CN102073042B - Multichannel multi-human body target two-dimensional positioning method based on UWB (Ultra Wide Band) radar type life detector - Google Patents
Multichannel multi-human body target two-dimensional positioning method based on UWB (Ultra Wide Band) radar type life detector Download PDFInfo
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Abstract
The invention discloses a multichannel multi-human body target two-dimensional positioning method based on a UWB (Ultra Wide Band) radar type life detector. The life detector comprises a transmitting antenna and three receiving antennas which respectively form three radar echo signal channels. The two-dimensional positioning method comprises the following steps of: A1. enhancing a weak life signal of a static human body by all channels and integrating a radar echo signal in distance by all the channels through adopting a method for integrating eight points at an interval of four points; scattering the integrated signal for decomposing, reconstructing and synthesizing a target echo signal and a distance signal; carrying out digital filtration and digital differentiation on the target echo signal and realizing the enhancement of the weak available signal; A2. distinguishing one-dimensional distance, carrying out space frequency analysis according to the target echo signal obtained afterdigital filtration and digital differentiation and the distance signal by all the channels and respectively obtaining three projecting signals of a target in the three channels; and A3. confirming the two-dimensional position information of the target according to the three projecting signals and forming a display image.
Description
Technical field
The present invention relates to belong to non-contact life parameter Detection Techniques field, particularly a kind of hyperchannel is based on a plurality of human body target two-dimensional location methods of the radar life-detector of UWB.
Background technology
Radar life-detector is a kind of fusion Radar Technology and the penetrable nonmetal medium of biomedical engineering technology (brick wall, ruins etc.) noncontact, surveys a kind of emerging special radar of human life's body (breathing, heartbeat, body are moving etc.) at a distance.The radar life-detector technology then is an emerging technology take life entity as the detection of a target, is the very important cutting edge technology field that International Technology circle is generally acknowledged.Since this technology to measured object without any constraint, need not the connection of contact electrode, sensor, cable etc., and can be every certain distance, penetrate certain medium (such as clothes, gauze, brick wall, ruins etc.) human body identified detection, so can be widely used in the fields such as disaster buried person person search and rescue, the monitoring of struggle against terror mid-board and battle reconnaissance, particularly have irreplaceable advantage in fields such as emergency management and rescue, anti-terrorisms.
Target recognition capability and distance, angular resolution are two emphasis of current radar life-detector area research, also are the key issues that this paper need to break through.At present, the comparatively ripe radar life-detector system based on the continuous wave radar system can only provide the unmanned result of people, and can't provide the distance of target and angle information etc., and penetration capacity also remains further to be improved.In view of the advantage that super wide range radar has, we have adopted at present in the world advanced person's super wide range technology, and it is combined with the Non-contact Life Detecting technology, and research is visited people's Radar Technology based on the noncontact of super wide range.
Existing radar type human life detection take to the detection and identify of single goal as main, multiobject detection and location are also only limited to moving target.Up to the present, this field not yet solves identification and the two-dimensional localization problem of a plurality of static human body targets.Many quiet target detections identification location technologies are new research direction and the difficult points in international life detection field, and this technology is the gordian technique of radar life-detector, and it is restricting the widespread use of radar life-detector.The solution of many quiet target detection identifications location difficult problem can greatly improve the detection efficiency in the Non-contact Life Detecting, satisfies the demand of in the real work multiple goal quick detection being located.
Summary of the invention
Technical matters to be solved by this invention is for the deficiencies in the prior art, and the two-dimensional location method of a kind of hyperchannel based on the radar life-detector of UWB is provided, and solves two-dimensional detection and the orientation problem of a plurality of static human body targets.
The present invention adopts following technical scheme:
A kind of hyperchannel is based on a plurality of human body target two-dimensional location methods of UWB radar life-detector, described life-detection instrument comprises an emitting antenna and three receiving antennas, form respectively three radar echo signal passages, described two-dimensional location method may further comprise the steps: A1, each passage strengthens the faint life signal of static human body, and 4 integral methods were carried out integration to radar echo signal between each passage adopted at 8 on distance; Again the signal behind the integration is broken up decompose, reconstruct, synthetic target echo signal and distance signal; Target echo signal is carried out digital filtering and numerical differentiation, realize the enhancing of weak useful signal; A2, one-dimensional distance is distinguished, and target echo signal and the described distance signal of each passage after according to digital filtering and numerical differentiation carries out spatial-frequency analysis, obtains respectively three projection signals of target at three passages; A3 determines the two-dimensional position information of target and forms to show image according to described three projection signals.
Described a plurality of human body target two-dimensional location method, described emitting antenna and one of them receiving antenna close-packed arrays place central authorities, and other two receiving antennas are arranged at both sides, form the structure of likeness in form dumbbell.
Described a plurality of human body target two-dimensional location method, described steps A 1 concrete following operation: the A11 that carries out carries out integration to three road radar echo signals respectively on distance; A12 will decompose respectively through three road radar echo signals behind the integration, reconstruct, synthetic three road target echo signals and three road distance signals; A13 carries out respectively digital filtering and numerical differentiation to three road target echo signals; A14 carries out spatial-frequency analysis according to three road target echo signals after digital filtering and the numerical differentiation and three road distance signals, obtains three projection signals of target.
