| 李雁东,董 昱.基于雷达的铁路直轨环境检测方法研究[J].电子测量与仪器学报,2021,35(8):126-134 |
| 基于雷达的铁路直轨环境检测方法研究 |
| Research on environment detection method of railwaystraight track based on radar |
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| DOI： |
| 中文关键词: 列车环境感知 雷达物体检测 卡尔曼滤波 匈牙利算法 |
| 英文关键词:train environment perception object detection based on radar Kalman filtering Hungarian algorithm |
| 基金项目:国家自然科学基金（61763023）项目资助 |
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| 中文摘要: |
| 针对机器视觉检测实时性不足、视距较短、环境适应性差,无法满足铁路全天候多环境运行的需求等问题,提出基于微波
雷达的铁路直轨环境物体检测方法。 通过离线实验对雷达的测量特性进行标定,经数据处理得到雷达的误差校正函数。 综合铁
路安全限界标准、雷达测量参数、雷达横向测量误差,实时构建雷达坐标系下的限界区域,对误差校正后的物体进行限界内方侵限
判断,并对雷达检测范围内的动目标进行滤波跟踪。 实景测试结果表明,雷达检测性能好,实时性高,具有很好的环境适用性。 |
| 英文摘要: |
| In order to solve the problem that the real-time performance of machine vision detection is insufficient, the line of sight is
short, and the environmental adaptability is poor, which cannot meet the requirements of all-weather and multi environment operation of
railway, a method of object detection in railway direct rail environment based on microwave radar is proposed. Firstly, the measurement
characteristics of radar are calibrated by off-line experiment, and the error correction function of radar is obtained by data processing.
Then, the railway safety gauge standard, radar measurement parameters and radar lateral measurement error are integrated to construct
the gauge area under the radar coordinate system in real time, and the object after error correction is judged to be within the gauge. At
the same time, the moving targets in the radar detection range are filtered and tracked. The real test results show that the radar has good
detection performance, high real-time performance and good environmental applicability. |
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