CN111722187B - Radar installation parameter calculation method and device - Google Patents
Radar installation parameter calculation method and device Download PDFInfo
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- CN111722187B CN111722187B CN201910206941.3A CN201910206941A CN111722187B CN 111722187 B CN111722187 B CN 111722187B CN 201910206941 A CN201910206941 A CN 201910206941A CN 111722187 B CN111722187 B CN 111722187B
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- G—PHYSICS
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- 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
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
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Abstract
The embodiment of the invention provides a radar installation parameter calculation method and a device, wherein the device comprises the following steps: an acquisition unit configured to acquire position information of radar reflection points belonging to a detection target within a first predetermined number of consecutive frames; a first determining unit for determining an installation pitch angle of the radar according to position information of the radar reflection point; and a second determining unit for calculating an installation height of the radar based on an installation pitch angle of the radar. According to the method, the height and the pitch angle of radar installation can be estimated in a self-adaptive mode without the aid of personnel measurement, so that basic reference information can be provided for analyzing and optimizing the radar installation mode, the optimal radar installation mode can be automatically optimized according to the current estimated installation height and pitch angle of the radar, the coverage and the scanning range of antenna beams are controlled, interference reflection points are reduced, and the accuracy of falling detection is improved.
Description
Technical Field
The invention relates to the technical field of information, in particular to a radar installation parameter calculation method and device.
Background
Falls often occur in people's daily lives, and may cause different degrees of injury to the body due to different personal physical conditions. According to the world health organization report, the deadly drop injury occurring each year is 64.6 tens of thousands times, which is the second most unintended injury death next to road traffic injury. The falling accident is detected in time, the wounded person is rescued, and the aggravation of the injury and the fatal risk can be prevented. Therefore, the accurate and reliable fall detection technology has important significance for creating a safe and beneficial living environment.
In the prior art, a fall detection method based on a microwave radar is provided, the microwave radar can emit a microwave signal to a detection target, after the microwave radar reflects the detection target, the microwave radar can receive the reflected signal, and can obtain height information or speed information of the detection target according to the reflected signal, and fall detection is performed according to the height information or speed information.
It should be noted that the foregoing description of the background art is only for the purpose of providing a clear and complete description of the technical solution of the present invention and is presented for the convenience of understanding by those skilled in the art. The above-described solutions are not considered to be known to the person skilled in the art simply because they are set forth in the background of the invention section.
Disclosure of Invention
The inventors have found that due to the design of a microwave radar fixed antenna array in a hardware device, the radar antenna beam can only cover a limited area. FIG. 2 is a schematic view of the coverage area after radar installation, as shown in FIG. 2, if the radar installation height is too low, the effective perceived area will decrease; on the other hand, if the radar installation pitch angle is too large, the reflection noise point from the ground will increase and the effective sensing area will also decrease, and if the radar installation pitch angle is too small, when a plurality of persons stand in a straight line or one person is blocked by another person during track tracking, the simultaneous presence of a plurality of persons cannot be detected. Therefore, the height and the pitch angle during radar installation have great influence on the accuracy of the falling detection result, and no effective method can accurately calculate the height and the pitch angle during radar installation at present.
The embodiment of the invention provides a radar installation parameter calculation method and device, which solve the problems in the prior art.
According to a first aspect of an embodiment of the present invention, there is provided a radar installation parameter calculating apparatus, wherein the apparatus includes:
an acquisition unit configured to acquire position information of radar reflection points belonging to a detection target within a first predetermined number of consecutive frames;
A first determining unit for determining an installation pitch angle of the radar according to position information of the radar reflection point;
and a second determining unit for calculating an installation height of the radar based on an installation pitch angle of the radar.
According to a second aspect of the embodiment of the present invention, there is provided a radar installation parameter calculation method, wherein the method includes:
acquiring position information of radar reflection points belonging to detection targets in a first preset number of continuous frames;
determining an installation pitch angle of the radar according to the position information of the radar reflection point;
and calculating the installation height of the radar according to the installation pitch angle of the radar.
The method has the advantages that the elevation angle of radar installation is determined based on the position information of the reflection points obtained by the continuous multi-frame microwave radar, and the elevation of radar installation is calculated according to the elevation angle.
Specific embodiments of the invention are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not limited in scope thereby. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
Many aspects of the invention can be better understood with reference to the following drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. Corresponding parts in the drawings may be exaggerated or reduced in order to facilitate the illustration and description of some parts of the present invention. Elements and features described in one drawing or embodiment of the invention may be combined with elements and features shown in one or more other drawings or embodiments. Furthermore, in the drawings, like reference numerals designate corresponding parts throughout the several views, and may be used to designate corresponding parts as used in more than one embodiment.
In the drawings:
fig. 1 is a flowchart of a radar installation parameter calculation method in the present embodiment 1;
fig. 2 is a schematic diagram of the microwave radar transceiving signal in the present embodiment 1;
FIG. 3 is a schematic view showing the distribution of radar reflection points in an X-Y plane for one frame in embodiment 1;
fig. 4A is a schematic diagram illustrating radar installation parameters in the present embodiment 1;
fig. 4B is a schematic view of the radar coordinate system in embodiment 1;
fig. 5 is a schematic view of radar reflection point fitting in the present embodiment 1;
FIG. 6 is a schematic diagram of the implementation of step 103 in this embodiment 1;
fig. 7 is a schematic diagram of a radar installation parameter calculation device in the present embodiment 2;
fig. 8 is a schematic diagram of the structure of a first determination unit in this embodiment 2;
fig. 9 is a schematic diagram of the structure of a second determination unit in this embodiment 2;
fig. 10 is a schematic diagram of a radar installation parameter calculation system in the present embodiment 3;
fig. 11 is a schematic diagram of an electronic device in this embodiment 3.
