, direction, radial speed, amplitude and the like; the information is sent to a data processing unit through a serial port, the data processing unit obtains the position and course speed movement information of the target through DBSCAN and a target tracking algorithm, and the information is reported to a server through a network; the server displays, aggregates and alarms the target track information, and controls the video monitoring unit to accurately monitor the security of the set area.)
1. A miniature security radar monitoring system comprises a miniature radar and a server, and is characterized in that the radar comprises a receiving and transmitting unit, a signal processing unit and a data processing unit; the signal processing unit and the data processing unit are communicated through a serial port; the data processing unit is communicated with the server through a network;
the receiving and transmitting unit transmits and receives frequency modulation continuous wave signals through an antenna, the received signals are amplified through a low noise amplifier and then mixed with local oscillator signals to obtain intermediate frequency signals, the intermediate frequency signals are filtered through a filter, ADC sampling is carried out on the intermediate frequency signals to obtain digital intermediate frequency signals, and then the digital intermediate frequency signals are sent to the signal processing unit to be subjected to subsequent signal processing;
the signal processing unit is realized on the basis of a large-scale integrated and high-speed programmable digital signal processing DSP chip, realizes the signal processing of the intermediate frequency signal, and sequentially performs distance dimension FFT, Doppler dimension FFT and antenna array element dimension FFT to obtain the distance, radial speed and azimuth information of each sampling point; meanwhile, clutter and noise of the Doppler dimension and the distance dimension are filtered through the CFAR of the Doppler dimension and the distance dimension, a target in the target is detected, and target point trace information containing information such as distance, direction, radial speed and amplitude is obtained; the signal processing unit sends the target trace information to the data processing unit through a serial port;
the data processing unit is realized on the basis of a CPU platform, and carries out target accumulation processing on the received trace point information through a DBSCAN algorithm to filter and remove impurities, then carries out target tracking processing to obtain position information, course speed and other motion information of a target, and then reports the position and the motion information of the target to a server through a network;
the server realizes display, settlement and alarm of target track information according to the information of the data processing unit, and controls the video monitoring unit to capture close-range features of the set area in real time, so that accurate security monitoring of the set area is realized.
2. The monitoring system of the miniature security radar as claimed in claim 1, wherein the transceiver unit employs two microstrip transmitting antennas and four microstrip receiving antennas, the two transmitting antennas alternately transmit frequency modulated continuous wave signals, the four receiving antennas simultaneously receive the reflected frequency modulated continuous wave signals, the received four signals are simultaneously processed, and the four signals are amplified by a low noise amplifier and then mixed with local oscillation signals to obtain intermediate frequency signals; filtering the intermediate frequency signal, performing ADC (analog to digital converter) sampling, and simultaneously obtaining four paths of digitized intermediate frequency signals; the intermediate frequency signal is a complex signal, the real part and the imaginary part are respectively 16 bits, each path of signal comprises 256 sampling points, and the sampling rate is 5500 k; 32 pairs of pulses are transmitted in each pulse repetition period.
3. The miniature security radar monitoring system according to claim 2, wherein the signal processing unit implements signal processing of the intermediate frequency signal, including FFT in three dimensions of a distance dimension, a doppler dimension, and an antenna array element dimension, and CFAR in two dimensions of a doppler dimension and a distance dimension, and specifically:
firstly, ADC sampling is carried out on a receiving signal of a current pulse in each pulse transmitting period, meanwhile, distance dimension FFT is carried out on a sampling point of a previous transmitting pulse, and distance information of each sampling point is obtained through aggregation. Repeating the above operations for each pulse, and storing the processed data until all the pulses in the current pulse repetition period are transmitted, and the FFT and the summary of the distance dimension are completed;
then, in the period of stopping pulse transmission, carrying out Doppler dimensional FFT on sampling points between different transmitted pulses and on the same distance unit to obtain Doppler information of each point, and then carrying out summary calculation to obtain the radial velocity of each point; taking a module of Doppler dimension FFT results of a plurality of virtual antennas, and performing coherent accumulation; then, Doppler dimension CFAR is carried out on the information after the coherent accumulation, clutter and noise of Doppler dimension are filtered, and a target point of a Doppler dimension threshold is obtained; on the basis, CFAR of the distance dimension is carried out, clutter and noise of the distance dimension are filtered, and a target point of which the distance dimension and the Doppler dimension simultaneously pass through a threshold is selected; in addition, after the transmission of one antenna, the four antennas receive simultaneously, so that the FFT of antenna array element dimension can be carried out on signals between different receiving antennas at the same distance and in the same Doppler channel, and the azimuth information of a target point can be obtained through the sum; thus, a target point track containing distance, direction, radial speed and amplitude information is obtained; the signal processing unit sends the target trace information to the data processing unit through the serial port, and the data processing unit realizes subsequent data processing.
