隧道环境下毫米波雷达多机联合毫米级定位方法  

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

作　　者：赵胤植 邹进贵[1,2] 张小溪 王泽 王鑫哲 ZHAO Yinzhi;ZOU Jingui;ZHANG Xiaoxi;WANG Ze;WANG Xinzhe(School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China;Research Center for Intelligent Monitoring,School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China;China Railway Siyuan Survey and Design Group Co.,Ltd.,Wuhan 430063,China)

机构地区：[1]武汉大学测绘学院,湖北武汉430079 [2]武汉大学测绘学院智能监测研究中心,湖北武汉430079 [3]中铁第四勘察设计院集团有限公司,湖北武汉430063

出　　处：《测绘学报》2024年第9期1679-1693,共15页Acta Geodaetica et Cartographica Sinica

基　　金：湖北省自然科学基金计划青年项目(2024AFB166);国家自然科学基金(41871373);武汉大学地球空间环境与大地测量教育部重点实验室开放基金(21-02-06)。

摘　　要：随着安全监测智能化时代的到来,隧道环境下监测点定位测量相关研究逐渐向全天候和全天时等方向发展。针对隧道监测点定位时存在实时性较差且测量周期长等问题,同时易受灰尘和照明等因素影响,本文引入具有较高距离与速度分辨率的毫米波雷达开展隧道监测点高精度定位研究,提出一种基于多台毫米波雷达联合测距的定位方法。首先,在快速傅里叶变换提取测距信息的基础上,提出采用线性调频Z变换细化频谱并结合相位差对测距值进行精化,保障测距精度稳定在毫米级;然后,针对传统测距雷达仅能获取一维径向形变的弊端,采用多台毫米波雷达同步观测,建立多机联合定位函数模型,构建了一种顾及单次观测雷达脉冲测量精度差异和先验距离的随机模型;最后,通过隧道试验验证了测距与定位算法精度。结果表明,在无其他干扰的情况下,本文提出的基于线性调频Z变换的相位差法测距精度能达到0.3 mm,算法计算效率较已有方法提高50倍。待测目标稳定的情况下,本文多机联合定位方法X方向精度为2.7 mm,Y方向为0.6 mm,受隧道高度的影响,Z方向精度略低,为6.6 mm。待测目标微动的情况下,该方法能准确探测微小形变,满足监测点全天候、全天时、高精度的实时定位测量需求,并有望在工业结构变形监测中得到应用。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 thi

关 键 词：隧道环境 毫米波雷达 毫米级定位 结构变形监测 线性调频Z变换 

分 类 号：P258[天文地球—测绘科学与技术]