交通雷达测速抓拍系统研究
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摘要
交通雷达测速抓拍系统具有良好的应用前景,然而,目前交通雷达测速抓拍系统在实际应用方面还存在种种不足,尤其是当有多个车辆目标并行行驶时,测速准确度难以保证。本论文围绕上述问题,对多普勒测速雷达的理论、算法和抓拍系统的设计展开研究。
详细阐述了多普勒雷达的测速原理,并在分析了雷达回波信号的特性后建立了运动目标回波信号的数学模型。以提高交通雷达测速抓拍系统的测速准确度,抓拍率和对目标速度的分辨率为目的,从测速雷达的工作原理出发,对目前雷达测速抓拍系统进行探讨,对影响雷达测速准确度的主要因素进行了详细的分析,并归纳性地总结目前系统存在的问题,并根据这些问题,探讨其对应的改进方案。
研究基于雷达测速的抓拍系统的设计方法,提出系统的设计目标;并据此基于模块化思想进行了软、硬件的设计;介绍了系统实现的流程。
针对目前雷达测速准确度不高以及在多车辆目标辨析技术方面的不足,进行了讨论。首先,为了提高单车道目标测速的准确度,建议选取合适的系统工作频段,用基于FFT频谱分析实现速度测量,以及针对非匀速运动车辆采用基于加速度补偿的雷达测速方法;为提高抓拍率,采用定位准确的窄波束平板雷达。然后,针对多个车辆目标并行行驶的问题,采用基于幅度比较的方法进行目标分辨,并利用时频分析技术来提高对目标速度的分辨能力。同时,选用高性能工业相机,提高抓拍图片的质量。
论文最后对全文工作进行总结,并且展望了进一步的工作。
Traffic radar speed measurement snapshot system has a good prospect of application, however, practical deficiencies are still existed in the current system, especially when multiple targeted vehicles run parallel to each other, the speed measuring accuracy is hard to guarantee. This paper, concentrating these problems above, aims at studying on the Doppler radar theory, algorithm and snapshot system design.
The main focuses of this paper are: firstly, the Doppler radar speed measurement theory is elaborately discussed and the moving target echo signal mathematical model is established through analysis of radar echo signal characteristics. In order to improve accuracy of traffic radar speed measurement snapshot system in speed measurement, snapshot rate, and target speed resolution, based on radar’s working principles, the current system is discussed and main effects on radar accuracy are also analyzed in detail. As a result, a set of corresponding improvements are explored.
Secondly, according to the radar measurement snapshot system design method, the design target is proposed, soft and hardware is designed based on the idea of modularization.
Thirdly, In view of the low accuracy of current radar speed measurement and lack of techniques in target vehicles discrimination, some measures must be taken. Such as in order to improve the accuracy of single lane target velocity, an appropriate system working frequency band and compensated acceleration method for the non uniform motion of vehicles are recommended; speed can be measured by FFT spectrum analysis. Furthermore, high snapshot rate can benefit from the accurate positioning of the narrow beam plate radar. Then, aiming at the multiple target vehicles parallel running problems, the amplitude comparison method for target identification, and time-frequency analysis technology are employed to improve the velocity of the target resolution. At the same time, the high performance industrial cameras can improve the quality of snapshot images.
Finally, the paper gets a summary and gives a outlook on further study.
详细阐述了多普勒雷达的测速原理,并在分析了雷达回波信号的特性后建立了运动目标回波信号的数学模型。以提高交通雷达测速抓拍系统的测速准确度,抓拍率和对目标速度的分辨率为目的,从测速雷达的工作原理出发,对目前雷达测速抓拍系统进行探讨,对影响雷达测速准确度的主要因素进行了详细的分析,并归纳性地总结目前系统存在的问题,并根据这些问题,探讨其对应的改进方案。
研究基于雷达测速的抓拍系统的设计方法,提出系统的设计目标;并据此基于模块化思想进行了软、硬件的设计;介绍了系统实现的流程。
针对目前雷达测速准确度不高以及在多车辆目标辨析技术方面的不足,进行了讨论。首先,为了提高单车道目标测速的准确度,建议选取合适的系统工作频段,用基于FFT频谱分析实现速度测量,以及针对非匀速运动车辆采用基于加速度补偿的雷达测速方法;为提高抓拍率,采用定位准确的窄波束平板雷达。然后,针对多个车辆目标并行行驶的问题,采用基于幅度比较的方法进行目标分辨,并利用时频分析技术来提高对目标速度的分辨能力。同时,选用高性能工业相机,提高抓拍图片的质量。
论文最后对全文工作进行总结,并且展望了进一步的工作。
Traffic radar speed measurement snapshot system has a good prospect of application, however, practical deficiencies are still existed in the current system, especially when multiple targeted vehicles run parallel to each other, the speed measuring accuracy is hard to guarantee. This paper, concentrating these problems above, aims at studying on the Doppler radar theory, algorithm and snapshot system design.
