Method for detecting position of target object, movable platform, device and storage medium

文档序号：889896 发布日期：2021-02-23 浏览：2次中文

阅读说明：本技术 目标物位置的检测方法、可移动平台、设备和存储介质 (Method for detecting position of target object, movable platform, device and storage medium ) 是由陈文平王俊喜王春明于 2019-11-05 设计创作，主要内容包括：一种目标物位置的检测方法、可移动平台、设备和存储介质。该方法包括：先测定目标物与可移动平台中配置的天线阵列之间的第一角度(S101)。然后,获取天线阵列在平动和转动过程中产生的第一速度(S102)。最后,根据第一速度对第一角度进行相位补偿,并根据相位补偿结果得到目标物的位置(S103)。其中,通过相位补偿能够准确检测出目标物与可移动平台中天线阵列之间的角度,从而得到目标物与可移动平台之间的位置关系。(A method of detecting a position of an object, a movable platform, a device, and a storage medium. The method comprises the following steps: first, a first angle between a target and an antenna array disposed in a movable stage is measured (S101). Then, a first velocity generated by the antenna array during the translation and rotation is acquired (S102). Finally, the first angle is subjected to phase compensation according to the first speed, and the position of the target object is obtained according to the phase compensation result (S103). The angle between the target object and the antenna array in the movable platform can be accurately detected through phase compensation, and therefore the position relation between the target object and the movable platform is obtained.)

1. A method for detecting the position of a target object,

determining a first angle between the target and an antenna array disposed in the movable platform;

acquiring a first speed generated by the antenna array in a motion process;

and carrying out phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to the phase compensation result.

2. The method of claim 1, wherein the phase compensating the first angle according to the first speed and obtaining the position of the target object according to the phase compensation result comprises:

calculating a second velocity of the first velocity in the first angular direction;

and determining a second angle between the target object and the antenna array according to the second speed so as to obtain the position of the target object, wherein the second angle is determined according to a compensation value corresponding to the phase compensation result.

3. The method of claim 1, wherein determining a first angle between the target object and an antenna array disposed in the movable stage comprises:

determining a first path value of a propagation path corresponding to each of the plurality of transmission signals, wherein the propagation paths of the plurality of transmission signals are paths generated by a plurality of transmission antennas in the antenna array and received by a plurality of receiving antennas in the antenna array respectively, and the antenna array is in a motion state;

performing frequency domain conversion on received signals of the plurality of receiving antennas, the received signals corresponding to the first path values;

determining the first angle according to the result of the frequency domain conversion.

4. The method of claim 2, wherein said obtaining a first velocity generated by said antenna array during said movement comprises:

acquiring the translation speed of the antenna array generated in the translation process;

acquiring the rotation speed of the antenna array generated in the rotation process;

and determining the resultant speed of the translation speed and the rotation speed as the first speed.

5. The method of claim 4, wherein the obtaining the translational velocity of the antenna array during the translational motion comprises:

acquiring the speed of the antenna array in a geodetic coordinate system;

converting the speed under the geodetic coordinate system into a speed under a body coordinate system of the movable platform;

and converting the speed under the body coordinate system into the translation speed under an antenna rotating coordinate system according to a preset conversion matrix, wherein the antenna rotating coordinate system is in one-to-one correspondence with the facing directions of the antenna array in the rotating process.

6. The method of claim 4, wherein the obtaining a rotation speed of the antenna array generated during the rotation comprises:

acquiring the rotation angular speed of the antenna array;

determining the rotation speed of transmitting antennas in the antenna array according to the rotation angular speed and the distance between a target transmitting antenna and the rotation center of the antenna array, wherein the transmitting antenna with the minimum distance from the rotation center in a plurality of transmitting antennas in the antenna array is the target transmitting antenna;

and determining the rotation speed of the receiving antenna in the antenna array according to the rotation angular speed and the distance between the target receiving antenna and the rotation center of the antenna array, wherein the receiving antenna with the largest distance from the rotation center in a plurality of receiving antennas in the antenna array is the target receiving antenna.

7. The method of claim 6, wherein determining the combined translational velocity and rotational velocity as the first velocity comprises:

determining the combined speed of the translation speed and the rotation speed of the transmitting antenna as a first speed of the transmitting antenna;

and determining the combined speed of the translation speed and the rotation speed of the receiving antenna as the first speed of the receiving antenna.

8. The method of claim 7, wherein said calculating a second velocity of the first velocity in the first angular direction comprises:

determining a second speed of the transmitting antenna according to the first angle and the speed of the first speed of the transmitting antenna in the X-axis direction and the Y-axis direction of the antenna rotating coordinate system respectively;

and determining a second speed of the receiving antenna according to the first angle and the speed of the first speed of the receiving antenna in the X-axis direction and the Y-axis direction of the antenna rotating coordinate system respectively.

9. The method of claim 8, wherein determining a second angle between the target object and the antenna array based on the second velocity comprises:

determining a compensation value corresponding to the antenna array motion based on the second velocity of the transmit antenna and the second velocity of the receive antenna;

determining a second angle between the target object and the antenna array according to the compensation value.

10. The method of claim 9, wherein determining a second angle between the target object and the antenna array based on the compensation value comprises:

correcting the first path value of the propagation path corresponding to each of the plurality of transmitted signals according to the compensation value to obtain a second path value, wherein the propagation paths of the plurality of transmitted signals are paths generated by a plurality of transmitting antennas in the antenna array and respectively received by a plurality of receiving antennas in the antenna array, and the antenna array is in a non-motion state;

performing frequency domain conversion on received signals of the plurality of receiving antennas, the received signals corresponding to the second path values;

and determining the second angle according to the result of the frequency domain conversion.