4. The monitoring system of the miniature security radar as claimed in claim 3, wherein the data processing unit first removes the clutter points from the received speckles by a density-based clustering algorithm, namely a DBSCAN algorithm, retains the speckles with higher occurrence probability, and performs amplitude weighting to obtain new speckle information; then, after the processing of track establishment, data association, track updating, track prediction and the like, target track information containing position and motion situation information such as distance, direction, course, speed and the like is obtained and reported to a server through a network; the server realizes the display of target track information and the remittance and alarm of personnel or vehicles entering or leaving a set area; the data association adopts a local nearest neighbor algorithm, and the track updating adopts an alpha-beta filter to smooth the track.
5. The monitoring system of the miniature security radar according to claim 4, wherein the data processing unit of the miniature radar communicates with the server through a network, a TCP or UDP protocol is selected for data transmission, system parameters can be configured by users, and the configuration of the parameters of different users or the configuration of the parameters of the same user under different use requirements is facilitated.
6. The miniature security radar monitoring system according to claim 5, wherein the data processing unit communicates with the server through a network, and is used in combination with the video monitoring unit to realize accurate security monitoring of a set area, the server controls the rotation of the video monitoring unit according to information provided by the miniature security radar, close-range features can be captured in real time when needed, and security personnel can accurately grasp details and characteristics of a target in real time through effective comparison of position and motion information provided by the miniature security radar and a clear video picture, so that the workload of the security personnel is greatly reduced, the security accuracy is improved, the manpower is saved, and the efficiency is improved.
7. The miniature security radar monitoring system according to claim 5, wherein the miniature security radar is networked with a street lamp control device for combined application. When the radar detects that no person exists in a certain area, the radar informs the controller, and the controller adjusts the brightness of the lamp to be low; when the radar detects that a person enters the area, the controller is informed, and the brightness of the lamp is adjusted to be high by the controller. Therefore, energy can be saved, the utilization rate of energy is effectively improved, and intelligent illumination is realized.
8. The miniature security radar monitoring system according to any one of claims 1 to 7, wherein the case structure of the miniature radar is a flat rectangular box structure, and four antennas are positioned at the upper position of the middle part of the panel; the bottom of the flat cuboid box-type structure is provided with an arc groove support or a spherical support with an adjustable angle, and the support is provided with a locking mechanism.
Technical Field
The invention belongs to the technical field of security monitoring equipment, and particularly relates to radar monitoring system equipment.
Background
In view of the complex environment of modern society, many departments, units or public places need to implement security monitoring. In the past, most of security measures of defense sites adopt that barriers such as iron fences, fence nets or enclosing walls are arranged around buildings or certain areas, and security personnel are arranged to patrol to ensure the security. Later, with the development of science and technology, new equipment of new technologies such as infrared monitoring, video monitoring, revealing cable, vibrating cable are constantly applied to the safety precaution field, have improved security protection efficiency, but these technologies still have some inadequacies, can't satisfy the tighter demand of safety protection under the current situation. For example: the infrared monitoring has poor adaptability to the environment and is easily influenced by visible light; the video monitoring system needs an observer to monitor a picture for a long time, and judges whether a person intrudes or not by comparing the difference of a plurality of frames of images, so that the workload is large, the video monitoring system is easily influenced by weather, ambient light and the like, and the alarm leakage rate is high; the cable system needs an intruder to directly or indirectly touch the sensor to trigger an alarm, is restricted by the installation environment, and has high cost. The social environment is complex and changeable, emergencies occur in some cases, traditional security equipment and measures are not suitable, the security requirement puts higher requirements on the advancement of the equipment, the equipment can work uninterruptedly in all weather conditions, multiple targets can be simultaneously detected in a set area, and the security equipment has the advantages of high sensitivity, strong anti-interference capability, high reliability, strong environmental adaptability, good economy and the like.