Detailed Description
The foregoing and other features of embodiments of the invention will be apparent from the following description, taken in conjunction with the accompanying drawings. These embodiments are merely illustrative and not limiting of the invention. In order to enable those skilled in the art to easily understand the principles and embodiments of the present invention, the embodiments of the present invention are described by taking fall detection based on microwave radar as an example, but it is understood that the embodiments of the present invention are not limited thereto, and other detection scenarios based on microwave radar are also within the scope of the present invention.
In the embodiments of the present invention, the terms "first," "second," and the like are used to distinguish between different elements from each other by name, but do not indicate spatial arrangement or time sequence of the elements, and the elements should not be limited by the terms. The term "and/or" includes any and all combinations of one or at least two of the associated listed terms. The terms "comprises," "comprising," "including," "having," and the like, are intended to reference the presence of stated features, elements, components, or assemblies, but do not preclude the presence or addition of one or at least two other features, elements, components, or assemblies.
In embodiments of the present invention, the singular forms "a," an, "and" the "include plural referents and should be construed broadly to mean" one "or" one type "and not limited to" one "or" another; furthermore, the term "comprising" is to be interpreted as including both the singular and the plural, unless the context clearly dictates otherwise. Furthermore, the term "according to" should be understood as "at least partially according to … …", and the term "based on" should be understood as "based at least partially on … …", unless the context clearly indicates otherwise.
The following describes specific embodiments of the present invention with reference to the drawings.
Example 1
The embodiment 1 provides a method for calculating radar installation parameters, fig. 1 is a flowchart of the method, and as shown in fig. 1, the method includes:
step 101, acquiring position information of radar reflection points belonging to a detection target in a first preset number of continuous frames;
102, determining an installation pitch angle of the radar according to the position information of the radar reflection point;
and 103, calculating the installation height of the radar according to the installation pitch angle of the radar.
In this embodiment, a microwave signal, such as a Frequency Modulated Continuous Wave (FMCW), may be periodically transmitted into a space based on a pre-installed microwave radar, and the microwave signal is reflected by an obstacle in the environment and a detection target (e.g., a person) to obtain a reflected signal, and is received again by the microwave radar.
As shown in fig. 2, the microwave radar transmits a microwave signal a, and receives a reflected signal B after reflection, where the microwave signal a may be different microwave signals transmitted by different transmitting antennas when using a multi-antenna technology; since the microwave signal a changes in frequency and phase as compared with the reflected signal B, radar reflection point information belonging to the detection target can be acquired based on the microwave signal a and the reflected signal B. The primary measurement result obtained in one cycle of the microwave radar is used as information of one frame of radar reflection point.
In this embodiment, the microwave radar may include a transmitting antenna, a receiving antenna, a circuit, a memory, and the like. The number of the transmitting antennas and the receiving antennas is more than one, the transmitting antennas are used for transmitting microwave signals, the receiving antennas are used for receiving reflected signals, the memory can store information utilized by various processes of the operation of the microwave radar, and the circuit can be configured to comprise a processor for executing a control program, for example, the position information of a reflection point is obtained based on the transmitted microwave signals and the reflected signals; the position information of the reflection point is three-dimensional coordinate information (x, y, z) of the reflection point in a radar coordinate system; specifically, the arrival angle can be estimated according to the phase differences of the signals received by the plurality of receiving antennas, so as to determine the three-dimensional coordinate information (x, y, z) of the reflection point in the radar coordinate system.
The structure of the microwave radar may refer to the prior art, and the calculation method for obtaining the position information of the reflection point may also refer to the prior art, which is not described herein. It should be noted that, the present embodiment is not limited to the use of the circuit to obtain the position information of the reflection point in the microwave radar, and alternatively, the microwave signal and the information of the reflection signal may be transmitted to other devices to obtain the position information of the reflection point.
Fig. 3 is a schematic diagram of an X-Y plane distribution of an acquired frame of radar reflection points under a radar coordinate system, and since a detection target (person) is a reflection surface with a certain area relative to the radar, radar reflection points belonging to the detection target (person) tend to gather at one or more places.
As shown in fig. 3, the reflection points in the circle belong to radar reflection points of the detection target, the other points are reflection points of other obstacles in the environment (hereinafter referred to as interference reflection points), and all reflection points in one frame or a plurality of consecutive frames can be clustered by using an existing tracking algorithm or an existing clustering algorithm (for example, density-based clustering algorithm, density-Based Spatial Clustering of Applications with Noise, DBSCAN algorithm). Tracking the target track (for example, tracking the change of the position information of each radar reflecting point in a first preset number of continuous frames) according to the clustered result, distinguishing the radar reflecting point belonging to the detection target from the interference reflecting point according to the track tracking information, and determining the radar installation parameters according to the position information of the radar reflecting point belonging to the detection target in the first preset number of continuous frames.
In this embodiment, in step 102, the installation pitch angle of the radar may be determined according to the position information of the radar reflection point belonging to the detection target for the first predetermined number of consecutive frames, and in step 103, the installation height of the radar may be determined based on the determined pitch angle, and the radar installation parameters are described below with reference to fig. 4A and 4B.