The main focuses of this paper are: firstly, the Doppler radar speed measurement theory is elaborately discussed and the moving target echo signal mathematical model is established through analysis of radar echo signal characteristics. In order to improve accuracy of traffic radar speed measurement snapshot system in speed measurement, snapshot rate, and target speed resolution, based on radar’s working principles, the current system is discussed and main effects on radar accuracy are also analyzed in detail. As a result, a set of corresponding improvements are explored.
Secondly, according to the radar measurement snapshot system design method, the design target is proposed, soft and hardware is designed based on the idea of modularization.
Thirdly, In view of the low accuracy of current radar speed measurement and lack of techniques in target vehicles discrimination, some measures must be taken. Such as in order to improve the accuracy of single lane target velocity, an appropriate system working frequency band and compensated acceleration method for the non uniform motion of vehicles are recommended; speed can be measured by FFT spectrum analysis. Furthermore, high snapshot rate can benefit from the accurate positioning of the narrow beam plate radar. Then, aiming at the multiple target vehicles parallel running problems, the amplitude comparison method for target identification, and time-frequency analysis technology are employed to improve the velocity of the target resolution. At the same time, the high performance industrial cameras can improve the quality of snapshot images.
Finally, the paper gets a summary and gives a outlook on further study.
引文
[1]刘铁山.我国发展智能交通系统的机遇和挑战.公路与汽运,2005,5:26~28
[2]陈同林,樊海博.雷达技术在现代公路交通中的应用.西安邮电学院学报,2004, 35(3):34~37
[3]朱东辉.智能交通系统的发展.山东交通学院学报,2002,10(4):9~14
[4]杨粤湘.雷达测速在公安交通管理中的应用.广东公安科技,2005,1:66~67
[5]刘勇,吴勇,周芳.对我国智能交通系统(ITS)发展的探讨.交通标准化,2006,1: 48~50
[6]张国伍.智能交通系统工程导论.北京:电子工业出版社,2003.5~8
[7]王丰元,宇仁德,刘永启.智能交通系统.山东工程学院学报,2000,14(3):26~31
[8]孙晋文,鄂卓茂.智能运输系统的现状与发展,中国农业大学学报,2000,5(4) 113~116
[9]杨荫开.智能交通系统概述及我国的发展对策选择.地理科学进展,1999,18(3): 274~278
[10]刘晓琳,彭达峰.线圈与视频车辆检测器在道路监控中的应用比较.广东自动化信息与工程,2004,4:40~42
[11]I. S. Kim. Two novel radar vehicle detectors for the replacement of a conventional loop detector. Microwave Journal,2001,44(7):22~40
[12]G. Surendra. Detection and classification of vehicles. IEEE Trans, On ITS.2002,3: 37~47
[13]刘丽英,潘景山,史勇.智能交通系统的发展状况研究.信息技术与信息化, 2005, 1(6):17~18
[14]俞春俊,陆海峰.移动电子警察系统在交通管理中的应用.中国智能交通,2005, 26(2):73-75
[15]吕天勇.104国道智能化、网络化道路监控系统. ITS中国智能交通,2005,3:75-78
[16]胡大伟,郭小汾.智能运输系统(ITS)的发展与对策.西安公路交通大学学报, 2000, 20(1):66~69
[17]童剑军,邹明福.基于监控视频图像的车辆检速.中国图像图形学报,2005,10(2): 192~196
[18]邢霄飞,李永宁,林木华.一种基于纹理分析的视频车辆测速方法.计算机应用, 25(12): 2804~2807
[19]张继平,刘直芳.视频中运动目标的实时检测和跟踪.计算机测量与控制,2004, 12(11):1036~1038
[20]冯淡如,卢朝阳.电子警察系统中的图像传输方案设计.微机发展,2003,13(6): 45~46
[21]张可,齐彤岩,刘冬梅.中国智能交通系统(ITS)体系框架研究进展.交通运输系统工程与信息,2005,5(5):6~11
[22]何友,关键,彭应宁,雷达自动检测与恒虚警处理[M],北京,清华大学出版社,1999:19～38
[23]丁鹭飞,耿富录.雷达原理(第三版).西安:西安电子科技大学出版社,2003. 20～46.