11. A movable platform, comprising at least: the device comprises a machine body, a power system and a control device;

the power system is arranged on the machine body and used for providing power for the movable platform;

the control device comprises a memory and a processor;

the memory for storing a computer program;

the processor is configured to execute the computer program stored in the memory to implement:

determining a first angle between the target and an antenna array disposed in the movable platform;

acquiring a first speed generated by the antenna array in the translation and rotation processes;

calculating a second velocity of the first velocity in the first angular direction;

and determining a second angle between the target object and the antenna array according to the second speed so as to obtain the position of the target object.

12. The platform of claim 10, wherein the processor is further configured to:

calculating a second velocity of the first velocity in the first angular direction;

13. The platform of claim 10, wherein the processor is further configured to:

performing frequency domain conversion on received signals of the plurality of receiving antennas, the received signals corresponding to the first path values;

determining the first angle according to the result of the frequency domain conversion.

14. The platform of claim 12, wherein the processor is further configured to:

acquiring the translation speed of the antenna array generated in the translation process;

acquiring the rotation speed of the antenna array generated in the rotation process;

and determining the resultant speed of the translation speed and the rotation speed as the first speed.

15. The platform of claim 14, wherein the processor is further configured to:

acquiring the speed of the antenna array in a geodetic coordinate system;

converting the speed under the geodetic coordinate system into a speed under a body coordinate system of the movable platform;

16. The platform of claim 14, wherein the processor is further configured to:

acquiring the rotation angular speed of the antenna array;

17. The platform of claim 16, wherein the processor is further configured to:

determining the combined speed of the translation speed and the rotation speed of the transmitting antenna as a first speed of the transmitting antenna;

and determining the combined speed of the translation speed and the rotation speed of the receiving antenna as the first speed of the receiving antenna.

18. The platform of claim 17, wherein the processor is further configured to:

19. The platform of claim 18, wherein the processor is further configured to:

determining a compensation value corresponding to the antenna array motion based on the second velocity of the transmit antenna and the second velocity of the receive antenna;

determining a second angle between the target object and the antenna array according to the compensation value.

20. The platform of claim 19, wherein the processor is further configured to:

performing frequency domain conversion on received signals of the plurality of receiving antennas, the received signals corresponding to the second path values;

and determining the second angle according to the result of the frequency domain conversion.

21. An apparatus for detecting a position of an object, the apparatus comprising:

a memory for storing a computer program;

a processor for executing the computer program stored in the memory to implement:

determining a first angle between the target and an antenna array disposed in the movable platform;

acquiring a first speed generated by the antenna array in a motion process;

and carrying out phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to the phase compensation result.

22. The device of claim 21, wherein the processor is further configured to:

calculating a second velocity of the first velocity in the first angular direction;

23. The device of claim 21, wherein the processor is further configured to:

performing frequency domain conversion on received signals of the plurality of receiving antennas, the received signals corresponding to the first path values;

determining the first angle according to the result of the frequency domain conversion.

24. The apparatus of claim 22, wherein the processor is further configured to:

acquiring the translation speed of the antenna array generated in the translation process;

acquiring the rotation speed of the antenna array generated in the rotation process;

and determining the resultant speed of the translation speed and the rotation speed as the first speed.

25. The device of claim 24, wherein the processor is further configured to:

acquiring the speed of the antenna array in a geodetic coordinate system;

converting the speed under the geodetic coordinate system into a speed under a body coordinate system of the movable platform;

26. The device of claim 24, wherein the processor is further configured to:

acquiring the rotation angular speed of the antenna array;

27. The device of claim 26, wherein the processor is further configured to:

determining the combined speed of the translation speed and the rotation speed of the transmitting antenna as a first speed of the transmitting antenna;

and determining the combined speed of the translation speed and the rotation speed of the receiving antenna as the first speed of the receiving antenna.

28. The device of claim 27, wherein the processor is further configured to:

29. The device of claim 28, wherein the processor is further configured to:

determining a compensation value corresponding to the antenna array motion based on the second velocity of the transmit antenna and the second velocity of the receive antenna;

determining a second angle between the target object and the antenna array according to the compensation value.

30. The device of claim 29, wherein the processor is further configured to:

performing frequency domain conversion on received signals of the plurality of receiving antennas, the received signals corresponding to the second path values;

and determining the second angle according to the result of the frequency domain conversion.

31. A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium in which program instructions for implementing the method of detecting a position of an object according to any one of claims 1 to 10 are stored.

Technical Field

The present invention relates to the field of radar, and in particular, to a method for detecting a position of a target, a movable platform, a device, and a storage medium.

Background

Movable platforms are now widely used in numerous fields. In different fields, movable platforms all have the requirement of detecting the position of a target object in an operating environment, so that an obstacle avoidance function is realized according to a detection result, and in practical application, the target object can be an obstacle in particular.

In the prior art, the detection of the position of the target object is usually achieved by analyzing the transmission signal of the transmitting antenna and the reception signal of the receiving antenna in a rotating antenna array, wherein the antenna array is disposed in a movable platform. When the transmitted signal is transmitted, the motion of the antenna array will affect the parameters of the received signal, such as amplitude and phase, which will further result in inaccurate signal analysis results. Therefore, how to ensure the accuracy of the analysis result, so as to further improve the accuracy of the position detection becomes an urgent problem to be solved.

Disclosure of Invention

The invention provides a method for detecting the position of a target object, a movable platform, equipment and a storage medium, which are used for improving the accuracy of position detection.