Described a plurality of human body target two-dimensional location method also comprises projection signal's pre-treatment step before the described steps A 2, is used for described three projection signals are gone intermediate value and normalized.
Described a plurality of human body target two-dimensional location method, described steps A 3 concrete following operation: the A31 that carry out do one-dimensional Fourier transform to projection signal after the pre-service of three passages; A32, multiply by the one dimension weight factor to described through the projection signal after the one-dimensional Fourier transform | ρ |; A33, to multiply by the one dimension weight factor | ρ | after projection signal make inverse Fourier transform; A34 does direct back projection to the projection signal through inverse Fourier transform.
Described a plurality of human body target two-dimensional location method, steps A 32 described one dimension weight factors | ρ | finally determine be shown below:, for certain passage projection signal after processing, be the projection signal behind the one dimensional fourier transform.
Described a plurality of human body target two-dimensional location method also comprises the hangover removal process, for elimination that the demonstration image that obtains is trailed.
Described a plurality of human body target two-dimensional location method, adopt the following methods elimination of trailing: the pixel value in the two dimensional surface of viewing area is pre-seted a threshold value, and the pixel that will be lower than described threshold value is painted background color.
Described a plurality of human body target two-dimensional location method, the display mode of described demonstration image are the pseudo-color display mode of two dimensional surface, and while range of a signal and angle, realize that multiobject location and result of detection show.
Innovation of the present invention is:
(1) proposed to realize first that enhancing, human body identification and one-dimensional distance to the faint vital signs of static human body target distinguish, carried out again the new method of multi-target two-dimensional location, for a plurality of static human body target localizations of radar life-detector are opened up new approach.
(2) adopting to change the Time-Frequency Analysis Method of shape--empty frequency analysis (space, frequency) is expected to distinguish the new method that provides for the one-dimensional distance of a plurality of quiet targets in the life detection as the echoed signal of main one-dimensional distance differentiation algorithm to the super wide bandwidth radar type life-detection instrument of single channel system acquisition splits, recombinates and relevant processing.
(3) optimal antenna battle array frame mode has been proposed: long dumbbell shape structure.Survey with this frame mode, can make detection system with minimum antenna, the simplest structure obtains best multiple goal locating effect.
Description of drawings
Fig. 1 is the super wide bandwidth radar type life-detection instrument of single channel system principle diagram;
Fig. 2 is the super wide bandwidth radar type life-detection instrument of hyperchannel computing unit structural representation;
Fig. 3 arranges schematic diagram for super wide range radar parameter;
Fig. 4 is target echo signal and distance signal;
Fig. 5 is hardware filtering the electric circuit constitute block scheme;
Fig. 6 is that the signal waveform before and after the differential algorithm compares (30 number of seconds certificate);
Fig. 7 is the result that the crest method of discrimination is differentiated the Bi-objective data
Fig. 8 is that angle is determined the algorithm schematic diagram;
Fig. 9 is the Electromagnetic Wave Propagation path of bistatic antenna form;
Figure 10 is the antenna echo signal of transceiver and bistatic antenna form;
Figure 11 is that the target two-dimensional position of multi-channel system is determined schematic diagram;
Figure 12 is filtered back projection's method;
Figure 13 is the positioning result figure of (threshold value 150) behind the elimination conditions of streaking;
Figure 14 is the positioning result figure of (threshold value 230) behind the elimination conditions of streaking;
Figure 15 is single goal positioning result figure;
Figure 16 is as a result figure of Bi-objective location;
Figure 17 is as a result figure of three target localizations;
Figure 18 is as a result figure (hangover is eliminated) of Bi-objective location;
Figure 19 is as a result figure (hangover is eliminated) of three target localizations.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The present embodiment a certain passage in the hyperchannel is the example explanation, and Fig. 1 is the super wide bandwidth radar type life-detection instrument of single channel system principle diagram.At first pulse oscillator produces pulse signal, and this signal triggers the electromagnetic pulse generator and produces burst pulse, and radiate by emitting antenna.Reflected signal is delivered to the Sampling Integral device through receiving antenna, the signal that is produced by pulse oscillator produces range gate through delay circuit, select to received signal, signal is by the Sampling Integral circuit, be detected through feeble signal after the accumulation of thousands of pulses, and carry out amplification filtering, after the high-speed collection card sampling, send into computing unit again, by computing unit the signal that collects is carried out analyzing and processing and identification, calculate at last target range.
As shown in Figure 1, be radar front end in the dotted line frame, centre frequency and the bandwidth of system are all 500MHz, and the wave beam angle of coverage is 60.Computing unit command range door generator obtains the echoed signal of different distance section in the search coverage.
