CN111665509A - Intelligent collision-prevention radar - Google Patents
Intelligent collision-prevention radar Download PDFInfo
- Publication number
- CN111665509A CN111665509A CN202010551730.6A CN202010551730A CN111665509A CN 111665509 A CN111665509 A CN 111665509A CN 202010551730 A CN202010551730 A CN 202010551730A CN 111665509 A CN111665509 A CN 111665509A
- Authority
- CN
- China
- Prior art keywords
- radar
- module
- navigation
- platform
- intelligent
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012545 processing Methods 0.000 claims abstract description 49
- 230000003068 static effect Effects 0.000 claims abstract description 9
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 238000007781 pre-processing Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 14
- 230000000694 effects Effects 0.000 abstract description 3
- 230000002265 prevention Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 4
- 230000001629 suppression Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000002592 echocardiography Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000013179 statistical model Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention is applicable to the technical field of radar systems for ships, and provides an intelligent anti-collision radar, which comprises a radar transceiver, an acquisition processing platform, an AIS module, a navigation module, a direction determination module, a network radar host, an acquisition processing platform, an intelligent navigation central control platform and a radar remote display platform, wherein the radar transceiver is used for actively transmitting microwave signals, and receives target echo signal, AIS module is used for transmitting and receiving ship static data, navigation module is used for providing ship positioning information, direction measuring module is used for providing direction reference information, collecting and processing platform and network radar host are used for converting and processing received information, and transmitting it to intelligent navigation central control platform or radar remote display platform for inquiry, therefore, by fusing various parameters, the detection precision is improved, the target information is enriched, and the collision prevention effect is better.
Description
Technical Field
The invention belongs to the technical field of radar systems for ships, and particularly relates to an intelligent collision avoidance radar.
Background
The radar is a core device for intelligent navigation obstacle avoidance, actively transmits microwave signals, receives and processes target echo signals to perform imaging, identification, tracking and early warning, and is a completely active detection means. Compared with photoelectric camera systems such as visible light, laser, infrared and the like, although radar imaging is relatively abstract and lacks target details, the radar has the outstanding advantages of long distance, all weather, all direction and multiple targets. The action distance of the radar can be as high as 40-50km or even longer, and depends on the radar sight distance determined by the installation height; meanwhile, the X-band microwave signals are less affected by rain, fog and haze; 360-degree panoramic high-speed scanning far exceeds the rotating speed of a tripod head of the camera. Compared with the AIS system of the automatic ship collision avoidance instrument, radar autonomously detects the target independent of the working condition of the AIS system of the target, and is a more dangerous target especially for the activities of some intentionally closed illegal and illegal ships
In the development direction of the intelligent ship, collision avoidance and route planning are very critical components, and the radar plays a very critical role in the two functions; the radar in the current market can not meet the requirements on speed, course and stability, so that the data of the radar can not be used for collision avoidance and route planning.
Disclosure of Invention
The invention provides an intelligent collision avoidance radar, aiming at solving the problem of providing an intelligent collision avoidance radar which directly meets the collision avoidance requirement.
The intelligent collision avoidance radar comprises a radar transceiver, an acquisition and processing platform, an AIS module, a navigation module, a direction determination module, a network radar host, an acquisition and processing platform, an intelligent navigation central control platform and a radar remote display platform;
the radar transceiver is used for actively transmitting microwave signals and receiving target echo signals;
the AIS module is used for transmitting and receiving ship static data;
the navigation module is used for providing positioning information of the ship;
the direction measuring module is used for providing direction reference information;
the network radar host is in signal connection with the radar transceiver, the acquisition and processing platform, the AIS module, the navigation module and the direction measuring module;
the acquisition processing platform is in signal connection with the network radar host, and is used for receiving and processing target echo signals, positioning information and direction reference information;
and the intelligent navigation central control platform and the radar remote display module are connected with the acquisition and processing platform through the Internet.