A first aspect of the present invention is to provide a method for detecting a position of a target, the method including:

determining a first angle between the target and an antenna array disposed in the movable platform;

acquiring a first speed generated by the antenna array in a motion process;

and carrying out phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to the phase compensation result. A second aspect of the present invention is to provide a movable platform, comprising: the device comprises a machine body, a power system and a control device;

the power system is arranged on the machine body and used for providing power for the movable platform;

the control device includes a memory and a processor;

the memory for storing a computer program;

the processor is configured to execute the computer program stored in the memory to implement: determining a first angle between the target and an antenna array disposed in the movable platform;

acquiring a first speed generated by the antenna array in a motion process;

and carrying out phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to the phase compensation result.

A third aspect of the present invention is to provide an apparatus for detecting a position of an object, the control device including:

a memory for storing a computer program;

a processor for determining a first angle between a target and an antenna array configured in a movable platform;

acquiring a first speed generated by the antenna array in a motion process;

and carrying out phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to the phase compensation result.

A fourth aspect of the present invention is to provide a computer-readable storage medium, wherein the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used in the method for detecting a position of an object according to the first aspect.

The method for detecting the position of the target object, the movable platform, the equipment and the storage medium can accurately detect the angle between the target object and the antenna array in the movable platform, so that the position relation between the target object and the movable platform is obtained.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic flowchart of a method for detecting a position of a target according to an embodiment of the present invention;

fig. 2 is a flowchart of a specific implementation manner of step S103 according to an embodiment of the present invention;

fig. 3a is a schematic flow chart of a first angle determination method according to an embodiment of the present invention;

fig. 3b is a schematic flow chart of a second angle determining method according to an embodiment of the present invention;

fig. 4 is a schematic diagram of an antenna array according to an embodiment of the present invention;

FIG. 5 is a flowchart illustrating a first speed determination method according to an embodiment of the present invention;

fig. 6 is a flowchart illustrating a second speed determination method according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a device for detecting a position of a target according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a movable platform according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a device for detecting a position of a target according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. And features in the embodiments described below and in the embodiments may be combined with each other without conflict between the embodiments.

The invention provides a method for detecting the position of a target object, a movable platform, equipment and a storage medium. Then, a first velocity generated by the antenna array during the movement is obtained. Finally, phase compensation is carried out on the first angle according to the first speed to obtain a phase compensation result, and the position of the target object is obtained according to the phase compensation result.

Therefore, on one hand, the detection method provided by the invention is substantially a method for performing angle correction through phase compensation to obtain a compensated phase result, so as to obtain the position of the target object by using the compensated phase result, that is, to improve the accuracy of the position detection of the target object. On the other hand, the detection method provided by the invention uses the speed of the antenna array generated in the movement process in the process of correcting the first angle. By taking the motion of the antenna array into consideration, the influence of the motion of the antenna array on the position detection result in the background art can be avoided, and the accuracy of the position detection of the target object is improved.

Based on the above description, an embodiment of the present invention provides a method for detecting a position of a target, where the method includes:

determining a first angle between the target and an antenna array disposed in the movable platform;

acquiring a first speed generated by the antenna array in a motion process;

and carrying out phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to the phase compensation result.

An embodiment of the present invention further provides a movable platform, where the platform at least includes: the device comprises a machine body, a power system and a control device;

the power system is arranged on the machine body and used for providing power for the movable platform;

the control device comprises a memory and a processor;

the memory for storing a computer program;

the processor is configured to execute the computer program stored in the memory to implement: determining a first angle between the target and an antenna array disposed in the movable platform;

acquiring a first speed generated by the antenna array in a motion process;

and carrying out phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to the phase compensation result.

An embodiment of the present invention further provides a device for detecting a position of a target, where the device includes:

a memory for storing a computer program;

a processor for executing the computer program stored in the memory to implement: determining a first angle between the target and an antenna array disposed in the movable platform;

acquiring a first speed generated by the antenna array in a motion process;

and carrying out phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to the phase compensation result.

An embodiment of the present invention further provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to execute the method for detecting a position of an object.

Fig. 1 is a schematic flow chart of a method for detecting a position of a target according to an embodiment of the present invention. The main execution body of the method for detecting the position of the target object is a detection device. It will be appreciated that the detection device may be implemented as software, or a combination of software and hardware. The detection device executes the detection method of the target position, so that the target position can be detected. The detection device in this embodiment and the following embodiments may specifically be any movable platform such as an unmanned aerial vehicle, an unmanned ship, and the like. Specifically, the method may include:

s101, a first angle between a target object and an antenna array configured in a movable platform is measured.

An antenna array may be configured in the movable platform, and the angle measurement is realized by analyzing a relationship between a signal transmitted by a transmitting antenna and a signal received by a receiving antenna in the antenna array. In practical applications, the antenna array is, optionally, a Multiple-Input Multiple-Output (MIMO) rotating antenna array. Commonly used angle measurement methods using the antenna array may include phase method angle measurement, amplitude method angle measurement, and the like.

For the angle measurement by the phase method, after the receiving antenna in the antenna array generates the transmitting signal, the transmitting signal can be received by the receiving antenna in the antenna array after passing through the target object, at this time, the phase difference between the transmitting signal and the receiving signal can be calculated, and the first angle between the target object and the antenna array can be calculated according to the phase difference.

