An innovative millimeter-level positioning method for multiple millimeter wave radar network in tunnel environment
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-preci-sion positioning research for tunnel monitoring points.An innovative millimeter-level positioning method for tunnel environ-ment 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 tra-ditional ranging radars can only obtain one-dimensional radial deformation,multiple millimeter radars network method is intro-duced.Further,a functional model for multi machine network positioning is established.In addition,a random model is pro-posed 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 direc-tion 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 moni-toring point real-time positioning in tunnel environment for all time,high accuracy,and long periods.Furthermore,it is ex-pected to be applied in industrial structure deformation monitoring.
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