CN116008680B - A method for detecting and identifying the electrostatic field of moving targets - Google Patents
A method for detecting and identifying the electrostatic field of moving targetsInfo
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- CN116008680B CN116008680B CN202211599758.2A CN202211599758A CN116008680B CN 116008680 B CN116008680 B CN 116008680B CN 202211599758 A CN202211599758 A CN 202211599758A CN 116008680 B CN116008680 B CN 116008680B
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Abstract
本发明提供一种运动目标静电场探测与识别方法，包含步骤：S1、探测运动目标所携带的静电信号并生成对应的静电传感器信号，对静电传感器信号进行数字滤波和信号抽取，得到多个通道的第二数字量静电传感器信号；S2、以探测器为原点建立探测器坐标系，基于多个通道的第二数字量静电传感器信号，计算目标在探测器坐标系的X、Y、Z轴方向上的电场强度分量信号；S3、基于探测器与目标的相对速度，通过与相对速度对应的滤波器分别对电场强度分量进行数字滤波；S4、对数字滤波后的电场强度分量信号进行低频抑制信号的补偿；S5、基于时间对信号补偿后的电场强度分量信号进行平滑处理；S6、基于步骤S5进行平滑处理后的电场强度分量信号，计算得到目标的方位角。
The present invention provides a method for detecting and identifying the electrostatic field of a moving target, comprising the following steps: S1, detecting an electrostatic signal carried by the moving target and generating a corresponding electrostatic sensor signal, performing digital filtering and signal extraction on the electrostatic sensor signal to obtain second digital electrostatic sensor signals of multiple channels; S2, establishing a detector coordinate system with the detector as the origin, and calculating electric field intensity component signals of the target in the X, Y, and Z axis directions of the detector coordinate system based on the second digital electrostatic sensor signals of the multiple channels; S3, based on the relative speed between the detector and the target, performing digital filtering on the electric field intensity components respectively through filters corresponding to the relative speed; S4, performing low-frequency suppression signal compensation on the electric field intensity component signals after digital filtering; S5, smoothing the signal-compensated electric field intensity component signals based on time; and S6, calculating the azimuth of the target based on the electric field intensity component signals after the smoothing process in step S5.
Description
Technical Field
The invention relates to the technical field of short-range detection of moving targets, in particular to a method for detecting and identifying an electrostatic field of a moving target.
Background
Any object that uses a motor or moves must be electrostatically charged, and the electrostatic field generated during the movement of the target is an available source of information. The method of acquiring the target information by electrostatic detection is realized by detecting an electrostatic field around the target. The detection of moving objects using this method has the following advantages over other detection methods such as radio or laser modes:
(1) Electrostatic detection technology belongs to passive detection technology, is difficult to be disturbed.
(2) The moving object generates a large amount of electrons due to air friction and the like, charges are accumulated on the surface during the flying process, and the generated electrostatic field is easily detected.
(3) Compared with the traditional detection technology, the electrostatic detection technology has strong electromagnetic environment interference resistance.
Therefore, there is a need for a method for detecting and identifying electrostatic targets, which meets the requirement of short-range detection of moving targets.
Disclosure of Invention
The invention aims to provide a method for detecting and identifying an electrostatic field of a moving target, which is used for identifying the orientation of the target relative to a detector by detecting an electrostatic signal carried by the moving target.
In order to achieve the above object, the present invention provides a method for detecting and identifying a moving object by using an electrostatic field, comprising the steps of:
S1, detecting an electrostatic signal carried by a moving target, and generating an electrostatic sensor signal corresponding to the electrostatic signal;
s2, establishing a detector coordinate system by taking a detector as an origin, and calculating an electric field intensity component signal of the target in the X, Y, Z axis direction of the detector coordinate system based on second digital quantity electrostatic sensor signals of the channels;
S3, respectively carrying out digital filtering on the electric field intensity component signals through a filter corresponding to the relative speed based on the relative speed of the detector and the target;
S4, compensating the low-frequency suppression signal for the digitally filtered electric field strength component signal;
S5, smoothing the electric field intensity component signal after signal compensation based on time;
s6, calculating the azimuth angle of the target based on the electric field intensity component signal subjected to the smoothing processing in the step S5.