Similar to the phase goniometry method, for the amplitude goniometry angle, the rotating antenna array may scan at a constant speed over a sector or circumference. When the antenna array scans different directions, the receiving antenna can receive the receiving signal corresponding to the direction, and the amplitude of the receiving signal can be known. The scanning direction mentioned above is understood to be an angle, which can be expressed by the product of the scanning angular velocity of the antenna array and the transmission period of the transmission signal, i.e., θ ═ ω T. Where θ is the scanning direction, ω is the scanning angular velocity, and T is the emission period of the signal.

After the antenna array completes one period of scanning, in an optional manner, a target received signal with a maximum amplitude in the received multiple received signals may be determined, and a scanning direction corresponding to the target received signal may be determined as the first angle. The above method is also the maximum signal method in angle measurement by the amplitude method.

Alternatively, a received signal with an amplitude greater than a preset threshold may be screened from the plurality of received signals, the screened received signals are sorted according to the amplitudes, the received signal with the amplitude as a middle value is determined as a target received signal, and a scanning direction corresponding to the target received signal is determined as the first angle. This method is also referred to as an intermediate value method in angle measurement by the amplitude method.

S102, acquiring a first speed generated by the antenna array in the motion process.

In practical applications, the antenna array has a motion process during scanning, and such motion may specifically include translation caused by movement of the movable platform and rotation caused by rotation of the radar. At this time, the antenna array has a translational velocity due to the translational motion and a rotational velocity due to the rotational motion, and at this time, a combined velocity of the translational velocity and the rotational velocity may be determined as the first velocity.

S103, performing phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to a phase compensation result.

Based on the first speed, in an alternative manner, the phase compensation may be implemented by correspondingly calculating the first speed, and the specific flow may refer to the following steps as shown in fig. 2:

and S1031, calculating a second speed of the first speed in the first angular direction.

S1032, determining a second angle between the target object and the antenna array according to the second speed to obtain a position of the target object, where the second angle is determined according to a compensation value corresponding to the phase compensation result.

Specifically, the second speed of the first speed in the first angular direction may be calculated according to:

v₂＝v_1x*cosθ+v_1y*sinθ

wherein v is₂At the second speed, v₁Is a first speed, v_1xIs the velocity component, v, of the first velocity in the X-axis of the antenna rotation coordinate system_1yThe component of the first speed on the Y axis in the antenna rotation coordinate system is theta, which is a first angle. The antenna rotation coordinate system may be a radar coordinate system or a rotation coordinate system.

The second velocity obtained at this time already takes into account the influence of the movement, i.e. translation and rotation, of the antenna array on the received signal, and therefore, the correction of the first angle can be implemented according to this second velocity to obtain an accurate second angle. In practice, this second angle may be used to describe the position between the object and the movable platform, and thus, to determine the position of the object.

And the process of correcting the first angle according to the second speed may be optionally implemented by a Digital Beam Forming (DBF) technique. The specific process of determining the angle using this DBF technique can be seen in the following description of the embodiment shown in fig. 3 b. Generally speaking, in the process of correcting the angle by using the technology, a compensation value is obtained first, then a phase compensation result is further obtained, and finally a second angle between the target object and the antenna array can be determined according to the compensation result.

In this embodiment, a first angle between the target and an antenna array disposed in the movable stage is first determined. Then, a first speed generated by the antenna array in the moving process is obtained, phase compensation is performed on the first angle according to the first speed to obtain a phase compensation result, and finally, the position of the target object is determined according to the phase compensation result. It can be seen that in this embodiment, there is a process of phase compensating the first angle, and the velocity due to the antenna array motion is also taken into account in the compensation process. Therefore, the accuracy of target position detection can be improved through the processing mode.

Several ways of determining the first angle have been mentioned in the above embodiments. In addition, as shown in fig. 3a, the following method may be used to determine the first angle between the target object and the antenna array, that is, another optional implementation manner of step S101 may be:

s1011, determining a first path value of a propagation path corresponding to each of the plurality of transmission signals, where the propagation paths of the plurality of transmission signals are paths generated by a plurality of transmission antennas in the antenna array and received by a plurality of receiving antennas in the antenna array, and the antenna array is in a motion state.

Specifically, an antenna array is generally composed of a plurality of transmitting antennas and a plurality of receiving antennas. The number and the position relationship of each transmitting antenna and each receiving antenna in the antenna array can be shown in fig. 3. As can be seen from fig. 3, the antenna array may include m transmit antennas and n receive antennas, and the transmit signal generated by each transmit antenna may be received by each receive antenna. Wherein, optionally, m is more than or equal to 2, and n is more than or equal to 4.

When the antenna array is in a moving state, namely in a translation and rotation state, after the transmitting antenna generates a transmitting signal, a propagation path corresponding to the transmitting signal is a propagation path propagated when the transmitting signal is propagated in space and finally received by the receiving antenna, and the length of the propagation path is a first path value. This first path value may also be considered as the first path value of the received signal.

Assuming that the transmission signal generated by the transmission antenna Txi is received by the reception antenna Rxj, the reception signal received by the reception antenna Rxj can be represented as:

wherein i is any integer from 1 to m, m is the number of transmitting antennas, j is any integer from 1 to n, n is the number of receiving antennas, lambda is the wavelength of the transmitted signal, a_ijIs a predetermined coefficient, d_ijA first path value corresponding to a transmission signal generated for the antenna Txi.

This first path value may in turn be expressed as: d_ij＝t_ijC. Wherein, t_ijThe time elapsed until the transmission signal generated by the transmission antenna Txi acquired for the movable platform is received by the reception antenna Rxj, C being the speed of light.

When the antenna array is in a translation and rotation state, according to the above formula, when a plurality of transmitting signals generated by a plurality of transmitting antennas are received by the receiving antennas, a first path value corresponding to each of the plurality of transmitting signals can be determined.

