Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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Adaptive CFAR implementation of UWB radar for collision avoidance in swarm drones of time-varying velocities

군집 비행 드론의 충돌 방지를 위한 UWB 레이다의 속도 감응형 CFAR 최적화 연구

  • Lee, Sae-Mi (Department of Electronic and Information Engineering, Korea aerospace university) ;
  • Moon, Min-Jeong (Department of Electronic and Information Engineering, Korea aerospace university) ;
  • Chun, Hyung-Il (Department of Electronic and Information Engineering, Korea aerospace university) ;
  • Lee, Woo-Kyung (Department of Electronic and Information Engineering, Korea aerospace university)
  • Received : 2020.12.15
  • Accepted : 2021.01.18
  • Published : 2021.03.31
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Abstract

In this paper, Ultra Wide-Band(UWB) radar sensor is employed to detect flying drones and avoid collision in dense clutter environments. UWB signal is preferred when high resolution range measurement is required for moving targets. However, the time varying motion of flying drones may increase clutter noises in return signals and deteriorates the target detection performance, which lead to the performance degradation of anti-collision radars. We adopt a dynamic clutter suppression algorithm to estimate the time-varying distances to the moving drones with enhanced accuracy. A modified Constant False Alarm Rate(CFAR) is developed using an adaptive filter algorithm to suppress clutter while the false detection performance is well maintained. For this purpose, a velocity dependent CFAR algorithm is implemented to eliminate the clutter noise against dynamic target motions. Experiments are performed against flying drones having arbitrary trajectories to verify the performance improvement.

본 연구에서는 군집 드론 시스템에서 이동 드론의 충돌방지를 위해 레이다를 도입하였다. 드론은 비행 중 불규칙한 속도 변화로 인해 반사파의 클러터가 증가되어 탐지 성능이 저하되고 이로 인해 충돌 방지 레이다의 성능에 영향을 준다. 본 논문에서는 UWB(Ultra Wide-Band) 레이다를 적용하여 비행하는 드론을 탐지하고, 반사파 신호 분석을 통해 획득한 거리 및 속도 정보의 정확도를 개선하는 방안을 제시한다. 이동 드론의 속도 변화에 따른 속도 감응형 CFAR(Constant False Alarm Rate)를 구현하여 오경보율을 일정하게 유지하면서 클러터를 효과적으로 제거하는 방안을 구현한다. 알고리즘의 검증을 위해 실제 상용 드론에 대한 레이다 관측 실험을 수행하고 불규칙하게 비행하는 드론의 탐지 성능이 개선됨을 보인다.

Keywords

References

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