Optionally, step S1 includes:
S11, generating a corresponding electrostatic sensor signal by an electrostatic sensor of the detector based on the detected moving target, wherein the electrostatic sensor signal is an analog quantity signal, amplifying the electrostatic sensor signal, and converting the amplified electrostatic sensor signal into a corresponding first digital quantity electrostatic sensor signal;
s12, filtering out a band-pass external interference signal in the first digital quantity electrostatic sensor signal through a low-pass filter;
And S13, extracting the filtered first digital quantity electrostatic sensor signals to obtain second digital quantity electrostatic sensor signals of a plurality of channels.
Optionally, in step S1, second digital quantity electrostatic sensor signals of the first to eighth channels are acquired through annular first electrostatic sensors and second electrostatic sensors, the second digital quantity electrostatic sensor signals of the first to eighth channels are respectively recorded as D11, D12, D13, D14, D21, D22, D23 and D24, a central axis of the first electrostatic sensor is parallel to an X axis of a detector coordinate system, a central axis of the second electrostatic sensor is parallel to a Y axis of the detector coordinate system, the first electrostatic sensor is uniformly divided into four sequentially distributed sections along a circumferential direction of the first electrostatic sensor, the D11, D12, D13 and D14 respectively correspond to the four sections, and the second electrostatic sensor is uniformly divided into four sequentially distributed sections along the circumferential direction of the second electrostatic sensor, and the D21, D22, D23 and D24 respectively correspond to the four sections.
Optionally, let Ex, ey, and Ez be the electric field intensity component signals in X, Y, Z axial directions in step S2,
Еy=(D11-D13+D21-D23)/2;
Еz=(D12-D14+D22-D24)/2;
Ex=D11+D12+D13+D14-(D21+D22+D23+D24)。
Optionally, in step S3, let V be the relative speed between the detector and the target, when V > t1, the electric field intensity component signal in the X, Y, Z axis direction is not filtered, when t2< V is less than or equal to t1, the electric field intensity component signal in the X, Y, Z axis direction is filtered by a first filter, the cutoff frequency of the first filter is f1, when V is less than or equal to t2, the electric field intensity component signal in the X, Y, Z axis direction is filtered by a second filter, the cutoff frequency of the second filter is f2, and t1 and t2 are set speed values.
Optionally, step S4 includes:
S41, filtering Ei by a smoothing filter with a coefficient of 1, where ei=ex, ey, ez;
s42, calculating Ei 'and Ei' as compensation values of Ei based on the relative speed V of the detector and the target;
when V > t1, ei' =floor (Ei/2 10);
when t2< V is less than or equal to t1, ei' =floor (Ei/2 9);
When V is less than or equal to t2, ei' =floor (Ei/2 8);
Floor (·) represents a downward rounding operation, and Ei is updated by E' i+Ei, so that compensation of low-frequency suppression signals on Ei is realized.
Optionally, step S5 includes:
S51, calculating
Wherein t represents time, ei ' (t) =EX ' (t), EY ' (t), EZ ' (t), and EX ' (t), EY ' (t), EZ ' (t) represent electric field intensity component signals in X, Y, Z axis directions after smoothing at the same time;
s52, updating Ei (t) with Ei '' (t).
Optionally, step S6 includes:
Wherein, the The angle between the projection of the target on the Y-Z plane of the detector coordinate system and the positive direction of the Y axis is the angle between the projection of the target on the X-Y plane of the detector coordinate system and the positive direction of the X axis.
Compared with the prior art, the invention has the beneficial effects that:
1) The invention processes and computes based on multi-channel electrostatic sensor signals, and has strong anti-interference capability.
2) The invention obtains the electric field intensity component signal of the target through equivalent calculation of the electrostatic sensor signal, thereby calculating and obtaining the target azimuth information.
3) The invention adopts the self-adaptive filtering processing method, carries out digital filtering on the electric field intensity component signal based on the filter corresponding to the relative speed (the relative speed between the moving object and the detector), and improves the accuracy of the system for calculating the direction of the object.
4) The invention compensates the low-frequency suppression signal for the electric field intensity component signal, reduces the deviation caused by the electrostatic sensor signal in the amplifying process, and improves the target azimuth resolving precision.