The controllable parameter of computing machine is: initial distance, investigative range, sample frequency and antenna gain.As shown in Figure 3, after antenna penetrated brick wall, search coverage was one fan-shaped, by initial distance and investigative range are set, can realize the scanning probe of the sector region of dash area among the figure, if echoed signal shows target information by analysis afterwards, just can judge in this sector region has target.By the initial distance of continuous adjustment, can realize the tomoscan in the certain area.And adjust investigative range (reception of antenna is counted constant), and then can adjust the sensitivity of detection system, change the target range resolving power of system, realize the coarse scan in the certain area and carefully sweep.
For example, initial distance is set to 6m (40 nanosecond), investigative range is set to 3m (20 nanosecond), and the echoed signal of native system is the sequence that 2048 points form, and the effective search coverage of so current radar is antenna dead ahead 6m～9m, angle is 60 sector region, echoed signal only reflects the information of vertically upper 3m, and the scope of 3m on average is divided into 2048 parts, i.e. each sampling obtains 2048 data, we are referred to as 2048 points, and the distance of n point representative is:
In the formula (1): n is an ordinal number.
According to nyquist sampling theorem, sample frequency must be greater than the twice of signal highest frequency, and we set the A/D sample frequency is 64Hz.
Fig. 2 is the super wide bandwidth radar type life-detection instrument of hyperchannel of the present invention computing unit structural representation; Described computing unit comprises the signal integration module, the signal decomposition reconstructed module, digital filtering module and numerical differentiation module, the spatial-frequency analysis module, described signal integration module is carried out integration to signal on distance, described signal decomposition reconstructed module is broken up signal and is decomposed, reconstruct, synthetic target echo signal and distance signal, described digital filtering and numerical differentiation module are carried out digital filtering and numerical differentiation to target echo signal, described spatial-frequency analysis module is used for carrying out spatial-frequency analysis according to the target echo signal after digital filtering and the numerical differentiation and distance signal, obtains the target one-dimensional distance.
The passage of the present embodiment in the hyperchannel describes quiet Target Weak Signal Enhancement Method as example,
Realize the identification of static human body target, at first should the faint life signal of static human body be strengthened.In the present embodiment, for the characteristics of UWB radar echo signal, adopt weak biological medical signals disposal route to process the enhancing with useful signal through the signal after the high-speed sampling, improve signal to noise ratio (S/N ratio), realize the basic identification to human body target.
4 dot product point-scores carry out integration to signal between adopting at 8 on distance; Again signal is broken up decompose, reconstruct, synthetic target echo signal and distance signal; Target echo signal is carried out digital filtering and numerical differentiation, to realize the enhancing of weak useful signal.
2.1 the integration of signal
The high-speed collection card sampling rate that adopts in the present embodiment is 64Hz, and then the data volume after the AD sampling is large, is unfavorable for real-time operation; The data volume minimizing can cause again echoed signal to lack enough range informations too much.So choose between 84 integral methods signal after sampling carried out subsection integral guaranteeing to have in the situation of enough range resolutions the present embodiment.
4 integral methods are averaged per 8 additions of data exactly between 8, per twice integration interval 4 point (0～7,4～11,8～15, analogize the back), make the rear signal data amount of sampling become 1/4th of original signal through the upper integration of distance, in the situation that do not lose the sequence length that signal characteristic has reduced signal, reduce operand, accelerated arithmetic speed.
2.2 signal is decomposed and reconstituted
With signal behind the integration by time and space two territories decompose, reconstruct, the synthetic distance signal y (d) that contains the target echo signal x (t) of temporal information and contain spatial information, wherein t is time variable, d is apart from variable.Target echo signal reflection be the time dependent situation of signal amplitude on the respective distances point, the horizontal ordinate of target echo signal is the time; Distance signal then is the sequence that the amplitude of the each point on the synchronization different distance forms, and the horizontal ordinate of distance signal is distance.Fig. 4 is random road target echo signal (1600 points, 25 seconds) and distance signal (60ns, the 9m) oscillogram of selecting.
Target echo signal has improved signal to noise ratio (S/N ratio), more is conducive to the extraction of vital sign signals, and distance signal has guaranteed again suitable range resolution in computation reduction greatly.
2.3 the selection of wave filter
2.3.1 hardware filtering device
In the present embodiment with before the hardware filtering circuit access high-speed AD acquisition card, filter bandwidht is adjustable, in the early stage preliminary experiment, successively having tested bandwidth is several wave filters of 0.08-10Hz, 0.08-100Hz, 0.08-1000Hz, 0.08-2000Hz, 0.08-3000Hz, 0.08-4000Hz, 0.08-5000Hz, pass through Contrast on effect, finally selected the passband of 0.08-5000Hz as the hardware filtering circuit, gain is divided into two grades: gain is 1 o'clock, enlargement factor is 1 times, gain is 2 o'clock, and enlargement factor is 2 times.
Adopt respectively the single channel UWB system, the single channel UWB system that adds hardware filtering circuit (gain is 1) and the single channel UWB system random acquisition data that add hardware filtering circuit (gain is 2) each 16 groups (driftlessness, single goal data) that do not add the hardware filtering circuit, add up to totally 48 groups of data.The algorithm that adopts respectively computing unit to comprise to these 48 groups of data is processed and is differentiated, the statistics recognition correct rate, and statistics is as shown in table 1 below.