S1012, frequency domain converting the received signals of the plurality of receiving antennas, the received signals corresponding to the first path values.

S1013, a first angle is determined according to the result of the frequency domain conversion.

After the receiving antenna receives the multiple received signals, the multiple received signals may also be frequency domain converted. Alternatively, first, a plurality of received signals may be represented in a matrix form:

the meaning of the relevant parameters in this formula can be referred to the relevant description of the formula in step S1011, and is not described herein again.

Then, the matrix is aligned againA fast fourier transform is performed to obtain a conversion result F. Finally, the first angle is calculated according to the following formula:

wherein, theta_CoarseFor the first angle, λ is the wavelength of the received signal, and d is the distance between adjacent receiving antennas or adjacent transmitting antennas, as shown in fig. 4.

The above flow is actually a process of realizing angle measurement based on the DBF technology. It should be noted that, compared to the angle measurement method provided in the embodiment shown in fig. 1, as shown in fig. 3a, a plurality of received signals are involved in the angle calculation process, instead of using only one received signal, and therefore, the angle measurement method also has higher accuracy.

Similar to the manner shown in fig. 3a, as shown in fig. 3b, the second angle between the target object and the antenna array may also be determined in the following manner, that is, an alternative implementation manner of step S1032 may be:

s10321, modifying the first path value of the propagation path corresponding to each of the plurality of transmission signals according to the compensation value to obtain a second path value, where the propagation paths of the plurality of transmission signals are paths generated by the plurality of transmission antennas in the antenna array and received by the plurality of receiving antennas in the antenna array, and the antenna array is in a non-moving state.

When the antenna array is in a non-moving state, namely a non-translation and rotation state, after the transmitting antenna generates a transmitting signal, a propagation path corresponding to the transmitting signal is a propagation path propagated when the transmitting signal is propagated in space and finally received by the receiving antenna, and the length of the propagation path is also a second path value. Of course this second path value also corresponds to the received signal.

It should be noted that, regardless of the motion state of the antenna array, a path along which the transmission signal is transmitted from the transmitting antenna to the receiving antenna during reception is referred to as a transmission path of the transmission signal, and this path is also a transmission path of the reception signal.

However, when the motion state of the antenna array is different, the transmission path has different path values. Combining the descriptions in the embodiments shown in fig. 3a and fig. 3b, the difference of the path values can be embodied as: the antenna array is in a translation and rotation state, and the transmitting signal and the receiving signal both correspond to a first path value; when the antenna array is in the non-translational and rotational states, the transmitted signal and the received signal both correspond to the second path value. And the change in the path value is due to the motion of the antenna array. This second path value can also be understood as a phase compensation result.

Continuing with the assumption in fig. 3a, the transmission signal generated by the transmitting antenna Txi is received by the receiving antenna Rxj, and the received signal of the receiving antenna Rxj can be represented as:

wherein i is any integer from 1 to m, m is the number of transmitting antennas, j is any integer from 1 to n, n is the number of receiving antennas, lambda is the wavelength of the transmitted signal, a_ijIn order to set the coefficients to a predetermined value,a second path value corresponding to the transmit signal generated for antenna Txi. This second path value may be expressed as:

wherein, Δ d_ijFor the compensation value, the compensation value deltad is determined_ijThe first speed, the first angle and the second speed may be used directly or indirectly. The compensation value deltad_ijSpecific determination can be found in the following examples shown in FIGS. 5 to 6, d_ijThe first path value corresponding to the transmission signal generated by the antenna Txi can be calculated as described in relation to the embodiment shown in fig. 3 a.

Similarly, when the antenna array is in a non-moving state, the second path values corresponding to the plurality of transmission signals when the plurality of transmission signals generated by the transmission antenna are received by the receiving antenna can be determined according to the above formula.

S10322, frequency domain converting is performed on the received signals of the plurality of receiving antennas, the received signals corresponding to the second path values.

S10323, a second angle is determined according to the result of the frequency domain conversion.

After the received signal is obtained, the received signal received by the receiving antenna may be frequency domain converted. In an alternative manner, the acquired plurality of received signals may be represented in a matrix form:

the related meaning of the parameter in this formula can be referred to the related description of the formula in step S1011, and is not described herein again.

Then, the matrix is aligned againA fast fourier transform is performed to obtain a conversion result F'. Finally, the second angle is calculated according to the following formula:

wherein, theta_{Extract of Chinese medicinal materials}And a second angle, λ is the wavelength of the received signal, and d is the distance between adjacent receiving antennas or adjacent transmitting antennas.

In summary, the two embodiments are both schemes for measuring angles by using the DBF technology, but the two embodiments respectively correspond to different motion states of the antenna array. The translational and rotational states of the antenna array correspond to the first path values. In this state, the translation and rotation of the antenna array may affect the received signal, so that the first angle determined according to the first path value may not correctly reflect the position relationship between the target object and the antenna array. The non-translational and rotational states of the antenna array correspond to the second path value, and the second path value obtained in such a state can accurately reflect the position relationship between the target object and the antenna array, so that the obtained second angle is accurate according to the correction of the first angle by the second path value.

As can be seen from the description of the embodiment shown in fig. 3b, the compensation value ad is used in the determination of the second angle_ij. While determining the compensation value deltad_ijThe first speed, the first angle and the second speed are used. The first speed, the first angle, the second speed and the compensation value Δ d are respectively measured as follows_ijThe determination of (2) is described.