As shown in fig. 4A, the ground coordinate system is (X1-Y1-Z1), under which the detection target is in an upright state, and the height direction of the radar-mounted wall surface under the ground coordinate system is Z1 (hereinafter referred to as the second longitudinal axis direction). As shown in fig. 4A, since the radar has a pitch angle when installed, a radar coordinate system can be established with the radar antenna radiation direction as a reference, the installation position of the radar is the origin position of the radar coordinate system, the first longitudinal axis direction Z of the radar coordinate system is the normal direction of the horizontal plane (H-plane) of the radar antenna radiation pattern, the first transverse axis direction Y of the radar coordinate system is the direction perpendicular to the first longitudinal axis Z in the vertical plane (E-plane) of the radar antenna radiation pattern, and the second transverse axis direction X of the radar coordinate system is the same as the X1 axis direction of the ground coordinate system.
As shown in the radar coordinate system in fig. 4B, the H-plane is an X-Y plane, the E-plane is perpendicular to the X-Y plane, i.e., the Y-Z plane, and the Z axis of the radar coordinate system is defined as: normal to H-plane; the X-axis is defined as the normal to the E-plane; the Y-axis is defined as the direction axis perpendicular to the X-axis and the Z-axis, and meets the right-hand coordinate system criterion; the included angle between the first longitudinal axis direction Z and the second longitudinal axis direction Z1 is the installation pitch angle alpha, and the position Z0 of the origin of the radar coordinate system on the Z1 axis in the ground coordinate system is the installation height of the radar.
How to determine the α and Z0 is described below.
In step 102, fitting radar reflection points belonging to a detection target in the first predetermined number of continuous frames in a Z-Y plane in a radar coordinate system to obtain fitted parameters; and determining the installation pitch angle of the radar according to the fitted parameters.
In one embodiment, in the Z-Y plane in the radar coordinate system, linear fitting may be performed on radar reflection points belonging to the detection target in a first predetermined number of consecutive frames, a fitted straight line is obtained, a slope of the straight line (a slope in the Z-Y coordinate system) is calculated, and an installation pitch angle of the radar is calculated according to the slope.
In another embodiment, in the Z-Y plane in the radar coordinate system, ellipse fitting may be performed on radar reflection points belonging to the detection target in a first predetermined number of consecutive frames, a fitted ellipse is obtained, a slope of a line where a major axis of the ellipse is located (a slope in the Z-Y coordinate system) is calculated, and an installation pitch angle of the radar is calculated according to the slope.
The above-mentioned linear fitting or elliptic fitting method may refer to the prior art, and will not be described herein.
Fig. 5 is a schematic diagram of fitting radar reflection points, and as shown in fig. 5, a straight line C is a straight line where a fitted straight line or a fitted ellipse major axis is located, in a Z-Y coordinate system, the expression of the straight line C is z=k×y+b, k is a slope of the straight line C, and the pitch angle α=arcot|k| of the installation.
In this embodiment, in order to improve the accuracy of the fitting and reduce the calculation amount, optionally, before the fitting, the method may further include: (not shown) calculating the distance between each radar reflection point and the radar according to the position information of the radar reflection point, calculating the average value of the distance between each radar reflection point and the radar, and judging whether the average value is larger than a first threshold value; and/or calculating the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height according to the position information of the radar reflection point, and judging whether the height difference is larger than a second threshold value or not; and when the judgment result is yes, fitting the radar reflection points.
For example, in step 101, the acquired position information is (x, y, z), and the distance between the radar reflection point and the radar is calculatedCalculating the average value of the distances r of the individual radar reflection points from the radar +.>Judging->Whether or not it is greater than a first threshold value, in->When the radar reflection point is less than or equal to the first threshold value, the radar reflection point is possibly a reflection point of a shadow area or a blind area, and the radar reflection point is at +.>When the radar reflection point is larger than the first threshold value, the radar reflection point is the reflection point of the detection target, and each radar reflection point can be fitted.
For example, in step 101, the acquired position information is (x, y, z), and the difference in height z between the radar reflection point with the largest height and the radar reflection point with the smallest height is calculated c ＝z max -z min Judgment of z c Whether or not it is greater than a second threshold, at z c When the radar reflection point is smaller than or equal to the second threshold value, the radar reflection point is a reflection point of a shadow area or a blind area, and z is the same as the radar reflection point c When the radar reflection point is larger than the second threshold value, the radar reflection point is the reflection point of the detection target, and each radar reflection point can be fitted.
The determination of the distance average value and the height difference described above may be performed only one, or may be combined. The first threshold may be determined according to the distance between the radar installation position and the detection area, and the second threshold may be determined according to the height of the person, for example, the second threshold is set to 1m, which is not limited in this embodiment.
After the radar installation pitch angle is calculated, the radar installation height can be determined according to the pitch angle.
Fig. 6 is a schematic diagram of the implementation method of the step 103, as shown in fig. 6, where the step 103 includes:
step 601, calculating coordinate conversion coefficients of a radar coordinate system and a ground coordinate system according to the installation pitch angle of the radar;
step 602, calculating the position of each radar reflection point in the direction Z1 of the second longitudinal axis under the ground coordinate system according to the coordinate conversion coefficient and the position information of each radar reflection point;
step 603, determining the installation height of the radar according to the position of each radar reflection point in the second longitudinal axis direction Z1 under the ground coordinate system;
In step 601, the coordinate conversion coefficient may be represented by a coordinate conversion matrix. As shown in fig. 4A and 4B, after the pitch angle is determined, in the Z-Y (Z1-Y1) plane, the coordinate conversion matrix of the radar coordinate system and the ground coordinate system is:
in step 602, the position information of each radar reflection point is obtained as (Y, Z) in the radar coordinate system (Z-Y), and based on the coordinate conversion matrix, the position information (Y1, Z1) of each radar reflection point in the ground coordinate system (Z1-Y1) can be calculated as follows:
after obtaining the position information (Y1, Z1) of each radar reflection point in the ground coordinate system (Z1-Y1), the position Z1 of each radar reflection point in the second longitudinal axis direction Z1 in the ground coordinate system can be obtained.
