CN107817499B - Point cloud data processing method based on double radars - Google Patents
Point cloud data processing method based on double radars Download PDFInfo
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- CN107817499B CN107817499B CN201711029976.1A CN201711029976A CN107817499B CN 107817499 B CN107817499 B CN 107817499B CN 201711029976 A CN201711029976 A CN 201711029976A CN 107817499 B CN107817499 B CN 107817499B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to the technical field of spatial ranging, in particular to a point cloud data processing method based on double radars. Through adopting two radars to work simultaneously, through setting up different transmitting frequency, first radar frequency is lower for obtain the detailed topography information in survey area, and the second radar carries out distance measurement with higher transmitting frequency, and the second radar judges in which cycle when the ultrasonic wave of every transmitting point transmission returns according to the topography information, thereby obtains accurate distance data. The problem that the receiving time of the electromagnetic waves in the prior art is difficult to automatically calculate in multiple cycles is solved; in addition, the frequency of the second radar can be set autonomously according to needs, the density of the point cloud obtained by the higher transmitting frequency is higher, and the distance data measured in the measuring area is more accurate.
Description
Technical Field
The invention relates to the technical field of spatial ranging, in particular to a point cloud data processing method based on double radars.
Background
The radar is a device for measuring distance by using electromagnetic waves, and the distance of a plurality of measuring points is restored to a space coordinate, so that the space restoration of the surrounding environment is finally realized. The time from the emission of the electromagnetic wave to the reception determines the accuracy of the measurement, and the number of times the electromagnetic wave is emitted per unit time determines the data density in the point cloud. In the process that the aircraft utilizes the radar to measure the ground distance, the long distance causes the problem of multi-cycle of the receiving time of the electromagnetic waves.
The radar emits electromagnetic waves according to a given period, and if the electromagnetic waves return to the emitter within the period T, the distance measurement value at the moment is [ speed of light (T1-T1)/2 ] according to the reflection time and the speed of light, the receiving moment is taken as T1 for the emitting point P1 at the moment T1. If the electromagnetic wave is not reflected back to the emitter during the period T, the emitter will emit the next emission point P2 at time T2. There will now be two emission points P1, P2 running on the emission or reflection path simultaneously. When the point P1 returns to the transmitter, the transmitter cannot distinguish whether the returned electromagnetic wave is transmitted at the time of T1 or T2, thus causing a misjudgment in the calculation of the time of flight of P1.
The conventional solution to the problem of multi-cycle reception time of electromagnetic waves is to estimate the flight time of a point P according to the flight altitude and the terrain of an aircraft, which can return within several cycles T, and convert the reflection time when processing data. However, before the radar is used for measurement, accurate terrain data is difficult to obtain, and therefore the accuracy of the finally obtained distance measurement value is low.
Disclosure of Invention
The invention aims to overcome at least one defect in the prior art and provides a point cloud data processing method based on double radars.
In order to solve the technical problems, the invention adopts the following technical scheme:
a point cloud data processing method based on double radars adopts a first radar and a second radar to carry out point cloud collection, and specifically comprises the following steps:
s1: setting the electromagnetic wave transmitting frequency of the first radar so that the electromagnetic wave transmitted by the first radar can return to the radar in one period;
s2: setting the electromagnetic wave transmitting frequency of the second radar as the required highest transmitting frequency;
s3: based on the execution of the step S1 and the step S2, the first radar and the second radar transmit electromagnetic waves for data acquisition;
s4: and (4) processing the data collected in the step (S3), and firstly, obtaining topographic information by using the data of the first radar, so that the reasonable return period of each electromagnetic wave transmitting point of the second radar is calculated according to the topographic information, and accurate distance information is obtained.
Furthermore, the first radar and the second radar are arranged on the same device to guarantee synchronous movement of the first radar and the second radar which are different, topographic information acquired by the first radar can be accurately matched with a ranging value of the second radar, and ranging precision is improved.
Further, the electromagnetic wave emission frequency of the first radar is obtained by dividing the speed of light by twice the farthest distance from the first radar in the measurement area.
Further, in step S2, the maximum transmitting frequency is dynamically adjusted according to the data of the first radar, which is the allowable maximum scanning frequency, by taking into consideration the flying height of the aircraft, the terrain (obtained from the data collected by the first radar), the relationship between the radar frequency and the corresponding scanning distance, and the like.
Further, in step S4, the terrain information is obtained by filtering the data of the first radar, so as to remove the interference data in the data, and obtain more accurate terrain information.
Preferably, the first radar and the second radar are both laser radars, and the electromagnetic wave emitted by the first radar and the second radar is laser light.
The method adopts two radars to work simultaneously, the first radar has lower frequency and is used for acquiring detailed topographic information of a measuring area by setting different transmitting frequencies, the second radar carries out distance measurement at higher transmitting frequency, and the second radar judges in which period the ultrasonic wave transmitted by each transmitting point should return according to the topographic information, so that accurate distance data is acquired.
Compared with the prior art, the beneficial effects are: by setting the transmitting frequency of the first radar, the electromagnetic wave transmitted by the first radar is ensured to return in a period, accurate topographic information of a measuring area is obtained, the returning period of the electromagnetic wave transmitted by the second radar is calculated through the topographic information, an accurate ranging result can be obtained, and the problem that the receiving time of the electromagnetic wave in the prior art is difficult to automatically calculate in multiple periods is solved; in addition, the frequency of the second radar can be set autonomously according to needs, the density of the point cloud obtained by the higher transmitting frequency is higher, and the distance data measured in the measuring area is more accurate.
