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Multi-millimeter-wave radar cooperative positioning and tracking method

A millimeter-wave radar and cooperative positioning technology, which is applied in radio wave measurement systems, radio wave reflection/re-radiation, complex mathematical operations, etc., to achieve the effect of expanding the detection range

Pending Publication Date: 2021-12-10
HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0004] The present invention mainly solves the problem of virtual targets caused by multipath phenomenon in the prior art; provides a multi-millimeter-wave radar cooperative positioning and tracking method, eliminates false alarms, temporarily loses and resumes targets, and conducts continuous tracking in a large range

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  • Multi-millimeter-wave radar cooperative positioning and tracking method
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Embodiment

[0066] A multi-millimeter-wave radar cooperative positioning and tracking method in this embodiment, such as figure 1 shown, including the following steps:

[0067] S1: Install a multi-millimeter-wave radar cooperative positioning and tracking system, and set several radars with overlapping beam ranges in the positioning scenario.

[0068] The multi-millimeter-wave radar cooperative positioning and tracking system includes a communication-connected monitoring unit and several detection units.

[0069] The detection unit includes a radar, a single-chip microcomputer and a communication module. The radar is connected to the signal input terminal of the single-chip microcomputer, and the communication module is connected to the communication port of the single-chip microcomputer; at least one of the communication modules is a communication gateway, which is used to send the radar data of other detection units to the monitoring unit .

[0070] In this embodiment, the millimeter-...

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Abstract

The invention discloses a multi-millimeter-wave radar cooperative positioning and tracking method. The problem that in the prior art, a virtual target is generated due to the multipath phenomenon is solved. The method comprises the following steps: S1, installing a multi-millimeter-wave radar cooperative positioning and tracking system, and setting a plurality of radars with overlapped beam ranges in a positioning scene; S2, according to a multi-radar coordinate system parameter calibration algorithm, obtaining a rotation angle and a translation matrix of each radar coordinate and an absolute coordinate system; S3, mapping the point cloud information detected by the radar to the absolute coordinate system based on the rotation angles and translation matrixes of the radar coordinate system and the absolute coordinate system; and S4, calculating trajectory information according to the distance between the point cloud information detected by the radar and the predicted trajectory point. Through matching of points and tracks, isolated points generated by multipath and disturbance can be eliminated to a certain extent.

Description

technical field [0001] The invention relates to the field of radar positioning, in particular to a multi-millimeter-wave radar cooperative positioning and tracking method. Background technique [0002] With the warming up of concepts such as smart cities, smart homes, and smart Internet of Things, smart homes rely on positioning and tracking technology to bring users an intelligent experience and improve the quality of life for users; similarly, smart transportation relies on positioning and tracking technology for the safety of citizens. And the maintenance of urban traffic order has brought new changes. Existing positioning and tracking technologies often rely on a single sensor for monitoring, and a single sensor is often limited by the environment, function, and scope of action, and its applicable scenarios are limited. Further aiming at the single millimeter wave radar positioning and tracking system, because of its shortcomings such as short operating distance, small ...

Claims

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Application Information

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IPC IPC(8): G01S13/72G01S13/91G06F17/16
CPCG01S13/726G01S13/91G06F17/16Y02A90/10
Inventor 陈文亮袁常顺王俊向洪李晨龙王峰周杨罗雨泉赵建峰
Owner HANGZHOU INNOVATION RES INST OF BEIJING UNIV OF AERONAUTICS & ASTRONAUTICS
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