In step 603, the mounting height of the radar may be determined according to the value of Z1 of each radar reflection point, and the absolute value of the position value with the largest absolute value among the position values Z1 of the radar reflection points in the second longitudinal axis direction Z1 being less than or equal to 0 in the ground coordinate system is determined as the mounting height of the radar, wherein, due to the fact that the radar is mounted at a relatively high position, the Z value of the radar reflection point (including the reflection point of the detection target and the ground reflection point) is negative in the radar coordinate system, and the Z1 obtained by conversion is also negative, wherein, the Z1 with the largest absolute value among the Z1 of each radar reflection point may be regarded as the Z1 of the ground reflection point, and the absolute value of the Z1 of the ground reflection point may be regarded as the mounting height of the radar.
In this embodiment, in order to improve accuracy of the installation height calculation and reduce the calculation amount, optionally, the method may further include: (not shown) calculating the distance between each radar reflection point and the radar according to the position information of the radar reflection point, calculating the average value of the distance between each radar reflection point and the radar, and judging whether the average value is larger than a first threshold value; and/or calculating the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height according to the position information of the radar reflection point, and judging whether the height difference is larger than a second threshold value or not; and if the judgment result is yes, calculating the position of the radar reflection point in the second longitudinal axis direction under the ground coordinate system.
For example, in step 101, the acquired position information is (x, y, z), and the distance between the radar reflection point and the radar is calculatedCalculating the average value of the distances r of the individual radar reflection points from the radar +.>Judging->Whether or not it is greater than a first threshold value, in->When the radar reflection point is less than or equal to the first threshold value, the radar reflection point is possibly a reflection point of a shadow area or a blind area, and the radar reflection point is at +.>When the radar reflection point is larger than the first threshold value, the radar reflection point is a reflection point of a detection target, and the position of the radar reflection point in the second longitudinal axis direction under the ground coordinate system can be calculated.
For example, in step 101, the acquired position information is (x, y, z), and the difference in height z between the radar reflection point with the largest height and the radar reflection point with the smallest height is calculated c ＝z max -z min Judgment of z c Whether or not it is greater than a second threshold, at z c When the radar reflection point is smaller than or equal to the second threshold value, the radar reflection point is a reflection point of a shadow area or a blind area, and z is the same as the radar reflection point c When the radar reflection point is larger than the second threshold value, the radar reflection point is a reflection point of a detection target, and the position of the radar reflection point in the second longitudinal axis direction under the ground coordinate system can be calculated.
The above-described determination of the distance average value and the height difference may be performed only one kind, or may be combined. The first threshold may be determined according to the distance between the radar installation position and the detection area, and the second threshold may be determined according to the height of the person, for example, the second threshold is set to 1m, which is not limited in this embodiment.
In this embodiment, after the estimated values of the installation pitch angle and the height of the radar are obtained, the condition of the radar at the interference reflection point in this installation mode may be determined, and if there are many interference reflection points from the wall surface, the ground, the obstacle, etc., the installation pitch angle and/or the installation height of the radar may be adjusted. Optionally, the method may further include:
And counting the radar reflection points belonging to the detection target and the interference reflection points of other interferents in the radar reflection points, and adjusting the installation pitch angle and/or the installation height of the radar when the number of the interference reflection points or the ratio of the interference reflection points to the radar reflection points exceeds a third threshold value after the interference reflection points are detected in a second preset number of continuous frames.
In this embodiment, in the second predetermined number of frames, the interference reflection points continuously exist, and the number of the interference reflection points exceeds the third threshold value, which indicates that the current radar installation mode is not suitable, and the installation pitch angle and/or the installation height of the radar need to be adjusted; or in the second preset number of frames, the interference reflection points continuously exist, the ratio of the number of the interference reflection points to the radar reflection points belonging to the detection targets exceeds a third threshold value, which indicates that the current radar installation mode is unsuitable, and the installation pitch angle and/or the installation height of the radar need to be adjusted.
The adjustment may be performed automatically by using a cradle head or the like, for example, each time the adjustment is performed, the radar is increased or decreased by a predetermined angle in a predetermined direction, and/or the radar is increased by a predetermined height in an upward direction, and/or the radar is decreased by a predetermined height in a downward direction, the adjusted interference reflection points are compared with the interference reflection points of the previous installation position, if the number of interference reflection points is decreased, the adjustment is continued in the same direction as the previous adjustment direction, if the number of interference reflection points is increased, the adjustment is continued in a direction opposite to the previous adjustment direction, and finally, the number of interference reflection points is decreased after the adjustment of the radar installation position, so as to improve the accuracy of fall detection, which is only for illustration and the embodiment is not limited.
According to the embodiment, the pitch angle of radar installation is determined based on the position information of the reflection point obtained by the continuous multi-frame microwave radar, and the height of radar installation is calculated according to the pitch angle.
Example 2
The embodiment 2 also provides a radar installation parameter calculating device. Since the principle of solving the problem by this apparatus is similar to that of embodiment 1, specific implementation thereof can be referred to implementation of embodiment 1, and the description thereof will not be repeated.
Fig. 7 is a schematic diagram of the radar installation parameter calculating device 700, and as shown in fig. 7, the device 700 includes:
an acquisition unit 701 for acquiring position information of radar reflection points belonging to a detection target within a first predetermined number of consecutive frames;
a first determining unit 702 for determining an installation pitch angle of the radar according to the position information of the radar reflection point;
A second determination unit 703 for calculating an installation height of the radar from an installation pitch angle of the radar.