Recognition correct rate situation (48 groups of data) during table 1 increase and decrease hardware filtering device
Being that the recognition correct rate of 1 hardware filtering circuit is the highest using gain, is 62%.
By relatively finding, adopt the Effect on Detecting of the UWB system that gain is 1, passband is 0.08-5000Hz hardware filtering circuit best.
2.3.2 digital filter
Because phase information is extremely important to quiet target detection in the faint vital sign parameter signals, and quiet target identification and one dimension are distinguished technology having relatively high expectations to algorithm stability and follow-up digital signal processing, so adopt in the present embodiment finite impulse response (FIR) (FIR) wave filter to remove high frequency interference, extract the useful signals such as breathing.The system function of FIR wave filter is:
Difference equation is:
The selection of filter order has been directly connected to its amplitude versus frequency characte, and exponent number is higher, and amplitude versus frequency characte is better, and filter effect is better.Also bring some negative effects but unrestrictedly increase exponent number, as increased system's operand, prolonged the time delay of filtering output etc.Comprehensive above two aspects consideration, in the situation that system's arithmetic capability allows, we select 160 rank FIR wave filters to test.
The window function method is adopted in design at wave filter, by contrasting the amplitude versus frequency characte of several window function low-pass filters, has finally adopted the hamming window.
Normal condition servant's respiratory rate is per minute 15～20 times, considers that its frequency of abnomal condition generally can not surpass 0.4Hz yet.So the digital filter that we adopt, its cutoff frequency is this index of main reference 0.4Hz also, and the low-pass filter that namely is not less than 0.4Hz with cutoff frequency carries out filtering to target echo signal, with the performance of each wave filter relatively.We test the lowpass digital filter that cutoff frequency is respectively 0.4Hz, 0.5Hz, 0.6Hz, 0.7Hz, 0.8Hz in this article.
Choose at random investigative range (window when being radar) and be each 48 groups of the data of 20 nanoseconds (3m) and 60 nanoseconds (9m), amount to 96 groups, these signals are signal (data that contain driftlessness, single goal) after the sampling of single channel UWB system, and the algorithm that these 96 groups of the data computing units comprise is differentiated.In the contrast experiment, only change filter cutoff frequency, other each software and hardware parameter constants, statistic discriminance result's accuracy, it is as shown in table 2 that it differentiates accuracy.
Table 2 changes filter cutoff frequency to differentiating the impact of accuracy
According to above experimental result, by comprehensive comparison, the hamming window Finite Impulse Response filter of finally choosing 160 rank, cutoff frequency and be 0.5Hz comes target echo signal filtering high frequency interference, keeps the vital sign signals such as breathing.
2.4 the selection of differentiator
Because the existence of DC component and baseline wander phenomenon often comprises the very large extremely low frequency composition of energy in the target echo signal, so that signal substantial deviation baseline has a huge impact faint life signal identification.The present embodiment proposes to adopt the method for numerical differentiation to come in time filtering DC component and extremely low frequency to disturb, and makes useful signal center on zero base line and fluctuates up and down, to reach the purpose that strengthens the vital sign signals such as breathing.The computation process of differentiator is shown in formula (4):
In the formula: y is output signal, and x is input signal, and m is exponent number, and n is the sequence number of point.
Choose at random investigative range (window during radar) and be each 48 groups of the data of 20 nanoseconds (3m) and 60 nanoseconds (9m), amount to 96 groups, these signals are signal (data that contain driftlessness, single goal) after the sampling of single channel UWB system, adopt respectively the digital differentiator on 20 rank, 40 rank, 60 rank, 80 rank, 100 rank, 120 rank, 140 rank, 160 rank, 180 rank to carry out identifying after differential is processed and distance calculating to these data, it is as shown in table 3 that it differentiates accuracy:
Table 3 changes the differentiator exponent number to differentiating the impact of accuracy
Can find out, the differentiation accuracy of the signal after 60 exponent number word differentiators are processed is the highest, and total accuracy of its 96 groups of data is 60.78%.By comparing, the present embodiment has selected 60 exponent number word differentiators to remove DC component and extremely low frequency disturb, and strengthens the vital signs of signal.
From relatively can finding out of Fig. 6, after target echo signal was carried out 60 rank differential in time, signal had been got back near the baseline and tightly and has been fluctuateed up and down around baseline, and DC component and extremely low frequency composition have obtained inhibition, and useful signal has obtained enhancing.
The a certain passage of the present embodiment in the hyperchannel describes one-dimensional distance differentiating method and spatial-frequency analysis method as example:
After finishing quiet Target Weak Signal enhancing, will distinguish in distance human body target.Because distance signal is the ultra-low frequency signal of reflection target range information, so contain spatial information and the characteristics such as non-stationary for distance signal, the present embodiment has made up the joint distribution function of space, frequency, adopt spatial frequency conjoint analysis method (changing the time frequency analysis of shape) the signal analysis of adjusting the distance, describe energy density and the intensity of signal on different distance, frequency, thereby provide the range information of each human body target.
