Transmission line distance measurement with millimeter wave radar based on improved robust Kalman filter

Abstract In this paper, a millimeter wave radar ranging algorithm based on improved robust Kalman filter is proposed. In order to solve the problems of multi-point return of radar, unstable output and susceptible to environmental influences in the real-time monitoring of transmission line anti-mechanical collision line. Firstly, the effective target distance minimum extraction algorithm based on time domain is used to filter out the outliers. Next, the continuous output data is subjected to robust Kalman filter to realize data smoothing, so as to improve the anti-coarse interference capability of the system. Finally, static and dynamic experiments were conducted to simulate different mobile states of construction vehicles. The experimental results show that accuracy of distance measurement of our algorithm is about ±0.1m, and the ranging error is 2%, which can meet the overall demand for real-time monitoring of transmission line anti-mechanical collision line.