In this embodiment, the specific implementation manners of the obtaining unit 701, the first determining unit 702, and the second determining unit 703 may refer to steps 101-103, and the repetition is not repeated.
Fig. 8 is a schematic diagram of the first determining unit 702, and as shown in fig. 8, the first determining unit 702 includes:
the fitting module 801 is configured to fit the radar reflection point in a radar coordinate system where a vertical plane (E-plane) of the radar antenna radiation pattern is located, so as to obtain a fitted parameter;
a first determining module 802 for determining an installation pitch angle of the radar according to the fitted parameters;
the first longitudinal axis direction of the radar coordinate system is a normal direction of a horizontal plane (H-plane) of the radar antenna radiation pattern, the first transverse axis direction of the radar coordinate system is a direction perpendicular to the first longitudinal axis in the vertical plane, an included angle between the first longitudinal axis direction and a second longitudinal axis direction of a ground coordinate system where the detection target is located is the installation pitch angle, and description of the radar coordinate system is shown in embodiment 1 and will not be repeated here.
For example, the fitting module 801 performs linear fitting on the radar reflection points to obtain a slope of a straight line after the fitting, or performs ellipse fitting on the radar reflection points to obtain a slope of a straight line where a major axis of the fitted ellipse is located; wherein the slope is the slope of the line in the radar coordinate system; the first determination module 802 determines a mounting pitch angle of the radar based on the slope.
In this embodiment, the first determining unit 702 may further include (optional):
a first judging module 803, configured to calculate a distance between each radar reflection point and the radar according to the position information of the radar reflection point, calculate an average value of the distances between each radar reflection point and the radar, and judge whether the average value is greater than a first threshold value; and/or calculating the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height according to the position information of the radar reflection point, and judging whether the height difference is larger than a second threshold value or not;
when the determination result of the first determination module 803 is yes, the fitting module 801 fits the radar reflection point.
Fig. 9 is a schematic diagram of the second determination unit 803, and as shown in fig. 9, the second determination unit 703 includes:
A first calculation module 901 for calculating coordinate conversion coefficients of a radar coordinate system and a ground coordinate system according to an installation pitch angle of the radar;
a second calculating module 902, configured to calculate, according to the coordinate conversion coefficient and the position information of each radar reflection point, a position of each radar reflection point in a second longitudinal axis direction under the ground coordinate system;
a second determining module 903, configured to determine an installation height of the radar according to a position of each radar reflection point in a second longitudinal axis direction under the ground coordinate system;
in this embodiment, the implementation of the first calculation module 901, the second calculation module 902, and the second determination module 903 may refer to steps 601-603 in embodiment 1, which are not repeated here.
For example, the second determination module 903 determines, as the installation height of the radar, the absolute value of the position value, which is the largest in absolute value, among the position values of the respective radar reflection points in the second longitudinal axis direction of 0 or less in the ground coordinate system.
In the present embodiment, the second determination unit 703 may further include (optional):
a second judging module 904, configured to calculate a distance between each radar reflection point and the radar according to the position information of the radar reflection point, calculate an average value of the distances between each radar reflection point and the radar, and judge whether the average value is greater than a first threshold value; and/or calculating the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height according to the position information of the radar reflection point, and judging whether the height difference is larger than a second threshold value or not;
When the second judging module 904 judges that the result is yes, the second determining module 903 calculates the position of the radar reflection point in the second longitudinal axis direction under the ground coordinate system.
The implementation of the first determining module 803 and the second determining module 904 may refer to embodiment 1, and will not be described herein.
In this embodiment, the apparatus further includes: (optional)
An adjustment unit 704 for counting radar reflection points belonging to the detection target among radar reflection points and interference reflection points of other interference objects; when the interference reflection points are detected in the second predetermined number of continuous frames and the number of the interference reflection points or the ratio of the interference reflection points to the radar reflection points exceeds a third threshold, the installation pitch angle and/or the installation height of the radar are adjusted, and the specific implementation of the method can be referred to in example 1 and will not be repeated here.
According to the embodiment, the pitch angle of radar installation is determined based on the position information of the reflection point obtained by the continuous multi-frame microwave radar, and the height of radar installation is calculated according to the pitch angle.
Example 3
The present embodiment also provides a radar installation parameter calculating system, fig. 10 is a schematic diagram of the system, as shown in fig. 10, the system 1000 includes: the microwave radar 1001 is installed on a wall surface, and is used for periodically transmitting microwave signals to a space, receiving reflected signals reflected by the space and obtaining radar reflection points; and the radar installation parameter calculating means 700 in embodiment 2.
In this embodiment, optionally, the system may further include: an adjustment device 1002 for adjusting radar mounting pitch angle and/or mounting height.
In this embodiment, the implementation of the microwave radar 1001 has been described in embodiment 1, and the adjusting device 1002 may be implemented by a cradle head.
The embodiment also provides a radar installation parameter calculation system (not shown) including an electronic device and a microwave radar. The electronic device may be, for example, a computer, server, workstation, laptop, smart phone, etc.; embodiments of the invention are not so limited. The structure of the microwave radar may refer to embodiment 1, which is configured to periodically transmit a microwave signal to a space, and receive a reflected signal reflected by the space, and acquire a radar reflection point (may also be acquired by an electronic device), where the electronic device acquires position information of the radar reflection point belonging to a detection target in a first predetermined number of consecutive frames; determining an installation pitch angle of the radar according to the position information of the radar reflection point; and calculating the installation height of the radar according to the installation pitch angle of the radar. In this embodiment, optionally, the system may further include: the adjusting device is used for adjusting the radar installation pitch angle and/or the installation height.
