摘要
为验证无人装备的电磁环境适应性问题,在GTEM室中用连续波对无人车系统及其传感器组件进行了电磁辐照试验。发现无人车系统整体敏感频率为150 MHz、200 MHz和250 MHz,无人车系统对200 MHz的连续波干扰最敏感,到靶场强24.9 V/m时会发生碰撞。同时给出了敏感频率下传感器的故障场强阈值。被试无人车系统工作日志和传感器数据的分析表明,受电磁干扰影响,无人车系统感知模块会出现激光雷达数据异常、毫米波雷达死机、摄像头传输线缆连接中断等现象,最终造成无人车构建地图异常、异常停止、碰撞等故障。该文为无人装备的电磁防护设计提供了参考,有助于我国智能装备在复杂电磁环境下的安全性研究。
In order to verify the electromagnetic environment adaptability of unmanned equipment,electromagnetic radiation tests were conducted on the unmanned vehicle system and its sensor components with continuous wave in the GTEM room.It is found that the overall sensitive frequencies of the unmanned vehicle system are 150 MHz,200 MHz and 250 MHz.The unmanned vehicle system is most sensitive to the continuous wave interference of 200 MHz,and will crash when the reaching target field strength is 24.9 V/m.At the same time,the threshold of sensor fault field strength under sensitive frequency is given.The analysis of the working log and sensor data of the tested unmanned vehicle system shows that,under the influence of electromagnetic interference,the sensing module of the unmanned vehicle system will have the phenomena of abnormal laser radar data,millimeter wave radar crash,camera transmission cable connection interruption,etc.,which will eventually cause the unmanned vehicle construction map to be abnormal,abnormal stop,collision and other failures.This paper provides a reference for the electromagnetic protection design of unmanned equipment,and is helpful to the safety research of intelligent equipment in complex electromagnetic environment in China.
作者
张永强
沈月健
刘尚合
马贵蕾
满梦华
Zhang Yongqiang;Shen Yuejian;Liu Shanghe;Ma Guilei;Man Menghua
基金
国防科技工业局国防基础科研计划(JCKYS2020DC202)
河北省自然科学基金(F2022208002)
河北省高等学校科学技术研究重点项目(ZD2021048)。
关键词
无人车系统
GTEM室
电磁辐照
连续波
unmanned vehicle system
GTEM room
electromagnetic radiation
continuous wave
