飞行机器人传感器阵列信息处理技术研究

Signal Processing Arithmetic Research to Detect Angle Using Sensors Array on Aviate Robot

越来越多的应用任务要求机器人能高精度的测量目标相对机器人的位置信息。通过在飞行机器人上安装传感器阵列来感知环境信号,并运用阵列信号处理算法可实现高精度的目标方位角度估计。给出了MUSIC(Multi signal classification)算法应用在传感器阵列信号处理的原理和实现方法,利用一种改进的MUSIC算法使机器人的传感器阵列能在出现相干信号源或信号信噪比较低时也能完成对多个信号方向的精确估计,并仿真实现。

Many missions require robot to detect the precision angle of the target relative to body of itself. A way was proposed by fitting sensors array on aviate robot and then processing the signals to compute the DOA （direction of arrive）. The theory and carry out way of MUSIC （Multi Signal Classification） arithmetic processing the array signals were written. Also, the arithmetic was improved to adapt the situations when the signals were interrelated or the SNRs of signals were low effectively through simulation.