[24]斯蒂芬J E.接收机设计.康士棣等译.北京:宇航出版社,1991
[25](美)Merrill I.Skolnik主编王军等译.雷达手册(第二版).电子工业出版社.2003. 7:l5～31 [26马玲,蔡征宇,程风雷,等.毫米波测速雷达的测速原理[J].弹道学报,2003(12):87.
[27]王德纯,丁家会,程望东,等.精密跟踪测量雷达技术[M].北京:电子工业出版社,2006:32～33.
[28]吴卫玲,宋喜报.多普勒测速雷达测速误差分析.计量与测试技术,2000.1
[29]张光义.相控阵雷达系统.北京:国防工业出版社,1997
[30]张光义,王德纯等.空间探测相控阵雷达.北京:科学出版社,2001
[31]马晓岩,向家彬.雷达信号处理、长沙:湖南科学技术出版社,1999
[32]张代忠.脉冲多普勒雷达中的解模糊算法及实现.雷达科学与技术,2004(5): 293～297
[33]李文臣,单个线性调频脉冲信号测速方法之研究.雷达科学与技术,2004(1): 11～16
[34]李玉才,脉冲多普勒雷达识别中的信号调制信息提取.航天电子对抗,2004(3):17~20
[35]徐敏,单脉冲测量雷达测速技术研究.现代雷达,2005(1):58～61
[36]林茂庸.雷达信号理论.北京:国防工业出版社,1984
[37]毛士艺等.脉冲多普勒雷达.北京:国防工业出版社,1990
[38]王正勤,朱向冰.基于FPGA的FFT处理器的设计与验证[J].电脑知识与技术, 2007(11): 1379～1382.
[39]苏涛等编著.高性能DSP与高速实时信号处理(第二版).西安电子科技大学出版社,2002.1:13～22
[40]程佩青.数字信号处理教程(第二版).清华大学出版社,2001.8:11～26
[41]邹红星,小波,李衍达.时频分析:回溯与前瞻.电子学报,2001.09:15～19
[42]陈砚圃,张介秋,卞正中,一种新的联合时频分析方法.通信学报,2001,1:27～32
[43]田惠生,曹秀国,李延宁.基于时频分析的分离谱处理.西安交通大学学报,1998.5:34～39
[44]孙晓兵,保铮,罗琳.时一频信号分析与雷达的多目标分辨.系统工程与电子技术,1997.1:41～44
[45]许红军,柯建波,党百振.跳频信号的STFT时一频分析.桂林电子工业学院学报,1998.3:21～25
[46]戴征坚.雷达非刚性多目标的时—频分辨方法.雷达与对抗,2000.3:16～20
[47]邹红星,周小波,李衍达.基于Radon-STFT变换的含噪LFM信号子空间分解.电子学报,1999.12:21～26
[2]陈同林,樊海博.雷达技术在现代公路交通中的应用.西安邮电学院学报,2004, 35(3):34~37
[3]朱东辉.智能交通系统的发展.山东交通学院学报,2002,10(4):9~14
[4]杨粤湘.雷达测速在公安交通管理中的应用.广东公安科技,2005,1:66~67
[5]刘勇,吴勇,周芳.对我国智能交通系统(ITS)发展的探讨.交通标准化,2006,1: 48~50
[6]张国伍.智能交通系统工程导论.北京:电子工业出版社,2003.5~8
[7]王丰元,宇仁德,刘永启.智能交通系统.山东工程学院学报,2000,14(3):26~31
[8]孙晋文,鄂卓茂.智能运输系统的现状与发展,中国农业大学学报,2000,5(4) 113~116
[9]杨荫开.智能交通系统概述及我国的发展对策选择.地理科学进展,1999,18(3): 274~278
[10]刘晓琳,彭达峰.线圈与视频车辆检测器在道路监控中的应用比较.广东自动化信息与工程,2004,4:40~42
[11]I. S. Kim. Two novel radar vehicle detectors for the replacement of a conventional loop detector. Microwave Journal,2001,44(7):22~40
[12]G. Surendra. Detection and classification of vehicles. IEEE Trans, On ITS.2002,3: 37~47