For the first speed, during the movement of the antenna array, i.e., translation and rotation, the transmitting antenna and the receiving antenna may have the same translation speed and respective corresponding rotation speeds. In practical applications, the rotation speeds of the transmitting antenna and the receiving antenna may be equal or different according to different antenna layouts in the antenna array. Since it is disclosed in the embodiment shown in fig. 1 that the first speed may be a combined speed of the rotational speed and the translational speed, the first speeds of the transmitting antenna and the receiving antenna may be equal or different accordingly.

Based on the above description, as shown in fig. 5, the first speed may be determined in the following manner, that is, an alternative implementation of step S102:

and S1021, acquiring the translation speed generated by the antenna array in the translation process.

Alternatively, during the translation process of the antenna array, the movable platform can automatically acquire the speed v of the antenna array in the geodetic coordinate system_g. The velocity v in the geodetic coordinate system can then be converted by means of a predetermined transformation matrix_gConversion to velocity v in the body coordinate system of the movable platform_b. Then, according to a preset conversion matrix, the speed v under the body coordinate system is converted_bConversion into translation velocity v under antenna rotation coordinate system_br。

In particular, the velocity v in the geodetic coordinate system_gCan be expressed as: v. of_g＝[v_gx v_gy v_gz]^T。

Wherein v is_gx、v_gy、v_gzRespectively velocity v_gVelocity components on the X, Y and Z axes of the geodetic coordinate system.

Velocity v in machine coordinate system_bCan be expressed as: v. of_b＝[v_bx v_by v_bz]^T。

Wherein v is_bx、v_by、v_bzRespectively velocity v_bVelocity components on the X, Y and Z axes of the body coordinate system.

Velocity v in antenna rotation coordinate system_brCan be expressed as:

v_br＝[v_brx v_bry v_brz]^T＝C_p*[v_bx v_by v_bz]^T

wherein v is_brx、v_bry、v_brzRespectively velocity v_brVelocity components in X, Y and Z axes of the antenna rotation coordinate system, C_pIn order to pre-set the transformation matrix,θ_pthe minimum angle of the grating scale configured for the movable stage.

The above mentioned coordinate systems will be described below.

The geodetic coordinate system uses the geocentric as the origin of the coordinate system, the Z-axis points to the direction of the protocol polar earth (CTP), and the Y-axis and the X, Z-axis form a right-hand coordinate system.

The body coordinate system of the movable platform conforms to the right-hand rule, the origin of the coordinate system is the gravity center of the movable platform, the X axis points to the advancing direction of the movable platform, the Y axis points to the right side of the movable platform from the origin, and the Z axis direction is determined by the right-hand rule according to the X, Y axis.

And the antenna rotating coordinate system corresponds to the direction faced by the antenna array in the rotating process one by one. When the antenna array does not rotate and do not move horizontally, the rotating coordinate system of the antenna is superposed with the coordinate system of the body.

It should be noted that, during the translation process of the antenna array, each receiving antenna and each transmitting antenna in the antenna array have equal translation speeds, that is, v determined above_br。

And S1022, acquiring the rotation speed generated by the antenna array in the rotation process.

Different from the translational speed, in the process of the rotation of the antenna array, a plurality of transmitting antennas in the antenna array have the same rotation speed, a plurality of receiving antennas have the same rotation speed, but the rotation speeds of the transmitting antennas and the receiving antennas are different. Therefore, the respective rotational speeds of the transmitting antenna and the receiving antenna need to be determined separately.

For the rotation speed of the transmitting antenna, the mobile platform may optionally acquire the rotation angular speed of the antenna array. And then, determining the rotation speed of the transmitting antenna in the antenna array according to the rotation angular speed and the distance between the target transmitting antenna and the rotation center of the antenna array, wherein the transmitting antenna with the minimum distance from the rotation center in a plurality of transmitting antennas in the antenna array is the target transmitting antenna.

Specifically, if the rotation angular velocity of the antenna array is ω, the rotation velocity v of the transmitting antenna Txi can be determined according to the following formula_si＝[ωr_m 0 0]^T。

Wherein i is any integer of 1-m, m is the number of transmitting antennas, r_mThe distance between the target transmit antenna Txm and the rotation center O of the antenna array can be seen in fig. 3.

As for the rotation speed of the receiving antenna, in an optional manner, after the rotation angular speed of the antenna array is obtained, the rotation speed of the receiving antenna in the antenna array may be determined according to the rotation angular speed and a distance between a target receiving antenna and a rotation center of the antenna array, where a receiving antenna with a largest distance from the rotation center among a plurality of receiving antennas in the antenna array is the target receiving antenna.

Specifically, the rotational angular velocity of the antenna array is ω, and then the rotational velocity v of the receiving antenna Rxj is determined according to the following equation_sj＝[ωr_n 0 0]^T。

Wherein j is any integer from 1 to n, n is the number of receiving antennas, r_nThe distance between the target receive antenna Rxn and the rotation center O of the antenna array can be seen in fig. 4.

Through the method, the respective rotating speed of each transmitting antenna and each receiving antenna can be determined.

And S1023, determining the combined speed of the translation speed and the rotation speed as a first speed.

Based on the obtained translation speed and rotation speed, a combined speed of the translation speed and the rotation speed of the transmitting antenna can be determined as the first speed of the transmitting antenna. At this time, the first velocity of the transmitting antenna Txi is expressed as: v. of_i＝v_br+v_si. V is this_iCorresponding to v in the embodiment shown in FIG. 1₁

Alternatively, the combined velocity of the translational velocity and the rotational velocity of the receiver antenna may be determined as the first velocity of the receiver antenna Rxj. At this time, the first velocity of the receiving antenna RxjExpressed as: v. of_j＝v_br+v_sj. V is this_jAlso corresponds to v in the embodiment shown in FIG. 1₁。

The respective first speeds of each transmitting antenna and each receiving antenna can be determined in the above manner.