Preferably, the acquisition and processing platform comprises an analog-to-digital conversion module, a signal preprocessing module and a GPU processor, wherein the input end of the analog-to-digital conversion module is connected with the network radar host, the output end of the analog-to-digital conversion module is connected with the input end of the signal processing module, the output end of the signal processing module is connected with the input end of the GPU processor, and the GPU processor is connected with the internet.
Preferably, the navigation module adopts one or more of a GPS navigation module and a BDS navigation module.
Preferably, the direction determination module adopts compass.
Preferably, the network radar host is further connected with a display, and the display is used for displaying the target echo signal, the ship static data, the positioning information and the direction reference information.
Compared with the prior art, the invention has the beneficial effects that: according to the intelligent collision avoidance radar, the radar transceiver, the acquisition processing platform, the AIS module, the navigation module, the direction determination module, the network radar host, the acquisition processing platform, the intelligent navigation central control platform and the radar remote display platform are arranged, the radar transceiver is used for actively transmitting microwave signals and receiving target echo signals, the AIS module is used for transmitting and receiving ship static data, the navigation module is used for providing positioning information of a ship, and the direction determination module is used for providing direction reference information, so that the detection precision is improved, the target information is enriched and the collision avoidance effect is better by fusing various parameters.
Drawings
Fig. 1 is a schematic diagram of the system principle of the intelligent collision avoidance radar of the present invention.
Fig. 2 is a schematic diagram of the system principle of the acquisition processing platform of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the present invention provides a technical solution: the intelligent collision avoidance radar comprises a radar transceiver, a collection processing platform, an AIS module, a navigation module, a direction measuring module, a network radar host, a collection processing platform, an intelligent navigation central control platform and a radar remote display platform.
The radar transceiver is used for actively transmitting microwave signals and receiving target echo signals. The echo signals received by the radar transceiver not only contain the echo signals of the targets, but also contain various dynamic clutter from the sea surface, so that the detectability of the targets on the sea surface is severely restricted, particularly the influence of the sea clutter, and the inhibition of the sea clutter is a key and difficult technology for improving the detection performance of the targets on the sea surface. The sea clutter is the most complex clutter in radar echoes, is not only related to sea surface environments such as weather, wind speed and sea conditions, but also is influenced by working states such as an incident angle, a transmitting frequency, a resolution ratio and polarization of the radar.
The AIS module is used for transmitting and receiving ship static data. The navigation module is used for providing positioning information of the ship. The navigation module adopts one or more of a GPS navigation module and a BDS navigation module. The direction measuring module is used for providing direction reference information. The direction determination module adopts compass.
The network radar host is in signal connection with the radar transceiver, the acquisition processing platform, the AIS module, the navigation module and the direction measuring module. The network radar host is also connected with a display and a keyboard, and the display is used for displaying target echo signals, ship static data, positioning information and direction reference information. The display and the keyboard jointly form a human-computer interaction module. And the radar transceiver, the acquisition and processing platform, the AIS module, the navigation module, the direction measuring module and the network radar host provide power sources through a system power supply.
Referring to fig. 2, the collecting and processing platform is in signal connection with the network radar host, and the collecting and processing platform is used for receiving and processing the target echo signal, the positioning information, and the direction reference information. The acquisition processing platform comprises an analog-to-digital conversion module, a signal preprocessing module and a GPU (graphics processing unit) processor, wherein the input end of the analog-to-digital conversion module is connected with the network radar host, the output end of the analog-to-digital conversion module is connected with the input end of the signal processing module, the output end of the signal processing module is connected with the input end of the GPU processor, and the GPU processor is connected with the Internet. The GPU processor is an AI processor and is connected with the network radar host through a high-speed USB interface, so that the network radar host can send data into the GPU processor.
The signal preprocessing module adopts a multi-model selection sea clutter suppression algorithm, so that the sea clutter can be effectively suppressed, and the target detection capability, particularly the small target detection capability, is improved. The multi-model selection sea clutter suppression algorithm is a radar sea clutter self-adaptive suppression method based on mathematical statistics theory. Firstly, according to an established sea clutter model, the model comprises four types of models of Rayleigh distribution, logarithmic distribution, Weibull distribution and K distribution, and the probability density distribution curve of each model distribution is obtained by utilizing the parameter characteristics of each model in a radar multi-scanning echo data statistical model base; then, comparing with a distribution curve of radar echoes, and selecting a sea clutter model which is optimally matched with the distribution curve; and the echo signals are cancelled by using the optimally matched sea clutter model, so that the aim of suppressing the interference of the sea clutter is fulfilled.
