Research On The Method Of Environmental Perception And Scene Reconstruction Based On Millimeter Wave Radar

With the development of artificial intelligence and the advent of 5G networks,while greatly enhancing the transmission rate of communication,reducing the transmission delay of communication,and improving the accuracy of transmission,related derivative industries have also developed vigorously.one of them.When talking about unmanned driving,one has to mention a key part of unmanned driving,namely radar.For the current stage,the use of unmanned radar is mostly based on the use of lidar,so that even millimeter wave radar sensors,lidar sensors and video collectors are used in combination.However,considering the practical cost and the driving environment of the car,it has led to a deeper application of millimeter wave radar in unmanned driving.Millimeter-wave radar is cheap to build,has accurate target positioning,and is not easily affected by the environment,making it a place in unmanned driving.However,due to the characteristics of the electromagnetic wave beam,compared with lidar,his shortcomings are also obvious.In view of the above shortcomings,this article intends to analyze the working principle of millimeter-wave radar speed measurement,angle measurement,ranging and radar cross-sectional area,and understand the resolution,accuracy error and false alarm of radar measurement from the bottom.For specific experimental scenarios and specific experimental data,the target data is filtered by methods such as target motion characteristics,radar scattering cross-sectional area,and sliding window detection to reduce the false alarm rate.In order to further tap the potential of millimeter wave radar and compare the advantages and disadvantages of millimeter wave radar and lidar,this paper further studies the direction of millimeter wave radar used in scene reconstruction.First of all,I still start with the most basic principles of scene reconstruction,and analyze its working methods: then compare the principles of several classic scene reconstruction methods that are widely used now,and analyze specific experimental data and thoughts of imaging;finally According to the an alysis results and experimental conditions,determine the experimental method used in this article.By using Hector-slam in two scenes(closed and open scenes),the millimeter wave radar is mapped and analyzed,and the test results are compared.In order to be able to more accurately analyze the application of millimeter wave radar in scene reconstruction,two specific scenes were used for field data collection and mapping analysis.Through the mapping results in the closed area and the open scene,combined with the previous simulation results,the application of millimeter wave radar in scene reconstruction is summarized.