As for the second speed, after the first speeds of the transmitting antenna and the receiving antenna are respectively determined according to the method shown in fig. 5, as shown in fig. 6, as an optional method, the second speed may also be determined in the following manner, that is, an optional implementation manner of step S1031:

and S10311, determining a second speed of the transmitting antenna according to the first angle and the speed of the first speed of the transmitting antenna in the X-axis direction and the Y-axis direction of the antenna rotation coordinate system respectively.

Specifically, the second speed of the transmit antenna Txi may be expressed as: v. of_iθ＝v_ixcosθ_Coarse+v_iysinθ_Coarse。

Wherein, theta_CoarseIs a first angle, v_ixA first velocity v of the transmitting antenna Txi_iSpeed, v, in the X-axis of the antenna rotation coordinate system_iyA first velocity v of the transmitting antenna Txi_iSpeed on the Y-axis of the antenna rotation coordinate system. V is this_iθCorresponding to v in the embodiment shown in FIG. 1₂。

And S10312, determining a second speed of the receiving antenna according to the first angle and the speed of the first speed of the receiving antenna in the X-axis direction and the Y-axis direction of the antenna rotation coordinate system respectively.

Specifically, the second speed of receive antenna Rxj may be expressed as: v. of_jθ＝v_jxcosθ_Coarse+v_jysinθ_Coarse。

Wherein, theta_CoarseIs a first angle, v_jxIs a first velocity v of the receiving antenna Rxj_jSpeed, v, in the X-axis of the antenna rotation coordinate system_jyIs a first velocity v of the receiving antenna Rxj_jSpeed on the Y-axis of the antenna rotation coordinate system. V is this_jθCorresponding to v in the embodiment shown in FIG. 1₂。

It should be noted that, a plurality of transmitting antennas in the antenna array have the same second speed, and a plurality of receiving antennas have the same second speed.

For the compensation value, after the first speed, the first angle and the second speed are calculated in sequence according to the embodiments shown in fig. 3a, 5 to 6, optionally, the compensation value Δ d in the embodiment shown in fig. 3b may be determined according to the second speed of the transmitting antenna and the second speed of the receiving antenna_ij。

Alternatively, the compensation value Δ d_ijCan be determined using the following formula: Δ d_ij＝(i-1)(v_iθ+v_jθ)T_p。

Wherein v is_iθIs the second velocity, v, of the transmitting antenna_jθFor receiving a second speed, T, of the antenna_pThe signal transmission period for the transmit antenna corresponds to T in the embodiment shown in fig. 1.

The compensation value deltad is determined_ijThen, the second path values corresponding to the transmitting signals can be determined according to the mode shown in fig. 3b, and then the second angle θ between the target object and the antenna array is further obtained_{Extract of Chinese medicinal materials}I.e. to determine the position of the target object. It is because the second angle theta is being determined_{Extract of Chinese medicinal materials}The rotation and translation of the antenna array are considered in the process, so that the position of the target object is determined more accurately.

Fig. 7 is a schematic structural diagram of a device for detecting a position of a target according to an embodiment of the present invention. As shown in fig. 7, the present embodiment provides a detection apparatus for a target position, which can perform the above-mentioned detection method for a target position; specifically, the detection device includes:

the measurement module 11 is configured to determine a first angle between the target object and an antenna array disposed in the movable platform.

And the acquisition module 12 is used for acquiring a first speed generated by the antenna array in the translation and rotation processes.

And the compensation module 13 is configured to perform phase compensation on the first angle according to the first speed, and obtain the position of the target according to the phase compensation result.

The apparatus shown in fig. 7 can also perform the method of the embodiment shown in fig. 1 to 6, and the related description of the embodiment shown in fig. 1 to 6 can be referred to for the part not described in detail in this embodiment. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to 6, and are not described herein again.

Fig. 8 is a schematic structural diagram of a movable platform according to an embodiment of the present invention; referring to fig. 8, an embodiment of the present invention provides a movable platform, which is at least one of the following: unmanned aerial vehicles, unmanned boats, unmanned vehicles; specifically, the movable platform includes: a machine body 21, a power system 22, and a control device 23.

And the power system 22 is arranged on the machine body and used for providing power for the movable platform.

The control device 23 comprises a memory 231 and a processor 232.

The memory for storing a computer program;

the processor is configured to execute the computer program stored in the memory to implement:

determining a first angle between the target and an antenna array disposed in the movable platform;

acquiring a first speed generated by the antenna array in a motion process;

and carrying out phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to the phase compensation result.

Further, processor 232 is further configured to: calculating a second velocity of the first velocity in the first angular direction;

Further, processor 232 is further configured to: determining a first path value of a propagation path corresponding to each of the plurality of transmission signals, wherein the propagation paths of the plurality of transmission signals are paths generated by a plurality of transmission antennas in the antenna array and received by a plurality of receiving antennas in the antenna array respectively, and the antenna array is in a motion state;

performing frequency domain conversion on received signals of the plurality of receiving antennas, the received signals corresponding to the first path values;

determining the first angle according to the result of the frequency domain conversion.

Further, processor 232 is further configured to: acquiring the translation speed of the antenna array generated in the translation process;

acquiring the rotation speed of the antenna array generated in the rotation process;

and determining the resultant speed of the translation speed and the rotation speed as the first speed.