What time frequency analysis represented is the situation of change of signal spectrum on time shaft, after becoming time variable apart from variable, what the time frequency analysis result represented is exactly frequency spectrum situation of change spatially, so utilizing these characteristics of time frequency analysis comes the target on the different distance is carried out spectrum analysis, and then the acquisition human body is differentiated result and target one-dimensional distance information, so just formed space, application form that this time frequency analysis of frequency Conjoint Analysis is new, its essence remains time frequency analysis.
In the present embodiment, time variable in the time frequency analysis is become space (distance) variable, make up space, frequency Copula, can utilize simultaneously space, frequency information to describe the energy density of input signal, make this method possess " location " function of space, frequency, thereby the method for good non-stationary signal Frequency Estimation in a certain distance range is provided for us.
Time-frequency conversion comprises single linear conversion such as short time discrete Fourier transform, bilinear transformation such as Wigner-Ville distribution, wavelet transformation etc.Spatial frequency transforms in the present embodiment is the time variable in the time frequency analysis to be replaced to space (distance) variable and next, and its range resolution is to determine in advance, does not need to change by changing window width; And object of experiment is static human body, its breath signal is comparatively stable in long-time, belong to local stationary and the large non-stationary signal of length, be fit to analyze with short time discrete Fourier transform for this class signal, carry out spatial-frequency analysis so chosen in the present embodiment the short time discrete Fourier transform of single linear conversion, and result has been carried out analysis and comparison.
In the present embodiment with the time window be that distance signal evenly is divided into 100 sections on distance behind the differential of 60ns (corresponding 9m investigative range, initial distance are 1ns), corresponding range resolution is about 0.09m.For removing the impact of antenna direct wave, front 12 of distance signal is abandoned, do not participate in segmentation, rear 500 are divided into 100 sections, then 5 on each section amplitude is done an addition in the section, obtain and as the value of this section, thereby form the new distance signal that only has 100 numerical value to form, what these 100 numerical value were corresponding is to finish since 12 * 9/512=0.21m to 9m, the target echo signal of the point that equally distributed each distance is upper.
After the segmentation, according to the needed positioning result refresh rate of actual detection, take out all new distance signals in this time period every 10 seconds, amount to 64 * 10=640 new distance signal (64 is sampling rate); Each distance signal is split into point (100 point), and in chronological sequence order is with the sequence restructuring with each point again, and formation contains the fresh target echoed signal (amounting to 100 groups of target echo signals) of temporal information; Each new target echo signal is joined end to end the input signal of Special composition frequency analysis by distance antenna order from the close-by examples to those far off.
Synthetic input signal is made spatial-frequency analysis, namely make short time discrete Fourier transform, wherein window width is corresponding to the length of fresh target echoed signal, be decided to be 64 * 10=640, the each sliding distance of window is corresponding to the range resolution of distance signal, according to the count principle that is not less than window width and differentiate the result to select Fourier transform to count to the demand of frequency resolution be 1024 points of conversion.Determine after the above parameter input signal to be carried out short time discrete Fourier transform, and draw as a result figure.The short time discrete Fourier transform formula is suc as formula shown in (5):
STFT(t，w)＝∫S(τ)γ(τ-t)e
-jwτdτ ......(5)
Wherein S (τ) is input signal, and γ (t) is window function.
In the selection of window function length, in order to improve the temporal resolution of short time discrete Fourier transform, usually require the window function time width of selection short as far as possible.On the other hand, short time discrete Fourier transform will be expected high frequency resolution, then require the window function time width of selection long as far as possible, so the raising of temporal resolution contradicts with the raising of frequency resolution.In the reality, the width of the window function γ (t) of selection should adapt with the steady length of the local of signal.In this experiment, the eupnea frequency of detected object human body is per minute 15-20 time, be that 3-4 finishes the respiration motion second, for impact and the assurance frequency resolution that reduces human body respiration accidentalia, individual difference, the time width of the window function that we choose is 10 seconds, and the window width that corresponds in the spatial-frequency analysis is 640.
The a certain passage of the present embodiment in the hyperchannel describes as the setting of example to crest method of discrimination and threshold value:
The result of space, frequency analysis is one 3 dimension (space, frequency, energy) corresponding relation, and two coordinate axis are respectively distance and frequency, and energy intensity is to come corresponding by the depth of color.By suitable mode and suitable human life feature decision threshold is set, can realize that namely single channel is distinguished the distance of a plurality of quiet targets and distance is calculated.If on a certain distance, signal energy is large, the spectrum peak is concentrated, the signal energy on the neighbor distance, and meet decision threshold, think that then the respective distance in this receiving antenna investigative range has static human body target (one-dimensional distance is determined); If have the signal of macro-energy to occur on a plurality of distances, and meet threshold value, then thinking has the static human body target to exist in a plurality of distances, records the one-dimensional distance value of these targets by algorithm, is each target to the distance of antenna.
It is as follows that multiobject differentiation and distance are calculated concrete steps:
Find out energy value maximum in 100 sections 15 sections, and find out all energy crests in these 15 sections, be designated as respectively E by the energy size
Peak1, E
Peak2, E
Peak3... crest is such regulation: namely the energy value of this section is greater than adjacent two sections energy values, and then this section is crest.Find out after the energy crest, the section sequence number of record crest place section is used for the subsequent calculations target range.