The device comprises a radar transceiver, an acquisition and processing platform, an AIS module, a navigation module and a direction measuring module.
And the intelligent navigation central control platform and the radar remote display module are connected with the acquisition and processing platform through the Internet. The acquisition processing platform transmits the processed information to the intelligent navigation central control platform or the radar remote display module through an external network interface of the Ethernet. The acquisition processing platform and the network radar host are used for converting and processing the received information and transmitting the information to the intelligent navigation central control platform or the radar remote display platform for inquiry.
The AI processor can realize the functions of radar target identification, track association, track tracking and the like, and the radar target simultaneously tracks moving and fixed targets to obtain basic track parameters such as target numbers, positions, navigational speeds, headings and the like. The target tracking adopts MHT technology, and the target tracking capability under clutter interference is improved. The data association algorithm is one of the key technologies of target tracking processing, and particularly the data association technology in a clutter environment is a research hotspot. The target tracking capability under high clutter conditions can be improved by using Multiple Hypotheses (MHT).
MHT is an association delay decision algorithm proposed by d.b.reid, and is considered as an optimal algorithm for solving data association in a clutter environment. To simplify the processing, a method called MHT optimization based on pre-detection tracking Technique (TBD) and heading stability is employed.
In the traditional tracking method, point track information of a target is obtained on the basis of threshold detection, and then a tracking algorithm such as Kalman filtering is utilized to obtain track information of the target, which is tracking after detection. The TBD algorithm directly processes the data, and the target track information is obtained while the target is reliably detected. Due to the fact that useful information in the observation data is fully utilized, target detection and tracking performance under the condition of low signal-to-noise ratio can be improved. MHT is another algorithm for data association. The basic idea is as follows: unlike the JPDA, the MHT algorithm retains all assumptions of the true target and lets it pass on, removing the uncertainty of the current scan cycle from subsequent observations. Under ideal conditions, MHT is the optimal algorithm for handling data association, which can detect the termination of an object and the generation of a new object.
In addition, the radar is an active detection sensor, and can detect a data panorama within a coverage area, but has the problems of small data amount, low precision, a measurement blind area, easy occurrence of errors and omissions, and the like. The AIS is a passive sensor, can only detect ships with AIS equipment, and has the characteristics of high precision and rich data types. Therefore, the radar and the AIS are fused, and the detection reliability can be greatly improved. The radar actively detects and the AIS passively detects, so that not only can the target missed by the radar be made up, but also the target under the condition that the AIS is lost or closed can be supplemented. In addition, the fusion also improves the detection precision, enriches the target information, improves the refreshing frequency of the data and improves the real-time property of the data. The measurement methods of the radar target and the AIS target are different, the accuracy is different, and the measurement time is asynchronous, so that the radar target and the AIS target need to be fused through several steps of time synchronization (alignment), track association and track fusion.
The intelligent collision avoidance radar of the invention firstly transmits microwave signals through a radar transceiver actively and receives target echo signals, meanwhile, an AIS module receives ship static data, a navigation module provides ship positioning information, a direction determination module provides direction reference information and transmits the information to an acquisition processing platform through a network radar host, the acquisition processing platform performs data conversion and processing, and finally, all detection information data transmit the processed information to an intelligent navigation central control platform or a radar remote display module through an Ethernet external network interface, thereby facilitating the inquiry of ship workers and carrying out collision avoidance operation according to the obtained information.