Drawings
For a clearer description of the technical solutions of the present invention, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are one embodiment of the present invention, and that, without inventive effort, other drawings can be obtained by those skilled in the art from these drawings:
FIG. 1 is a flow chart of a method for detecting and identifying a moving object electrostatic field according to the present invention;
FIG. 2 is a schematic diagram showing the distribution of electrostatic sensors according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of filtering an electric field strength component signal based on a relative velocity between a target and a detector in an embodiment of the present invention;
FIG. 4 is a flow chart of low frequency suppression signal compensation for an electric field strength component signal in an embodiment of the invention;
FIG. 5 is a schematic diagram of calculating a target azimuth in an embodiment of the present invention;
In the figure, 1, an FIR filter, 2, an FIR filter, 3 and a smoothing filter.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application, the terms "first," "second," "third," etc. are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
The invention provides a method for detecting and identifying a moving target electrostatic field, which is shown in figure 1 and comprises the following steps:
s1, generating corresponding electrostatic sensor signals by an electrostatic sensor of a detector based on a detected moving target, and carrying out digital filtering and signal extraction on the electrostatic sensor signals to obtain second digital quantity electrostatic sensor signals of a plurality of channels;
Step S1 comprises:
S11, detecting an electrostatic signal carried by a moving target, generating an electrostatic sensor signal corresponding to the electrostatic signal, wherein the electrostatic sensor signal is generated by an electrostatic sensor on a detector and is an Analog quantity signal, amplifying the electrostatic sensor signal through an Analog amplifier circuit, and converting the amplified electrostatic sensor signal into a corresponding first digital quantity electrostatic sensor signal through an Analog-to-Digital Converter Analog-to-digital converter (ADC).
S12, filtering out the band-pass external interference signal in the first digital quantity electrostatic sensor signal through a low-pass filter.
And S13, extracting the filtered first digital quantity electrostatic sensor signals to obtain second digital quantity electrostatic sensor signals of a plurality of channels. In this embodiment, as shown in fig. 2, second digital quantity electrostatic sensor signals of the first to eighth channels are acquired through annular first electrostatic sensors and second electrostatic sensors, the second digital quantity electrostatic sensor signals of the first to eighth channels are respectively recorded as D11, D12, D13, D14, D21, D22, D23 and D24, a central axis of the first electrostatic sensor is parallel to an X axis of a detector coordinate system, a central axis of the second electrostatic sensor is parallel to a Y axis of the detector coordinate system, the first electrostatic sensor is uniformly divided into four sequentially distributed sections along a circumferential direction of the first electrostatic sensor, the D11, D12, D13 and D14 respectively correspond to the four sections, and the second electrostatic sensor is uniformly divided into four sequentially distributed sections along the circumferential direction of the second electrostatic sensor, and the D21, D22, D23 and D24 respectively correspond to the four sections.
And S2, establishing a detector coordinate system by taking the detector as an origin, and calculating an electric field intensity component signal of the target in the X, Y, Z axis direction of the detector coordinate system based on the second digital quantity electrostatic sensor signals of the channels.
In the present embodiment, the electric field intensity component signals in the respective directions are calculated based on the second digital-quantity electrostatic sensor signals of the first to eighth channels.
In an ideal uniform atmosphere environment, the calculation formula of the target electric field vector E is as follows:
r is the distance between the observation point and the target, sigma is the charge density of the target at the observation point, r n is the unit vector of the normal direction at the observation point, epsilon 0 is the vacuum dielectric constant, epsilon is the relative dielectric constant of the medium around the target, and L is the maximum size of the target.
Assuming that the point target moves parallel to the Ox axis of the detector coordinate system, the origin of the detector coordinate system is taken as time t=0, the modulus of the electric field vector of the target and its constituent parts can be expressed as:
Where Vo is the relative velocity between the target and the detector, h is the closest distance between the target and the detector, For the azimuth angle of the target, q is the charge amount of the target.
Let Ex, mey, and mez be electric field intensity component signals in X, Y, Z axis directions, respectively, and the electrostatic sensor signal (voltage signal) generated by the electrostatic sensor is in proportional relation with the electric field intensity signal (composed of Ex, mey, and mez) of the target, therefore, the calculation formulas of Ex, mey, and mez are respectively:
Еy=(D11-D13+D21-D23)/2;
Еz=(D12-D14+D22-D24)/2;
Ex=D11+D12+D13+D14-(D21+D22+D23+D24)。
and S3, respectively carrying out digital filtering on the electric field intensity component signals through a filter corresponding to the relative speed based on the relative speed of the detector and the target.