Drawings
FIG. 1 is a flow chart of an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the accompanying drawings, which are meant to be illustrative only and not to be construed as limiting the patent.
As shown in fig. 1, a point cloud data processing method based on dual radars, which adopts a first radar and a second radar to perform point cloud collection, specifically includes the following steps:
s1: setting the electromagnetic wave transmitting frequency of the first radar so that the electromagnetic wave transmitted by the first radar can return to the radar in one period;
s2: setting the electromagnetic wave transmitting frequency of the second radar as the required highest transmitting frequency;
s3: based on the execution of the step S1 and the step S2, the first radar and the second radar transmit electromagnetic waves for data acquisition;
s4: and (4) processing the data collected in the step (S3), firstly, filtering the data of the first radar to obtain topographic information, and calculating a reasonable return period of each electromagnetic wave transmitting point of the second radar according to the topographic information so as to obtain accurate distance information.
In this implementation, the first radar and the second radar are both lidar rigel VUX-1 devices; the electromagnetic waves emitted by the two are laser light, and the two are arranged on the same device. It should be noted that the present invention is applicable to various radars, and the rigel VUX-1 device is a lidar used in the present embodiment and should not be construed as limiting the present invention.
In this embodiment, the furthest distance from the radar within the measurement area is no more than 394.7 meters. The transmitting frequency of the first radar is 380khz, and the transmitting frequency of the second radar is 550 khz. Wherein the transmission frequency of the first radar is obtained by dividing the speed of light by twice the maximum distance to the first radar in the measurement area, i.e. the speed of light is 3E 8/(394.7 × 2) =380 khz; the first radar now has a farthest ranging value of 394.7 meters, and the second radar has a farthest ranging value of 272.7 meters. In the measuring area, whether the distance between each target and the radar is smaller than 272.7 meters or 272.7-394.7 meters can be identified through the first radar, whether the laser point transmitted by the second radar returns in one period or the second period is judged according to the result, and the result is substituted into the ranging data calculation process of the second radar, so that the ranging value of the second radar can be accurately restored. In addition, in this embodiment, due to the application of the dual radars, the range finding emission frequency reaches 380+550=930khz, the point cloud density is greatly increased, and the accuracy of the range finding data is also obviously improved.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (6)
1. A point cloud data processing method based on double radars is characterized in that point cloud collection is carried out by adopting a first radar and a second radar, and the method specifically comprises the following steps:
s1: setting the electromagnetic wave transmitting frequency of the first radar so that the electromagnetic wave transmitted by the first radar can return to the radar in one period or a certain period;
s2: setting the electromagnetic wave transmitting frequency of the second radar as the required highest transmitting frequency, and taking the allowed highest scanning frequency according to the comprehensive consideration of the flight altitude of the airplane, the terrain condition, the frequency of the radar and the corresponding scanning distance;
s3: based on the execution of the step S1 and the step S2, the first radar and the second radar transmit electromagnetic waves and perform data acquisition on the returned electromagnetic waves;
s4: and (4) processing the data collected in the step (S3), and firstly, obtaining topographic information by using the data of the first radar, so that the reasonable return period of each electromagnetic wave transmitting point of the second radar is calculated according to the topographic information, and accurate distance information is obtained.
2. The dual-radar-based point cloud data processing method of claim 1, wherein: the first radar and the second radar are disposed on the same device.
3. The method as claimed in claim 2, wherein the electromagnetic wave emission frequency of the first radar is obtained by dividing the speed of light by twice the farthest distance from the first radar in the measurement region.
4. The method as claimed in claim 1, wherein the terrain information in step S4 is obtained by data filtering of the first radar.
5. The dual-radar-based point cloud data processing method of claim 1, wherein the first radar and the second radar are both lidar.
6. The dual-radar-based point cloud data processing method of claim 5, wherein the electromagnetic wave is a laser.
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| CN108919217B (en) * | 2018-05-14 | 2021-05-25 | 浙江吉利汽车研究院有限公司 | Point cloud data processing method and device, controller and radar sensor |
| CN114779211A (en) * | 2022-05-11 | 2022-07-22 | 苏州岭纬智能科技有限公司 | A kind of laser pulse radar equipment and point cloud density enhancement method and equipment |
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| IN161639B (en) * | 1985-05-23 | 1988-01-09 | Hollandse Signaalapparaten Bv | |
| JP3484995B2 (en) * | 1998-11-05 | 2004-01-06 | 三菱電機株式会社 | Instantaneous passive distance measuring device |
| CN1183389C (en) * | 2001-03-09 | 2005-01-05 | 亚洲光学股份有限公司 | Signal processing method and device for laser ranging |
| JP2012173256A (en) * | 2011-02-24 | 2012-09-10 | Mitsubishi Electric Corp | Radar apparatus |
| TWI596367B (en) * | 2016-02-26 | 2017-08-21 | 凌通科技股份有限公司 | Distance detection method and distance detection device using the same |
| CN105954746A (en) * | 2016-04-29 | 2016-09-21 | 西安电子科技大学 | Landform correction meter wave radar height measurement method based on broadcast automatic mutual supervisory signals |
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| CN107015241B (en) * | 2017-04-14 | 2020-07-17 | 北京佳讯飞鸿电气股份有限公司 | Multi-radar detection method and device |
| CN107101619B (en) * | 2017-05-08 | 2019-08-09 | 中国海洋大学 | Wave Wavelength Measurement Method Based on Correlation of Spatially Adjacent Wave Height Data |
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