The multi-sensor target fusion tracking of radar, photoelectric and AIS is realized, and the intelligent collision prevention scheme is more reliable and safer. The method has enough hardware processing capacity and system processing algorithm for a platform required by association, tracking and fusion of target tracks of small radar targets and high clutter backgrounds.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. Intelligence collision avoidance radar, it is applied to on boats and ships, its characterized in that: the intelligent navigation system comprises a radar transceiver, an acquisition and processing platform, an AIS module, a navigation module, a direction measuring module, a network radar host, an acquisition and processing platform, an intelligent navigation central control platform and a radar remote display platform;
the radar transceiver is used for actively transmitting microwave signals and receiving target echo signals;
the AIS module is used for transmitting and receiving ship static data;
the navigation module is used for providing positioning information of the ship;
the direction measuring module is used for providing direction reference information;
the network radar host is in signal connection with the radar transceiver, the acquisition and processing platform, the AIS module, the navigation module and the direction measuring module;
the acquisition processing platform is in signal connection with the network radar host, and is used for receiving and processing target echo signals, positioning information and direction reference information;
and the intelligent navigation central control platform and the radar remote display module are connected with the acquisition and processing platform through the Internet.
2. The intelligent collision avoidance radar of claim 1, wherein: the acquisition processing platform comprises an analog-to-digital conversion module, a signal preprocessing module and a GPU (graphics processing unit) processor, wherein the input end of the analog-to-digital conversion module is connected with the network radar host, the output end of the analog-to-digital conversion module is connected with the input end of the signal processing module, the output end of the signal processing module is connected with the input end of the GPU processor, and the GPU processor is connected with the Internet.
3. The intelligent collision avoidance radar of claim 1, wherein: the navigation module adopts one or more of a GPS navigation module and a BDS navigation module.
4. The intelligent collision avoidance radar of claim 1, wherein: the direction determination module adopts compass.
5. The intelligent collision avoidance radar of claim 1, wherein: the network radar host is also connected with a display, and the display is used for displaying the target echo signal, the ship static data, the positioning information and the direction reference information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010551730.6A CN111665509A (en) | 2020-06-17 | 2020-06-17 | Intelligent collision-prevention radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010551730.6A CN111665509A (en) | 2020-06-17 | 2020-06-17 | Intelligent collision-prevention radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111665509A true CN111665509A (en) | 2020-09-15 |
Family
ID=72387900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010551730.6A Pending CN111665509A (en) | 2020-06-17 | 2020-06-17 | Intelligent collision-prevention radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111665509A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112748405A (en) * | 2020-12-22 | 2021-05-04 | 联通(浙江)产业互联网有限公司 | Radar signal acquisition terminal, method and system |
| CN113534060A (en) * | 2021-08-23 | 2021-10-22 | 无锡海工智能科技有限公司 | Active phased array radar for ship |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201063059Y (en) * | 2007-06-08 | 2008-05-21 | 集美大学 | Intelligent collision-preventing navigator for ship |
| US7817079B1 (en) * | 2008-04-17 | 2010-10-19 | The United States Of America As Represented By The Secretary Of The Navy | System and method for collection of global AIS and radar track information |
| JP2011085448A (en) * | 2009-10-14 | 2011-04-28 | Furuno Electric Co Ltd | Navigation support system |
| CN102176000A (en) * | 2011-01-27 | 2011-09-07 | 电子科技大学 | Sea clutter suppression method for marine radar |
| US20110260908A1 (en) * | 2008-12-10 | 2011-10-27 | Qinetiq Limited | Method for mitigating the effects of clutter and interference on a radar system |
| CN104215944A (en) * | 2014-09-22 | 2014-12-17 | 南京信息工程大学 | Radar sea clutter adaptive inhibition processing method based on parameter selection |