Fig. 11 is a schematic diagram of an electronic device according to an embodiment of the invention. As shown in fig. 11, an electronic device 1100 may include: a processor (e.g., a central processing unit, CPU) 1110 and a memory 1120; memory 1120 is coupled to central processor 1110. Wherein the memory 1120 may store various data; further, a program of information processing is stored and executed under the control of the processor 1110.
In one embodiment, the functionality of radar installation parameter calculating device 700 may be integrated into processor 1110. Wherein the processor 1110 may be configured to implement the radar installation parameter calculation method as described in embodiment 1.
In another embodiment, the radar installation parameter calculating device 700 may be configured separately from the processor 1110, for example, the radar installation parameter calculating device 700 may be configured as a chip connected to the processor 1110, and the functions of the radar installation parameter calculating device 700 are implemented by the control of the processor 1110.
For example, the processor 1110 may be configured to control as follows: acquiring position information of radar reflection points belonging to detection targets in a first preset number of continuous frames; determining an installation pitch angle of the radar according to the position information of the radar reflection point; and calculating the installation height of the radar according to the installation pitch angle of the radar.
The specific implementation of the processor 1110 may refer to example 1, and will not be described herein.
Further, as shown in fig. 11, the electronic device 1100 may further include: a transceiver 1130, etc.; wherein, the functions of the above components are similar to the prior art, and are not repeated here. It is noted that the electronic device 1100 need not include all of the components shown in fig. 11; in addition, the electronic device 1100 may further include components not shown in fig. 11, to which reference is made to the related art.
The embodiment of the present invention also provides a computer-readable program, wherein when the program is executed in a radar installation parameter calculation device, the program causes a computer to execute the radar installation parameter calculation method as in embodiment 1 above in the radar installation parameter calculation device.
The embodiment of the present invention also provides a storage medium storing a computer-readable program, wherein the computer-readable program causes a computer to execute the radar installation parameter calculating method in embodiment 1 above in a radar installation parameter calculating device.
The radar installation parameter calculation method described in connection with the embodiments of the present invention may be directly embodied as hardware, as a software module executed by a processor, or as a combination of the two. For example, one or more of the functional block diagrams and/or one or more combinations of the functional block diagrams shown in fig. 7-11 may correspond to software modules or hardware modules of a computer program flow. These software modules may correspond to the individual steps shown in fig. 1,6, respectively. These hardware modules may be implemented, for example, by solidifying the software modules using a Field Programmable Gate Array (FPGA).
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium; or the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The software module may be stored in a memory of the radar installation parameter calculating device or may be stored in a memory card that is insertable into the radar installation parameter calculating device.
One or more of the functional block diagrams and/or one or more combinations of functional block diagrams described with respect to fig. 7-11 may be implemented as a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof for use in performing the functions described herein. One or more of the functional block diagrams and/or one or more combinations of functional block diagrams described with respect to fig. 7-11 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP communication, or any other such configuration.
While the invention has been described in connection with specific embodiments, it will be apparent to those skilled in the art that the description is intended to be illustrative and not limiting in scope. Various modifications and alterations of this invention will occur to those skilled in the art in light of the spirit and principles of this invention, and such modifications and alterations are also within the scope of this invention.
With respect to implementations including the above examples, the following supplementary notes are also disclosed.
Supplementary note 1, a radar installation parameter calculating apparatus, wherein the apparatus includes:
an acquisition unit configured to acquire position information of radar reflection points belonging to a detection target within a first predetermined number of consecutive frames;
a first determining unit for determining an installation pitch angle of the radar according to position information of the radar reflection point; and
and a second determination unit for calculating an installation height of the radar from an installation pitch angle of the radar.
Supplementary note 2 the apparatus according to supplementary note 1, wherein the first determining unit includes:
the fitting module is used for fitting the radar reflection points in a radar coordinate system where the vertical plane of the radar antenna radiation pattern is located, so as to obtain fitted parameters;
The first determining module is used for determining the installation pitch angle of the radar according to the fitted parameters;
the first longitudinal axis direction of the radar coordinate system is the normal direction of the horizontal plane of the radar antenna radiation pattern, the first transverse axis direction of the radar coordinate system is the direction perpendicular to the first longitudinal axis in the vertical plane, and the included angle between the first longitudinal axis direction and the second longitudinal axis direction of the ground coordinate system where the detection target is located is the installation pitch angle.
Supplementary note 3, a device according to supplementary note 2, wherein the fitting module performs linear fitting on the radar reflection points to obtain a slope of a straight line after fitting, or performs ellipse fitting on the radar reflection points to obtain a slope of a straight line where a major axis of the fitted ellipse is located; wherein the slope is a slope of the line within the radar coordinate system;
the first determination module determines an installation pitch angle of the radar according to the slope.
Supplementary note 4 the apparatus according to supplementary note 2, wherein the first determining unit further includes:
the first judging module is used for calculating the distance between each radar reflecting point and the radar according to the position information of the radar reflecting point, calculating the average value of the distance between each radar reflecting point and the radar, judging whether the average value is larger than a first threshold value, and/or calculating the height difference between the radar reflecting point with the largest height and the radar reflecting point with the smallest height according to the position information of the radar reflecting point, and judging whether the height difference is larger than a second threshold value;
And when the judging result of the first judging module is yes, the fitting module fits the radar reflection points.
