An innovative millimeter-level positioning method for multiple millimeter wave radar network in tunnel environment

doi:10.11947/j.AGCS.2024.20230352

Abstract

Abstract:

With the arrival of the intelligent safety monitoring era, research on monitoring point positioning measurement in tunnels and mines is gradually developing towards all-time and all-weather aspects. In response to the problems of poor real-time performance and long measurement period in tunnel monitoring point positioning, as well as susceptibility to factors such as dust and lighting, this paper introduces millimeter wave radar with high distance and speed resolution to conduct high-precision positioning research for tunnel monitoring points. An innovative millimeter-level positioning method for tunnel environment based on multiple millimeter wave radars network is proposed. Firstly, based on the traditional fast Fourier transform to extract ranging information, a method is proposed to refine the frequency spectrum using chirp-Z transform. This method can optimize the ranging observations and ensure ranging accuracy at the millimeter level. Secondly, due to the drawback that traditional ranging radars can only obtain one-dimensional radial deformation, multiple millimeter radars network method is introduced. Further, a functional model for multi machine network positioning is established. In addition, a random model is proposed that takes into account the difference of each millimeter wave radar in radar pulse observation accuracy of each epoch and prior distance. Finally, the precision of ranging and positioning is verified through tunnel tests. The results show that, the phase difference method based on chirp-Z transform proposed in this manuscript can achieve ranging precision within 0.3 mm, and the computational efficiency of the algorithm is improved by 50 times compared to the existing method. When the target to be monitored is stable, the precision of X, Y and Z directions is 2.7 mm, 0.6 mm and 6.6 mm. However, the elevation direction precision is slightly lower due to the influence of tunnel height. In the case of micro movement of the target to be tested, this proposed method can detect small deformations. The method proposed in this manuscript meets the requirements of monitoring point real-time positioning in tunnel environment for all time, high accuracy, and long periods. Furthermore, it is expected to be applied in industrial structure deformation monitoring.

Key words: tunnel environment, millimeter-wave radar, millimeter-level positioning, structure deformation monitoring, chirp-Z transform

CLC Number:

P258

Yinzhi ZHAO, Jingui ZOU, Xiaoxi ZHANG, Ze WANG, Xinzhe WANG. An innovative millimeter-level positioning method for multiple millimeter wave radar network in tunnel environment[J]. Acta Geodaetica et Cartographica Sinica, 2024, 53(9): 1679-1693.

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组成	特征	属性
FMCW收发器	带宽	60 GHz~64 GHz的覆盖范围具有4 GHz的连续带宽
FMCW收发器	天线	3发4收 TX功率：12 dBm RX噪声系数：12 dB
内部存储器	内存	共1.75 MB 分为MSS程序RAM(512 KB)、 MSS数据RAM(192 KB)、 DSP L1RAM(64 KB)和L2RAM(256 KB) 以及L3雷达数据立方体RAM(768 KB)
其他	电源	I/O支持双电压3.3 V/1.8 V
其他	温度	结温范围为－40~105°C

算法	距离1	距离2	距离3	距离4
补零FFT法64N点	0.121	0.303	0.219	0.300
本文测距方法	0.127	0.296	0.205	0.276

算法	N=256	N=512
补零FFT法64N点	270 336	589 824
本文测距方法	5440	11 840

采样频率/MHz	采样128次/mm	采样256次/mm	采样512次/mm	采样1024次/mm
3.125	206.483	20.362	8.525	2.231
6.25	95.736	13.449	3.094	0.517
12.5	80.317	9.659	2.065	0.247

方向	已有定位方法	本文定位方法
X	5.43	2.73
Y	1.41	0.63
Z	19.60	6.57