The average energy value of 10 sections of energy value minimum is designated as in calculating 100 sections: E
Mean, utilize crest energy and the average energy value of minimum 10 sections to make comparisons to determine the number of target.Compare threshold is as follows:
(1) if the ENERGY E of energy crest 1
Peak1Minimum average B configuration energy value E greater than 4 times
Mean, i.e. E
Peak1＞4E
Mean, think that then crest 1 position has target to exist, the distance of target is calculated by the sequence number of crest 1;
(2) if the ENERGY E of energy crest 2
Peak2Minimum average B configuration energy value E greater than 3 times
Mean, i.e. E
Peak2＞3E
Mean, think that then crest 2 positions have target to exist, the distance of target is calculated by the sequence number of crest 2;
(3) if the ENERGY E of energy crest 3
Peak2Minimum average B configuration energy value E greater than 2.5 times
Mean, i.e. E
Peak3＞2.5E
Mean, think that then crest 3 positions have target to exist, the distance of target is calculated by the sequence number of crest 3.
Fig. 7 be according to the crest method of discrimination and decide the result of the differentiation that threshold value carries out Bi-objective data.
Can find out, there are two crests in 100 segment signals, lay respectively at the 54th section and the 82nd section, the energy of these two crests through with separately threshold ratio, draw place, two crest present positions and be target, by calculating, the distance of two targets is respectively: (54-1) * and 0.09+0.21=4.98m and (82-1) * 0.09+0.21=7.50m.
So far, we have finished each passage to the identification of a plurality of static targets on the different distance and the calculating of each target range, multiobject one-dimensional distance information has namely been arranged, on this basis, the subsequent treatment of again the one dimension result of three passages being correlated with forms the projection signal of each passage on two dimensional surface.
5.1 the angle of transceiver antenna form is determined
Range information has been arranged, realize two-dimensional localization, also needed angle information, for the antenna form of transceiver, we adopt the cosine law just can solve the problem that angle is determined.Its algorithm schematic diagram as shown in Figure 8.
Target is to distance A and target being drawn by distance differentiation algorithm apart from B to antenna 2 of antenna 1, spacing C between antenna 1 and the antenna 2 is known, we can solve the angular relationship between target and the antenna 1 according to formula (6), be angle [alpha], the combination of recycling polar coordinates middle distance and angle namely can draw the two-dimensional position information of target.
2ACcosα＝A
2+C
2-B
2 ......(6)
5.2 the angle of bistatic antenna form is determined
In the multi-channel system of reality, emitting antenna and receiving antenna separate, as shown in Figure 9.Suppose that emitting antenna Tx is D to the distance between the receiving antenna Rx, the Tx range-to-go is S
0(t), the Rx range-to-go is S
1(t), then the electromagnetic wave that sends of emitting antenna Tx needs time D/c (c is the aerial velocity of propagation of electromagnetic wave) could arrive receiving antenna Rx, in the echoed signal that Rx receives, just have one section direct wave like this, the waveform of this section is a straight line, it does not comprise any target information, this segment distance should be taken into account when signal is processed.The Electromagnetic Wave Propagation path as shown in Figure 9 during the antenna form target detection of actual bistatic.
Figure 10 is the contrast of the receiving antenna echoed signal of transceiver antenna form and bistatic antenna form, wherein figure (a) is the echoed signal of transceiver antenna form, figure (b) is the echoed signal of bistatic antenna form, and receiving antenna is according to emitting antenna 1.5m.The signal location setting of two paths of signals is 1ns, the time window setting be 20ns.Can find out: the transceiver antenna form is very near because of reception, emitting antenna distance, so all include the reflective information of medium when its echoed signal is whole in the window; And the bistatic antenna form is because reception and emitting antenna have left a segment distance, so be stably direct wave of baseline the last period during its echoed signal in the window, the electromagnetic wave that direct wave length is sent by emitting antenna directly arrives the required Time dependent of receiving antenna, do not comprise the reflective information of object in any detecting area, the second half section of echoed signal just begins to occur comprising the waveform of target reflective information.
Target two-dimensional position for the multi-channel system of bistatic antenna form is determined as shown in figure 11.
This is the location schematic diagram of a simple single goal, and it is received antenna array (comprising two receiving antenna Rx1 and Rx2) by an emitting antenna Tx and a winding and realizes two-dimensional localization.The position of target is to determining by following electromagnetic wave stroke is calculated, that is: the electromagnetic wave that sends of emitting antenna arrives target, after being reflected by target again, arrive again each receiving antenna the stroke of process.The Tx range-to-go is S
0(t), target is S to the distance of Rx1
1(t), target is S to the distance of Rx2
2(t).Electromagnetic wave emits the arrival target from Tx, reflects from target and arrives Rx1 and the used time (when walking) of Rx2 is respectively τ
1=(S
0(t)+S
1(t))/and c, τ
2=(S
0(t)+S
2(t))/c.By τ
1And τ
2Can determine two ellipses, oval focus is the position of emitting antenna Tx and corresponding receiving antenna Rx1 and Rx2.Like this, the position of target can be determined by the intersection of two ellipses, and oval computation process sees that formula (7) is to formula (10).