Supplementary note 5 the apparatus according to supplementary note 1, wherein the second determining unit includes:
the first calculation module is used for calculating coordinate conversion coefficients of a radar coordinate system and a ground coordinate system according to the installation pitch angle of the radar;
the second calculation module is used for calculating the position of each radar reflection point in the second longitudinal axis direction under the ground coordinate system according to the coordinate conversion coefficient and the position information of each radar reflection point;
a second determining module for determining the installation height of the radar according to the positions of the radar reflection points in the second longitudinal axis direction under the ground coordinate system;
the first longitudinal axis direction of the radar coordinate system is the normal direction of the horizontal plane of the radar antenna radiation pattern, the first transverse axis direction of the radar coordinate system is the direction perpendicular to the first longitudinal axis in the vertical plane of the radar antenna radiation pattern, and the included angle between the first longitudinal axis direction and the second longitudinal axis direction of the ground coordinate system where the detection target is located is the installation pitch angle.
Supplementary note 6 the apparatus according to supplementary note 5, wherein the second determining unit further includes:
the second judging module is used for calculating the distance between each radar reflecting point and the radar according to the position information of the radar reflecting point, calculating the average value of the distance between each radar reflecting point and the radar, judging whether the average value is larger than a first threshold value, and/or calculating the height difference between the radar reflecting point with the largest height and the radar reflecting point with the smallest height according to the position information of the radar reflecting point, and judging whether the height difference is larger than a second threshold value;
and when the judgment result of the second judgment module is yes, the second determination module calculates the position of each radar reflection point in the second longitudinal axis direction under the ground coordinate system.
Supplementary note 7, the device according to supplementary note 5, wherein the second determining module determines, as the installation height of the radar, an absolute value of a position value having the largest absolute value among the position values of the respective radar reflection points in the second longitudinal axis direction of 0 or less in the ground coordinate system.
Supplementary note 8 the apparatus according to supplementary note 1, wherein the apparatus further comprises:
an adjustment unit for counting radar reflection points belonging to the detection target among radar reflection points and interference reflection points of other interference objects; and when the interference reflection points are detected in a second preset number of continuous frames, and the number of the interference reflection points or the ratio of the interference reflection points to the radar reflection points exceeds a third threshold value, adjusting the installation pitch angle and/or the installation height of the radar.
Supplementary note 9, a radar installation parameter calculation method, wherein the method comprises the following steps:
acquiring position information of radar reflection points belonging to detection targets in a first preset number of continuous frames;
determining an installation pitch angle of the radar according to the position information of the radar reflection point;
and calculating the installation height of the radar according to the installation pitch angle of the radar.
Supplementary note 10, the method according to supplementary note 9, wherein determining the installation pitch angle of the radar according to the position information of the radar reflection point includes:
fitting the radar reflection points in a radar coordinate system where a vertical plane (E-plane) of the radar antenna radiation pattern is located to obtain fitted parameters;
determining an installation pitch angle of the radar according to the fitted parameters;
the first longitudinal axis direction of the radar coordinate system is a normal direction of a horizontal plane (H-plane) of the radar antenna radiation pattern, the first transverse axis direction of the radar coordinate system is a direction perpendicular to the first longitudinal axis in the vertical plane, and an included angle between the first longitudinal axis direction and a second longitudinal axis direction of a ground coordinate system where the detection target is located is the installation pitch angle.
Supplementary note 11, the method according to supplementary note 10, wherein fitting the radar reflection points includes:
performing linear fitting on the radar reflection points to obtain the slope of a straight line after fitting, or performing ellipse fitting on the radar reflection points to obtain the slope of the straight line where the major axis of the fitted ellipse is located; wherein the slope is a slope of the line within the radar coordinate system;
and determining a mounting pitch angle of the radar according to the slope.
The method of supplementary note 12, supplementary note 10, wherein, prior to fitting, the method further comprises:
calculating the distance between each radar reflecting point and the radar according to the position information of the radar reflecting point, calculating the average value of the distance between each radar reflecting point and the radar, and judging whether the average value is larger than a first threshold value or not; and/or calculating the height difference between the radar reflection point with the largest height and the radar reflection point with the smallest height according to the position information of the radar reflection points, and judging whether the height difference is larger than a second threshold value or not;
and when the judgment result is yes, fitting the radar reflection points.
Supplementary note 13, the method according to supplementary note 9, wherein calculating the mounting height of the radar from the mounting pitch angle of the radar includes:
Calculating coordinate conversion coefficients of a radar coordinate system and a ground coordinate system according to the installation pitch angle of the radar;
calculating the position of each radar reflection point in the second longitudinal axis direction under the ground coordinate system according to the coordinate conversion coefficient and the position information of each radar reflection point;
determining the installation height of the radar according to the positions of the radar reflection points in the second longitudinal axis direction under the ground coordinate system;
the first longitudinal axis direction of the radar coordinate system is a normal direction of a horizontal plane (H-plane) of a radar antenna radiation pattern, the first transverse axis direction of the radar coordinate system is a direction perpendicular to the first longitudinal axis in a vertical plane of the radar antenna radiation pattern, and an included angle between the first longitudinal axis direction and a second longitudinal axis direction of a ground coordinate system where the detection target is located is the installation pitch angle.
Supplementary note 14 the method according to supplementary note 13, wherein, before calculating the position of the respective radar reflection point in the second longitudinal axis direction under the ground coordinate system, the method further comprises:
calculating the distance between each radar reflecting point and the radar according to the position information of the radar reflecting point, calculating the average value of the distance between each radar reflecting point and the radar, and/or calculating the height difference between the radar reflecting point with the largest height and the radar reflecting point with the smallest height according to the position information of the radar reflecting point; judging whether the average value is larger than a first threshold value and/or judging whether the height difference is larger than a second threshold value;
And when the judgment result is yes, calculating the position of each radar reflection point in the second longitudinal axis direction under the ground coordinate system.