| CN104749560A (en) * | 2015-04-20 | 2015-07-01 | 南京信息工程大学 | Digital signal processor and digital signal processing method for ship-navigation radar |
| US20190101622A1 (en) * | 2017-09-29 | 2019-04-04 | The Boeing Company | Radar system for mobile platform and method of use |
-
2020
- 2020-06-17 CN CN202010551730.6A patent/CN111665509A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201063059Y (en) * | 2007-06-08 | 2008-05-21 | 集美大学 | Intelligent collision-preventing navigator for ship |
| US7817079B1 (en) * | 2008-04-17 | 2010-10-19 | The United States Of America As Represented By The Secretary Of The Navy | System and method for collection of global AIS and radar track information |
| US20110260908A1 (en) * | 2008-12-10 | 2011-10-27 | Qinetiq Limited | Method for mitigating the effects of clutter and interference on a radar system |
| JP2011085448A (en) * | 2009-10-14 | 2011-04-28 | Furuno Electric Co Ltd | Navigation support system |
| CN102176000A (en) * | 2011-01-27 | 2011-09-07 | 电子科技大学 | Sea clutter suppression method for marine radar |
| CN104215944A (en) * | 2014-09-22 | 2014-12-17 | 南京信息工程大学 | Radar sea clutter adaptive inhibition processing method based on parameter selection |
| CN104749560A (en) * | 2015-04-20 | 2015-07-01 | 南京信息工程大学 | Digital signal processor and digital signal processing method for ship-navigation radar |
| US20190101622A1 (en) * | 2017-09-29 | 2019-04-04 | The Boeing Company | Radar system for mobile platform and method of use |
Non-Patent Citations (2)
| Title |
|---|
| 彭祥龙: "船用导航雷达的技术发展及最新应用", 《电讯技术》 * |
| 牛炯 等: "高频地波雷达实时信号并行处理方案及实现", 《中国海洋大学学报（自然科学版）》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112748405A (en) * | 2020-12-22 | 2021-05-04 | 联通(浙江)产业互联网有限公司 | Radar signal acquisition terminal, method and system |
| CN113534060A (en) * | 2021-08-23 | 2021-10-22 | 无锡海工智能科技有限公司 | Active phased array radar for ship |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110850403B (en) | Multi-sensor decision-level fused intelligent ship water surface target feeling knowledge identification method | |
| CN110414396B (en) | Unmanned ship perception fusion algorithm based on deep learning | |
| CN105572664A (en) | Networking navigation radar target tracking system based on data fusion | |
| CN106405540A (en) | Radar and photoelectric device complementation-based detection and identification device and method | |
| CN110081982B (en) | Unmanned aerial vehicle target positioning method based on double-spectrum photoelectric search | |
| CN107576959B (en) | High repetition frequency radar target tracking method before detection based on area mapping deblurring | |
| CN110794396B (en) | Multi-target identification method and system based on laser radar and navigation radar | |
| CN111665509A (en) | Intelligent collision-prevention radar | |
| CN111123212A (en) | Signal processing method of scene surveillance radar based on complex clutter background | |
| CN205427184U (en) | Network deployment navigation radar target tracker based on data fusion | |
| Helgesen et al. | Sensor combinations in heterogeneous multi-sensor fusion for maritime target tracking | |
| Zhou et al. | Multiple-kernelized-correlation-filter-based track-before-detect algorithm for tracking weak and extended target in marine radar systems | |
| CN115480240A (en) | Multi-sensor cooperative detection method for small unmanned aerial vehicle | |
| CN106324592A (en) | Aiming and tracking device for guiding photoelectric device by radar and tracking method thereof | |
| CN103995257A (en) | Target detection method and device | |
| Huang et al. | A high-precision and robust odometry based on sparse MMW radar data and a large-range and long-distance radar positioning data set | |
| KR101968327B1 (en) | Apparatus and method for compensating distance of track | |
| JP2006200932A (en) | Radar signal processing system | |
| CN108181313B (en) | Device and method suitable for detecting safety state of contact net operation environment | |
| Qin et al. | Research on information fusion structure of radar and AIS | |
| KR102298950B1 (en) | synchronic positional tracking method using radar of multi unmanned aerial vehicles | |
| CN113790718A (en) | Unmanned ship-based information sharing system | |
| CN113091733A (en) | Real-time positioning device and method based on fusion of millimeter wave radar and IMU | |
| CN113050119A (en) | Judgment method suitable for interference of optical flash three-dimensional imaging radar | |
| CN111710192A (en) | Ship bridge collision accident early warning and recording method, device and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200915 |