Disclosure of Invention
The invention aims to overcome the defects of poor real-time performance, low anti-interference capability, large workload of security personnel, high false alarm rate and false alarm rate, high manufacturing cost and unsatisfactory comprehensive effect of the security equipment in the prior art, and provides the security equipment which can improve the working efficiency of monitoring personnel, can simultaneously detect multiple targets, has good real-time performance, high sensitivity, strong anti-interference capability and environmental adaptability, low false alarm rate and false alarm rate, high reliability and lower cost.
The purpose of the invention is realized by the following technical scheme.
A miniature security radar monitoring system comprises a miniature radar and a server, and is characterized in that the radar comprises a receiving and transmitting unit, a signal processing unit and a data processing unit; the signal processing unit and the data processing unit are communicated through a serial port; the data processing unit is communicated with the server through a network;
the receiving and transmitting unit transmits and receives frequency modulation continuous wave signals through an antenna, the received signals are amplified through a low noise amplifier and then mixed with local oscillator signals to obtain intermediate frequency signals, the intermediate frequency signals are filtered through a filter, ADC sampling is carried out on the intermediate frequency signals to obtain digital intermediate frequency signals, and then the digital intermediate frequency signals are sent to the signal processing unit to be subjected to subsequent signal processing;
the signal processing unit is realized on the basis of a large-scale integrated and high-speed programmable digital signal processing DSP chip, realizes the signal processing of the intermediate frequency signal, and sequentially performs distance dimension FFT, Doppler dimension FFT and antenna array element dimension FFT to obtain the distance, radial speed and azimuth information of each sampling point; meanwhile, clutter and noise of the Doppler dimension and the distance dimension are filtered through the CFAR of the Doppler dimension and the distance dimension, a target in the target is detected, and target point trace information containing information such as distance, direction, radial speed and amplitude is obtained; the signal processing unit sends the target trace information to the data processing unit through a serial port;
the data processing unit is realized on the basis of a CPU platform, and carries out target accumulation processing on the received trace point information through a DBSCAN algorithm to filter and remove impurities, then carries out target tracking processing to obtain position information, course speed and other motion information of a target, and then reports the position and the motion information of the target to a server through a network;
the server realizes display, settlement and alarm of target track information according to the information of the data processing unit, and controls the video monitoring unit to capture close-range features of the set area in real time, so that accurate security monitoring of the set area is realized.
In the preferred scheme, the transceiver unit adopts two microstrip transmitting antennas and four microstrip receiving antennas, the two transmitting antennas alternately transmit frequency modulated continuous wave signals, the four receiving antennas simultaneously receive the reflected frequency modulated continuous wave signals, the received four paths of signals are simultaneously processed, and the four paths of signals are amplified by a low noise amplifier and then mixed with local oscillation signals to obtain intermediate frequency signals; filtering the intermediate frequency signal, performing ADC (analog to digital converter) sampling, and simultaneously obtaining four paths of digitized intermediate frequency signals; the intermediate frequency signal is a complex signal, the real part and the imaginary part are respectively 16 bits, each path of signal comprises 256 sampling points, and the sampling rate is 5500 k; 32 pairs of pulses are transmitted in each pulse repetition period.
In a preferred embodiment, the signal processing unit implements signal processing of the intermediate frequency signal, including FFT in three dimensions of a distance dimension, a doppler dimension, and an antenna array element dimension, and CFAR in two dimensions of the doppler dimension and the distance dimension, specifically:
firstly, ADC sampling is carried out on a receiving signal of a current pulse in each pulse transmitting period, meanwhile, distance dimension FFT is carried out on a sampling point of a previous transmitting pulse, and distance information of each sampling point is obtained through aggregation. Repeating the above operations for each pulse, and storing the processed data until all the pulses in the current pulse repetition period are transmitted, and the FFT and the summary of the distance dimension are completed;
then, in the period of stopping pulse transmission, carrying out Doppler dimensional FFT on sampling points between different transmitted pulses and on the same distance unit to obtain Doppler information of each point, and then carrying out summary calculation to obtain the radial velocity of each point; taking a module of Doppler dimension FFT results of a plurality of virtual antennas, and performing coherent accumulation; then, Doppler dimension CFAR is carried out on the information after the coherent accumulation, clutter and noise of Doppler dimension are filtered, and a target point of a Doppler dimension threshold is obtained; on the basis, CFAR of the distance dimension is carried out, clutter and noise of the distance dimension are filtered, and a target point of which the distance dimension and the Doppler dimension simultaneously pass through a threshold is selected; in addition, after the transmission of one antenna, the four antennas receive simultaneously, so that the FFT of antenna array element dimension can be carried out on signals between different receiving antennas at the same distance and in the same Doppler channel, and the azimuth information of a target point track can be obtained through the sum; thus, a target point track containing distance, direction, radial speed and amplitude information is obtained; the signal processing unit sends the target trace information to the data processing unit through the serial port, and the data processing unit realizes subsequent data processing.
