A high performance waveform and a new ranging method for the proximity detector

Signal modulation is an essential design factor for proximity detectors and directly affects the system’s potential performance. In order to achieve the advantages of chaotic codes bi-phase modulation (CCBPM) and linear frequency modulation (LFM) simultaneously, this paper designed a waveform which combined chaotic codes bi-phase modulation and linear frequency modulation (CCBPM–LFM) for proximity detectors. The CCBPM–LFM waveform was analyzed in the aspect of time delay resolution (TDR) and Doppler tolerance (DT) based on ambiguity function (AF). Then, a ranging method, which we called instant correlation harmonic demodulation (ICHD), was presented for the detector using the CCBPM–LFM waveform. By combining time domain instant correlation with harmonic demodulation, the ICHD solved the problem caused by combination modulation and made the most of the linear frequency modulation (LFM) harmonics and the correlation of chaotic codes. Finally, a prototype was implemented and ranging experiments were carried out. From the theoretical analysis and experimental results, the proximity detector used the CCBPM–LFM waveform has an outstanding detection performance.     

无人机保距跟踪中的视觉跟踪算法研究

针对固定翼无人机对地面目标进行保距跟踪过程中不能稳定获取目标图像的问题,设计了一种提高视觉目标跟踪稳定性的算法。该算法基于核相关滤波算法,提出了线性旋转子空间的概念,用于估计平面外旋转后的目标图像,在跟踪的过程中通过跟踪效果判断是否对线性旋转子空间进行校正。这种更新机制提高了在相对位置不断变化的情况下视觉跟踪的稳定性和准确性,有效地降低了跟踪漂移的程度。算法在无人机跟踪视角的视觉跟踪数据集中进行了测试,结果显示在跟踪的准确性和鲁棒性上明显好于当前主流跟踪算法。并使用固定翼无人机进行了实机飞行,验证了算法的可行性。