The invention relates to a space-time compensation-based obstacle recognition method for an airborne millimeter-wave radar. The method comprises the steps of acquiring space data of an obstacle target point by detecting the millimeter-wave radar of which a sector is vertically and fixedly mounted in front of an unmanned aerial vehicle; aligning the spatial data of the unmanned aerial vehicle with the spatial data of the obstacle target point through queue delay; according to the spatial data of the current unmanned aerial vehicle, transforming an obstacle target point detected by the millimeter wave radar into a coordinate system; determining the position state of the obstacle target point in the coordinate system, and performing data processing on the spatial data of the obstacle target point; acquiring a relative position and a motion relation between the unmanned aerial vehicle and the obstacle target point; if the obstacle target point is not updated, the relevant information of the current obstacle target point is reserved; and determining whether the obstacle target point is in a warning area, comprehensively outputting spatial data of the obstacle target point, and guiding the unmanned aerial vehicle to trigger further obstacle avoidance action logic. And the reliability of obstacle detection of the millimeter wave radar module is improved.
本发明涉及一种机载毫米波雷达基于时空补偿的障碍物识别方法,包括通过检测扇形面垂向固定安装于无人机前方的毫米波雷达获取障碍物目标点的空间数据;通过队列延时将无人机的空间数据与障碍物目标点的空间数据对齐;根据当前无人机的空间数据,将毫米波雷达检测到的障碍物目标点变换到坐标系中;确定障碍物目标点在坐标系中的位置状态,并对障碍物目标点的空间数据进行数据处理;获取无人机与障碍物目标点的相对位置和运动关系;若障碍物目标点未更新,则保留当前障碍物目标点相关信息;确认障碍物目标点是否在警戒区,综合输出障碍物目标点的空间数据,指导无人机触发进一步的避障动作逻辑。提高了毫米波雷达模块障碍物检测的可靠性。
Airborne millimeter wave radar obstacle identification method based on space-time compensation
一种机载毫米波雷达基于时空补偿的障碍物识别方法
2024-09-27
Patent
Electronic Resource
Chinese
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