Here 2a
iBe the major axis of ellipse, namely electromagnetic wave is reflected back stroke that receiving antenna is walked again from the emitting antenna to the target, and it is by time τ
iCalculate, its computation process is shown in formula (9), and wherein i gets 1,2, is the numbering of receiving antenna.
2a
i(t)＝S
0(t)+S
i(t)＝cτ
i(t)......(9)
Oval minor axis 2b
iCan calculate by formula (10).
The precision of this algorithm depends on the distance between the antenna array, the size dimension of target and the time delay τ that is gone out by the antenna echo calculated signals
iPrecision, this also requires us to use high-precision UWB radar cell, the theoretical full accuracy of the super wide range of the hyperchannel that uses in the present embodiment system is 4ns/2048 ≈ 2ps (psec), be converted into range accuracy be about 2ps * c=0.03cm (centimetre), satisfy accuracy requirement.
5.3 antenna array frame mode
Before experiment is carried out, following priori has been arranged:
(1) the super wide range of hyperchannel system can not work by two or more emitting antennas simultaneously, otherwise can interfere with each other, so only need adopt an emitting antenna when design.
(2) single channel can only be determined multiobject distance, and can not provide the angle information of target, thus need at least the just two-dimensional localization of possibility realize target of plural passage, so will in experiment, select to position more than the mode of two receiving antennas.
(3) under the identical condition of locating effect, should the minimum a kind of mode of choice for use number of antennas, so can reduce volume, the weight of system, improved portability, apply after convenient, the simultaneously minimizing of antenna also greatly reduces the complicacy of systematic sampling, computing etc., has improved operation efficiency.
(4) because we want two-dimensional localization rather than the three-dimensional imaging of realize target, so only need to selected antenna as for getting final product on the same level, only need antenna is placed on the same level line for concrete laboratory test platform.
Based on above 4 points, carried out following experiment:
5.3.1 choosing of receiving antenna number
Two passages can be realized the location of how quiet target, but wherein may contain pseudo-shadow, and at this moment the projection signal by third channel verifies and eliminate pseudo-shadow, and namely the crossing point of the elliptic arc of the projection signal of three passages is only real place, target location.In actual detection experiment, also proved this point, so finally selected the form of an emitting antenna, three receiving antennas at antenna amount.
5.3.2 determining of position of transmitting antenna
Situation high according to the station of normal adult and sitting height is added up, in order to ensure all reaching best Effect on Detecting to target stance and sitting posture, the antenna height of antenna is decided to be 1.2m, and namely an emitting antenna and three receiving antennas all are on the horizontal line of height 1.2m.
5.3.3 determining of receiving antenna position
Determined after the position of emitting antenna, adjacent emitting antenna has been placed a receiving antenna, has so just formed a single channel system that is similar to the transceiver form, and this passage is mainly used to target is carried out the upper differentiation of distance.In order to guarantee the symmetry of search coverage angular resolution, two remaining receiving antennas centered by emitting antenna, the symmetrical both sides that are arranged on the high 1.2m horizontal line, the range transmission antenna is respectively 0.5m, 1.0m and 1.5m.Found through experiments, distance is nearer, and the angular resolution of target is lower, and distance is far away, and angular resolution is higher, that is: there is approximate inverse relation in the distance of both sides receiving antenna and central emitting antenna with angle on target resolution.When distance is infinitely small when the adjacent emitting antenna, the effect of three passages is the same, and this moment, three passages all only can carry out distance differentiation to multiple goal, can say and have no angular resolution.According to above experiment situation, in order to guarantee maximum angular resolution, finally selected an adjacent emitting antenna of receiving antenna, and two other receiving antenna range transmission antenna 1.5m, and be distributed in symmetrically the emitting antenna both sides.
5.3.4 brief summary
One three receipts on antenna amount, for realizing the minimum antenna number of multiple goal location, wherein a pair of dual-mode antenna close-packed arrays places central authorities, and two other receiving antenna sets up the frame mode of the likeness in form dumbbell that places both sides.We also find by experiment, and both sides receiving antenna and the distance L of central emitting antenna become the relation of approximate reverse ratio, i.e. L ∝ 1/ θ with angular resolution θ.
6.1 filtered back projection's reconstruction algorithm
The present embodiment filtered back projection method for reconstructing adopts be revise first, the way of rear back projection, can obtain comparatively accurate original density function, namely each passage is revised first through the data for projection that calculates, and then back projection is on each pixel on projecting plane, thereby recovers original density function.
At first projection signal is gone intermediate value, normalization correction:
Projection signal's (100 point) to each passage finds out its median, will be less than the value zero setting of median, and all the other are constant.Consistent to the contribute energy power of final two-dimensional localization figure for the projection signal that makes three passages, by formula (11) are to removing the signal normalization after the intermediate value:
Here the time variable that refers to of t, T is the length of projection signal, and e is input, and r is output.