[13]刘丽英,潘景山,史勇.智能交通系统的发展状况研究.信息技术与信息化, 2005, 1(6):17~18
[14]俞春俊,陆海峰.移动电子警察系统在交通管理中的应用.中国智能交通,2005, 26(2):73-75
[15]吕天勇.104国道智能化、网络化道路监控系统. ITS中国智能交通,2005,3:75-78
[16]胡大伟,郭小汾.智能运输系统(ITS)的发展与对策.西安公路交通大学学报, 2000, 20(1):66~69
[17]童剑军,邹明福.基于监控视频图像的车辆检速.中国图像图形学报,2005,10(2): 192~196
[18]邢霄飞,李永宁,林木华.一种基于纹理分析的视频车辆测速方法.计算机应用, 25(12): 2804~2807
[19]张继平,刘直芳.视频中运动目标的实时检测和跟踪.计算机测量与控制,2004, 12(11):1036~1038
[20]冯淡如,卢朝阳.电子警察系统中的图像传输方案设计.微机发展,2003,13(6): 45~46
[21]张可,齐彤岩,刘冬梅.中国智能交通系统(ITS)体系框架研究进展.交通运输系统工程与信息,2005,5(5):6~11
[22]何友,关键,彭应宁,雷达自动检测与恒虚警处理[M],北京,清华大学出版社,1999:19～38
[23]丁鹭飞,耿富录.雷达原理(第三版).西安:西安电子科技大学出版社,2003. 20～46.
[24]斯蒂芬J E.接收机设计.康士棣等译.北京:宇航出版社,1991
[25](美)Merrill I.Skolnik主编王军等译.雷达手册(第二版).电子工业出版社.2003. 7:l5～31 [26马玲,蔡征宇,程风雷,等.毫米波测速雷达的测速原理[J].弹道学报,2003(12):87.
[27]王德纯,丁家会,程望东,等.精密跟踪测量雷达技术[M].北京:电子工业出版社,2006:32～33.
[28]吴卫玲,宋喜报.多普勒测速雷达测速误差分析.计量与测试技术,2000.1
[29]张光义.相控阵雷达系统.北京:国防工业出版社,1997
[30]张光义,王德纯等.空间探测相控阵雷达.北京:科学出版社,2001
[31]马晓岩,向家彬.雷达信号处理、长沙:湖南科学技术出版社,1999
[32]张代忠.脉冲多普勒雷达中的解模糊算法及实现.雷达科学与技术,2004(5): 293～297
[33]李文臣,单个线性调频脉冲信号测速方法之研究.雷达科学与技术,2004(1): 11～16
[34]李玉才,脉冲多普勒雷达识别中的信号调制信息提取.航天电子对抗,2004(3):17~20
[35]徐敏,单脉冲测量雷达测速技术研究.现代雷达,2005(1):58～61
[36]林茂庸.雷达信号理论.北京:国防工业出版社,1984
[37]毛士艺等.脉冲多普勒雷达.北京:国防工业出版社,1990
[38]王正勤,朱向冰.基于FPGA的FFT处理器的设计与验证[J].电脑知识与技术, 2007(11): 1379～1382.
[39]苏涛等编著.高性能DSP与高速实时信号处理(第二版).西安电子科技大学出版社,2002.1:13～22
[40]程佩青.数字信号处理教程(第二版).清华大学出版社,2001.8:11～26
[41]邹红星,小波,李衍达.时频分析:回溯与前瞻.电子学报,2001.09:15～19
[42]陈砚圃,张介秋,卞正中,一种新的联合时频分析方法.通信学报,2001,1:27～32
[43]田惠生,曹秀国,李延宁.基于时频分析的分离谱处理.西安交通大学学报,1998.5:34～39
[44]孙晓兵,保铮,罗琳.时一频信号分析与雷达的多目标分辨.系统工程与电子技术,1997.1:41～44
[45]许红军,柯建波,党百振.跳频信号的STFT时一频分析.桂林电子工业学院学报,1998.3:21～25
[46]戴征坚.雷达非刚性多目标的时—频分辨方法.雷达与对抗,2000.3:16～20
[47]邹红星,周小波,李衍达.基于Radon-STFT变换的含噪LFM信号子空间分解.电子学报,1999.12:21～26