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Collision avoidance method of fixed wing unmanned plane multi-target collision avoidance system based on millimeter wave radar

A technology of millimeter wave radar and anti-collision system, which is applied in the field of signal processing and can solve problems such as affecting obstacle avoidance functions.

Inactive Publication Date: 2018-03-09
DALIAN ROILAND SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, using vision to achieve obstacle avoidance, environmental changes will have a huge impact on its obstacle avoidance function, greatly affecting its obstacle avoidance function

Method used

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  • Collision avoidance method of fixed wing unmanned plane multi-target collision avoidance system based on millimeter wave radar
  • Collision avoidance method of fixed wing unmanned plane multi-target collision avoidance system based on millimeter wave radar
  • Collision avoidance method of fixed wing unmanned plane multi-target collision avoidance system based on millimeter wave radar

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Embodiment 1

[0024] Embodiment 1: A multi-target collision avoidance system for fixed-wing UAVs based on millimeter-wave radar, including antenna subsystems, radio frequency subsystems, signal conditioning subsystems, and signal processing subsystems;

[0025] The antenna subsystem forms the transmitting and receiving beams required for radar detection, radiates the transmitting signal to the designated area, and receives the scattered echo signal of the target in the designated area;

[0026] The radio frequency subsystem generates a transmission signal and the frequency of the transmission signal changes according to the law of the modulation signal, so as to realize the output of linear frequency modulation continuous wave;

[0027] The signal conditioning subsystem is used to filter and amplify the amplitude of the intermediate frequency analog signal;

[0028] The signal processing subsystem enables the four-way I / Q intermediate frequency signals output by the signal conditioning subs...

Embodiment 2

[0056] Embodiment 2: the anti-collision method of the multi-target anti-collision system of the fixed-wing unmanned aerial vehicle based on the millimeter-wave radar described in a kind of embodiment 1, comprises the steps:

[0057] S1. The FPGA chip of the signal processing subsystem controls the PLL phase-locked loop to transmit a modulated signal with a certain amplitude and frequency. This embodiment is a group and waveform of linear frequency modulation continuous triangle wave and constant frequency wave. The phase-locked loop can be used The transmitted waveform data is more accurate, thereby improving the performance of the system;

[0058] S2. The voltage-controlled oscillator VCO of the radio frequency subsystem generates a transmission signal within a certain range under the action of the PLL phase-locked loop, and the frequency of the transmission signal changes according to the law of the modulation signal, thereby realizing the working mode of linear frequency mod...

Embodiment 3

[0065] Embodiment 3: As a supplement to Embodiment 1 or 2, the farthest detection distance of the multi-target collision avoidance system for fixed-wing unmanned aerial vehicles based on millimeter-wave radar designed in this embodiment can reach 150m or more. Sensors, infrared sensors, ultrasonic radar sensors and other obstacle avoidance sensors can not reach the distance, and the millimeter wave radar can realize the accurate acquisition of target-related information in the environment in front of the fixed-wing flight, such as the relative distance between the target and the UAV, relative speed and Relative angle, etc., and this system can realize the detection of multi-moving and static target obstacles in complex environments, so that fixed-wing UAVs can quickly perform obstacle avoidance even in complex multi-moving and static target obstacle environments . Therefore, this embodiment focuses on an implementation method of a high-performance fixed-wing UAV obstacle avoid...

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Abstract

The invention relates to a collision avoidance method of a fixed wing unmanned plane multi-target collision avoidance system based on a millimeter wave radar, belongs to the signal processing field and solves a fixed-wing unmanned plane multi-target collision avoidance problem of the millimeter wave radar. The method is characterized in that one path of emission signals is radiated to the flight space in front of an unmanned plane through an emitter, and frequency mixing of one path of emission signals and reflected echo signals is carried out; differential frequency signals after signal conditioning are inputted to an FPGA chip for AD sampling, and dual-channel IQ data acquired through AD sampling is sent to a DSP signal processing chip of a signal processing subsystem; digital signal processing on the dual-channel four-path IQ data after sampling is carried out through the DSP signal processing chip. The method is advantaged in that on the basis of the acquired data, distance and speed parameters of multi-target obstacles are acquired, and the collision possibility of the multi-target obstacles and the unmanned plane is detected.

Description

technical field [0001] The invention belongs to the field of signal processing, and relates to an anti-collision method for a multi-target anti-collision system of a fixed-wing unmanned aerial vehicle based on a millimeter-wave radar. Background technique [0002] A drone is an unmanned aircraft, which is an unmanned aircraft controlled by radio remote control equipment and its own program control device. According to the application field, it can be divided into military and civilian. [0003] The civilian field of UAVs can also be subdivided into two categories: one is administrative departments, such as meteorology, police, surveying and mapping, environmental protection, scientific research, and disaster prevention and management; the other is commercial, such as film and television aerial photography, Agriculture, forestry, plant protection, power energy inspection, etc. At present, my country's drones have been widely used in government departments, and their promoti...

Claims

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Application Information

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IPC IPC(8): G01S13/93
CPCG01S13/933
Inventor 田雨农王鑫照
Owner DALIAN ROILAND SCI & TECH CO LTD
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