Supplementary note 15, the method according to supplementary note 13, wherein an absolute value of a position value, which is the largest in absolute value, among the position values of the respective radar reflection points in the second longitudinal axis direction of 0 or less in the ground coordinate system is determined as the installation height of the radar.
Supplementary note 16, the method according to supplementary note 9, wherein the method further comprises:
and counting the radar reflection points belonging to the detection targets and the interference reflection points of other interferents in the radar reflection points, and adjusting the installation pitch angle and/or the installation height of the radar when the number of the interference reflection points or the ratio of the interference reflection points to the radar reflection points exceeds a third threshold value.
Claims (8)
1. A radar installation parameter calculating device, wherein the device comprises:
an acquisition unit configured to acquire position information of radar reflection points belonging to a detection target within a first predetermined number of consecutive frames;
a first determining unit for determining an installation pitch angle of the radar according to position information of the radar reflection point; and
A second determination unit for calculating an installation height of the radar according to an installation pitch angle of the radar;
wherein the first determining unit includes:
the fitting module is used for fitting the radar reflection points in a radar coordinate system where the vertical plane of the radar antenna radiation pattern of the radar is located, so as to obtain fitted parameters;
the first determining module is used for determining the installation pitch angle of the radar according to the fitted parameters;
the first longitudinal axis direction of the radar coordinate system is the normal direction of the horizontal plane of the radar antenna radiation pattern, the first transverse axis direction of the radar coordinate system is the direction perpendicular to the first longitudinal axis in the vertical plane, and the included angle between the first longitudinal axis direction and the second longitudinal axis direction of the ground coordinate system where the detection target is located is the installation pitch angle.
2. The apparatus of claim 1, wherein the fitting module performs a linear fit on the radar reflection points to obtain a slope of a straight line after the fit, or performs an elliptic fit on the radar reflection points to obtain a slope of a straight line where a major axis of the fitted ellipse is located; wherein the slope is a slope of the line within the radar coordinate system;
The first determination module determines an installation pitch angle of the radar according to the slope.
3. The apparatus of claim 1, wherein the first determining unit further comprises:
the first judging module is used for calculating the distance between each radar reflecting point and the radar according to the position information of the radar reflecting point, calculating the average value of the distance between each radar reflecting point and the radar, judging whether the average value is larger than a first threshold value, and/or calculating the height difference between the radar reflecting point with the largest height and the radar reflecting point with the smallest height according to the position information of the radar reflecting point, and judging whether the height difference is larger than a second threshold value;
and when the judging result of the first judging module is yes, the fitting module fits the radar reflection points.
4. The apparatus of claim 1, wherein the second determining unit comprises:
the first calculation module is used for calculating coordinate conversion coefficients of a radar coordinate system and a ground coordinate system according to the installation pitch angle of the radar;
the second calculation module is used for calculating the position of each radar reflection point in the second longitudinal axis direction under the ground coordinate system according to the coordinate conversion coefficient and the position information of each radar reflection point;
And the second determining module is used for determining the installation height of the radar according to the positions of the radar reflection points in the second longitudinal axis direction under the ground coordinate system.
5. The apparatus of claim 4, wherein the second determining unit further comprises:
the second judging module is used for calculating the distance between each radar reflecting point and the radar according to the position information of the radar reflecting point, calculating the average value of the distance between each radar reflecting point and the radar, judging whether the average value is larger than a first threshold value, and/or calculating the height difference between the radar reflecting point with the largest height and the radar reflecting point with the smallest height according to the position information of the radar reflecting point, and judging whether the height difference is larger than a second threshold value;
and when the judgment result of the second judgment module is yes, the second determination module calculates the position of each radar reflection point in the second longitudinal axis direction under the ground coordinate system.
6. The apparatus of claim 4, wherein the second determination module determines an absolute value of a position value, of the second longitudinal axis direction of the ground coordinate system, at which the respective radar reflection points are largest in absolute value, as a mounting height of the radar.
7. The apparatus of claim 1, wherein the apparatus further comprises:
an adjustment unit for counting radar reflection points belonging to the detection target among radar reflection points and interference reflection points of other interference objects; and when the interference reflection points are detected in a second preset number of continuous frames, and the number of the interference reflection points or the ratio of the interference reflection points to the radar reflection points exceeds a third threshold value, adjusting the installation pitch angle and/or the installation height of the radar.
8. A radar installation parameter calculation method, wherein the method comprises:
acquiring position information of radar reflection points belonging to detection targets in a first preset number of continuous frames;
determining an installation pitch angle of the radar according to the position information of the radar reflection point;
calculating the installation height of the radar according to the installation pitch angle of the radar;
wherein, determining the installation pitch angle of the radar according to the position information of the radar reflection point comprises:
fitting the radar reflection points in a radar coordinate system where the vertical plane of the radar antenna radiation pattern of the radar is located to obtain fitted parameters;
determining an installation pitch angle of the radar according to the fitted parameters;
The first longitudinal axis direction of the radar coordinate system is the normal direction of the horizontal plane of the radar antenna radiation pattern, the first transverse axis direction of the radar coordinate system is the direction perpendicular to the first longitudinal axis in the vertical plane, and the included angle between the first longitudinal axis direction and the second longitudinal axis direction of the ground coordinate system where the detection target is located is the installation pitch angle.
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