In the preferred scheme, the data processing unit firstly removes the clutter points from the received traces by a density-based clustering algorithm, namely a DBSCAN algorithm, reserves the traces with higher occurrence probability, and performs amplitude weighting to obtain new trace point information; then, after the processing of track establishment, data association, track updating, track prediction and the like, target track information containing position and motion situation information such as distance, direction, course, speed and the like is obtained and reported to a server through a network; the server realizes the display of target track information and the remittance and alarm of personnel or vehicles entering or leaving a set area; the data association adopts a local nearest neighbor algorithm, and the track updating adopts an alpha-beta filter to smooth the track.
In the preferred scheme, the data processing unit of the micro radar is communicated with the server through a network, a TCP or UDP protocol is selected for data transmission, system parameters can be configured by users, and different users or the same user can conveniently configure the parameters under different use requirements.
According to the optimal scheme, the data processing unit is communicated with the server through a network and is jointly applied with the video monitoring unit, accurate security monitoring of a set area is achieved, the server controls the video monitoring unit to rotate according to information provided by the miniature security radar, close-range features can be captured in real time when needed, effective comparison between position and motion information provided by the miniature security radar and clear video pictures is achieved, security personnel can accurately master detailed features of targets in real time, workload of the security personnel is greatly reduced, accuracy of security is improved, manpower is saved, and efficiency is improved.
According to the preferred scheme, the miniature security radar is networked with the street lamp control device and is applied in a combined mode. When the radar detects that no person exists in a certain area, the radar informs the controller, and the controller adjusts the brightness of the lamp to be low; when the radar detects that a person enters the area, the controller is informed, and the brightness of the lamp is adjusted to be high by the controller. Therefore, energy can be saved, the utilization rate of energy is effectively improved, and intelligent illumination is realized.
In the preferred scheme, the case structure of the micro radar is a flat cuboid box structure, the external structure size of the case structure is 150-210 mm long, 100-150 mm high and 60-100 mm thick; the four antennas are positioned at the upper position of the middle part of the panel; the bottom of the flat cuboid box-type structure is provided with an arc groove support or a spherical support with an adjustable angle, and the support is provided with a locking mechanism. The volume of the box-type structure is far smaller than that of a conventional desktop computer mainframe box, and the structure is light, handy and flexible and particularly has installation flexibility and environmental adaptability.
Preferably, the case structure of the micro radar is a flat cuboid box structure, and the external structure size of the case structure is 180mm long, 135mm high and 81mm thick.
The invention has the beneficial effects that:
1. the intelligent device is simple and convenient to operate, and the workload of security personnel can be greatly reduced;
2. multiple targets can be detected simultaneously;
3. the real-time performance is good;
4. the sensitivity is high;
5. the anti-interference capacity and the environmental adaptability are strong, the reliability is high, and the device is not influenced by weather such as rain, snow, fog, haze and the like and also not influenced by dust and environmental illumination;
6. the false alarm rate and the false alarm rate are low;
7. the case structure of the miniature radar is a flat cuboid box-type structure, the volume of the case structure is far smaller than that of a conventional desktop computer case, the structure is light, handy and convenient, and particularly has installation maneuverability and environmental adaptability;
8. the bottom of the case structure is provided with an arc groove support or a spherical support with adjustable angle, so that the application and debugging are convenient;
9. the four receiving antennas are arranged at the upper position of the middle part of the panel, so that the structure is compact;
10. the application of the miniature radar leads the comprehensive cost of the whole system device to be low.
Drawings
FIG. 1 is a system block diagram of an embodiment of a miniature security radar monitoring system of the present invention;
FIG. 2 is a functional block diagram of the transceiver unit of FIG. 1;
FIG. 3 is a schematic diagram of frequency change of a signal transmitted by the micro security radar;
FIG. 4 is a timing and functional block diagram of signal processing;
FIG. 5 is an intelligent detection effect diagram of the micro security radar;
FIG. 6 is another diagram of the intelligent detection effect of the miniature security radar;
fig. 7 is an external view of a micro radar structure.
In the figure, a
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.