Further, processor 232 is further configured to: acquiring the speed of the antenna array in a geodetic coordinate system;

converting the speed under the geodetic coordinate system into a speed under a body coordinate system of the movable platform;

Further, processor 232 is further configured to: acquiring the rotation angular speed of the antenna array;

Further, processor 232 is further configured to: determining the combined speed of the translation speed and the rotation speed of the transmitting antenna as a first speed of the transmitting antenna;

and determining the combined speed of the translation speed and the rotation speed of the receiving antenna as the first speed of the receiving antenna.

Further, processor 232 is further configured to: determining a second speed of the transmitting antenna according to the first angle and the speed of the first speed of the transmitting antenna in the X-axis direction and the Y-axis direction of the antenna rotating coordinate system respectively;

Further, processor 232 is further configured to: determining a compensation value corresponding to the antenna array motion based on the second velocity of the transmit antenna and the second velocity of the receive antenna;

determining a second angle between the target object and the antenna array according to the compensation value.

Further, processor 232 is further configured to: correcting the first path value of the propagation path corresponding to each of the plurality of transmitted signals according to the compensation value to obtain a second path value, wherein the propagation paths of the plurality of transmitted signals are paths generated by a plurality of transmitting antennas in the antenna array and respectively received by a plurality of receiving antennas in the antenna array, and the antenna array is in a non-motion state;

performing frequency domain conversion on received signals of the plurality of receiving antennas, the received signals corresponding to the second path values;

and determining the second angle according to the result of the frequency domain conversion.

The movable platform shown in fig. 8 can perform the method of the embodiment shown in fig. 1 to 6, and the details of this embodiment, which are not described in detail, can refer to the related description of the embodiment shown in fig. 1 to 6. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to 6, and are not described herein again.

In one possible design, the structure of the target position detection device shown in fig. 9 may be implemented as an electronic device, which may be a drone. As shown in fig. 9, the electronic device may include: one or more processors 31 and one or more memories 32. The memory 32 is used to store a program that supports the electronic device to execute the method for detecting the position of the target object provided in the embodiments shown in fig. 1 to 6. The processor 31 is configured to execute programs stored in the memory 32.

In particular, the program comprises one or more computer instructions, wherein the one or more computer instructions, when executed by the processor 31, enable the following steps to be performed:

determining a first angle between the target and an antenna array disposed in the movable platform;

acquiring a first speed generated by the antenna array in a motion process;

and carrying out phase compensation on the first angle according to the first speed, and obtaining the position of the target object according to the phase compensation result.

The structure of the device for detecting the position of the target object may further include a communication interface 33, which is used for the electronic device to communicate with other devices or a communication network.

Further, the processor 31 is further configured to: calculating a second velocity of the first velocity in the first angular direction;

Further, the processor 31 is further configured to: determining a first path value of a propagation path corresponding to each of the plurality of transmission signals, wherein the propagation paths of the plurality of transmission signals are paths generated by a plurality of transmission antennas in the antenna array and received by a plurality of receiving antennas in the antenna array respectively, and the antenna array is in a motion state;

performing frequency domain conversion on received signals of the plurality of receiving antennas, the received signals corresponding to the first path values;

determining the first angle according to the result of the frequency domain conversion.

Further, the processor 31 is further configured to: acquiring the translation speed of the antenna array generated in the translation process;

acquiring the rotation speed of the antenna array generated in the rotation process;

and determining the resultant speed of the translation speed and the rotation speed as the first speed.

Further, the processor 31 is further configured to: acquiring the speed of the antenna array in a geodetic coordinate system;

converting the speed under the geodetic coordinate system into a speed under a body coordinate system of the movable platform;

Further, the processor 31 is further configured to: acquiring the rotation angular speed of the antenna array;

Further, the processor 31 is further configured to: determining the combined speed of the translation speed and the rotation speed of the transmitting antenna as a first speed of the transmitting antenna;

and determining the combined speed of the translation speed and the rotation speed of the receiving antenna as the first speed of the receiving antenna.

Further, the processor 31 is further configured to: determining a second speed of the transmitting antenna according to the first angle and the speed of the first speed of the transmitting antenna in the X-axis direction and the Y-axis direction of the antenna rotating coordinate system respectively;

Further, the processor 31 is further configured to: determining a compensation value corresponding to the antenna array motion based on the second velocity of the transmit antenna and the second velocity of the receive antenna;

determining a second angle between the target object and the antenna array according to the compensation value.

Further, the processor 31 is further configured to: correcting the first path value of the propagation path corresponding to each of the plurality of transmitted signals according to the compensation value to obtain a second path value, wherein the propagation paths of the plurality of transmitted signals are paths generated by a plurality of transmitting antennas in the antenna array and respectively received by a plurality of receiving antennas in the antenna array, and the antenna array is in a non-motion state;

performing frequency domain conversion on received signals of the plurality of receiving antennas, the received signals corresponding to the second path values;

and determining the second angle according to the result of the frequency domain conversion.

The apparatus shown in fig. 9 can perform the method of the embodiment shown in fig. 1 to 6, and the detailed description of this embodiment can refer to the related description of the embodiment shown in fig. 1 to 6. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to 6, and are not described herein again.

In addition, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, where the program instructions are used to implement the method for detecting the position of the target object in fig. 1 to 6.

The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.

In the embodiments provided in the present invention, it should be understood that the disclosed correlation detection apparatus (e.g., IMU) and method may be implemented in other ways. For example, the above-described remote control device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

24页详细技术资料下载

Method for detecting position of target object, movable platform, device and storage medium

相关技术

网友询问留言