As shown in FIG. 3, let V be the relative speed of the detector and the target, when V > t1, the electric field intensity component signal in the X, Y, Z axis direction is not filtered, when t2< V≤t1, the electric field intensity component signal in the X, Y, Z axis direction is filtered by the first filter 1, as shown in FIG. 5, the cutoff frequency of the first filter 1 is f1, when V≤t2, the electric field intensity component signal in the X, Y, Z axis direction is filtered by the second filter 2, and the cutoff frequency of the second filter 2 is f2. Wherein t1 and t2 are set speed values. In this embodiment, the first filter 1 and the second filter 2 are FIR filters.
S4, compensating the low-frequency suppression signal for the digitally filtered electric field strength component signal;
as shown in fig. 4, step S4 includes:
S41, filtering Ei by a smoothing filter 4 (also a low-pass filter) with a coefficient of 1, where ei=ex, ey, ez;
s42, calculating Ei 'and Ei' as compensation values of Ei based on the relative speed V of the detector and the target;
when V > t1, ei' =floor (Ei/2 10);
when t2< V is less than or equal to t1, ei' =floor (Ei/2 9);
When V is less than or equal to t2, ei' =floor (Ei/2 8);
Floor (·) represents a downward rounding operation, and Ei is updated by E' i+Ei, so that compensation of low-frequency suppression signals on Ei is realized.
S5, smoothing the electric field intensity component signal after signal compensation based on time;
Optionally, step S5 includes:
S51, calculating
Wherein t represents time, ei ' (t) =EX ' (t), EY ' (t), EZ ' (t), and EX ' (t), EY ' (t), EZ ' (t) represent electric field intensity component signals in X, Y, Z axis directions after smoothing at the same time;
s52, updating Ei (t) with Ei '' (t).
S6, calculating the azimuth angle of the target based on the electric field intensity component signal subjected to the smoothing processing in the step S5.
As shown in figure 5 of the drawings,The angle between the projection of the target on the Y-Z plane of the detector coordinate system and the positive direction of the Y axis is the angle between the projection of the target on the X-Y plane of the detector coordinate system and the positive direction of the X axis.
The invention processes and calculates based on the multichannel second digital quantity electrostatic sensor signal, and has strong anti-interference capability. The invention obtains the electric field intensity signal of the target through equivalent calculation of the electrostatic sensor signal, thereby calculating and obtaining the target azimuth information. The invention also adopts a self-adaptive filtering processing method, and digital filtering is carried out on the electric field intensity component signal based on a filter corresponding to the relative speed (the relative speed between the moving target and the detector), so that the accuracy of the system in calculating the target azimuth is improved. The invention also compensates the low-frequency suppression signal for the electric field intensity component signal, reduces the deviation caused by the electrostatic sensor signal in the amplifying process, and improves the target azimuth resolving precision.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (6)
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| CN101924973A (en) * | 2009-06-12 | 2010-12-22 | 索尼公司 | Signal processing device and signal processing method |
| CN103105504A (en) * | 2012-12-12 | 2013-05-15 | 北京航空工程技术研究中心 | Target direction measuring and speed measuring method based on orthogonal static detection arrays |
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| JP4615287B2 (en) * | 2004-11-01 | 2011-01-19 | 東京計器株式会社 | Azimuth and orientation detection device |
| CN105203979A (en) * | 2015-09-08 | 2015-12-30 | 江苏绿扬电子仪器集团有限公司 | Electrostatic direction finding system |
| CN110440793A (en) * | 2019-06-14 | 2019-11-12 | 上海航天控制技术研究所 | A kind of target motion information estimation method based on target seeker metrical information |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101924973A (en) * | 2009-06-12 | 2010-12-22 | 索尼公司 | Signal processing device and signal processing method |
| CN103105504A (en) * | 2012-12-12 | 2013-05-15 | 北京航空工程技术研究中心 | Target direction measuring and speed measuring method based on orthogonal static detection arrays |
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