Correction has been got well after the projection signal, just the projection signal of three passages can be carried out filtered back projection toward search coverage.
The basic thought of this filter back-projection algorithm is: after extracting projection function (one dimension function) in the echoed signal of a certain receiving antenna, this One Dimensional Projection function is done filtering to be processed, obtain a projection function through revising, and then this revised projection function made backprojection operation, draw required density function.The process of filtered back projection's method reconstructed image as shown in figure 12.
The step of filtered back projection's method reconstructed image is as follows:
(1) projection function of certain receiving antenna is done one-dimensional Fourier transform;
(2) transformation results of (1) is multiplied by the one dimension weight factor;
(3) weighted results of (2) is made the one dimension inverse Fourier transform;
(4) the corrected projection function that draws in (3) is done direct back projection;
(5) repeat the process that (1) arrives (4), until finish the back projection of each passage projection signal;
According to the scope of respiratory rate, in conjunction with the contrast of great many of experiments effect, weight factor | ρ | final determine suc as formula shown in (12).
Compare with the method for reconstructing of first back projection, rear correction, filtered back projection's method only need be done one dimensional fourier transform, thereby shorten the time of image reconstruction when image reconstruction.
6.2 conditions of streaking and solution
Can find out, the target location draws by three elliptic arcs are crossing, can have conditions of streaking to each target like this.This solution of problem is by the pixel value setting threshold to two dimensional surface, and the pixel that will be lower than threshold value paints that background color solves.Because the pixel value 0～255 of pcolor is corresponding cool colour (indigo plant)～warm colour (red) respectively, here we decide threshold value be 150, namely the color more than the light green color shows at planimetric map, and threshold value is lower than 150 the whole display background looks of pixel.The result who does has like this removed the hangover part of target, has more given prominence to the position of target.Remove the later location map of hangover as shown in figure 13 by setting threshold.
Find in experiment, after threshold value was further raise, as threshold value is brought up to 230, the location map target of single goal was more outstanding, and effect is more obvious, threshold value be the later location map of 230 removal hangover as shown in figure 14.
Can find out that threshold value brings up to after 230, the position of single goal is more outstanding, and conditions of streaking further is eliminated, and bearing accuracy further improves.But, the raising of threshold value neither be unconfined, threshold value is carried too high after, in the time of can causing multiple target detection, failing to judge of the target that energy is less, through the groping of many experiments, balance is eliminated as possible conditions of streaking and is not caused multiple goal this two principles of failing to judge as far as possible, and the threshold value of finally selecting is 150.
6.3 filtered back projection's reconstruction algorithm positioning result
Hyperchannel based on the UWB radar life-detector on, adopt filtered back projection's method to carry out the detection and identify positioning experiment actual through walls of several situations such as driftlessness, single goal, Bi-objective, three targets (being the target that stands still), experiment is to carry out in the laboratory, orientation according to the laboratory, survey the left side that shows the result and point to south, the north is pointed on the right side.That Figure 15, Figure 16, Figure 17 are respectively that the employing filtered back projection method of actual measurement rebuilds is single, double, three quiet target localizations figure as a result.This three width of cloth figure is the imaging results of trailing and eliminating, and setting is: signal location 20ns, the time window 20ns, by calculating, its investigative range is 3-6m.Wherein Figure 15 is the positioning result of single goal, and the physical location of target is the 4m center; Figure 16 is the positioning result of Bi-objective, and two target physical locations are respectively 4m 30 degree by north and 5m center, can find out that target location and the target actual position of the warm colour zone demonstration in the positioning result is substantially identical; Figure 17 is the positioning result of three targets, and three target physical locations are respectively 3m 30 degree by north, 4m 30 degree by north and 5.5m center, and same warm colour zone is also substantially identical with the target actual position.
Can find out from top positioning results single, double, three targets, filtered back projection's reconstruction algorithm can comparatively accurately be identified three human body targets that stand still with interior (containing three) under state through walls and locate, thereby has proved that filter back-projection algorithm can be applied to the Detection location of a plurality of static human body targets of Multichannel radar formula life-detection instrument.
Figure 18, Figure 19 are respectively as a result figure of Bi-objective after the elimination hangover of actual measurement, three target localizations.Parameter is set to: signal location 15ns, the time window 20ns, its investigative range is 2-5m.Wherein Figure 18 is the positioning result figure of Bi-objective, and the physical location of two targets is respectively 4m 20 degree by north and 5m center; Figure 19 is the positioning result figure of three targets, the physical location of three targets be respectively 3m by north 30 the degree, 4m just in and 5m by north 20 the degree.Can find out that the red area in the positioning result is more outstanding by after the hangover elimination, target is more obvious, and the resolution of target is improved to a certain extent.
6.4 filtered back projection's reconstruction algorithm efficiency evaluation
The filter back-projection algorithm efficiency evaluation is finished based on UWB radar life-detector test platform at hyperchannel, and the frame mode of antenna array has been selected long dumbbell shape.The major parameter of system is set to: signal location 15ns, the time window 20ns.All experimental datas all penetrate the 30cm brick wall and gather, and experimental subjects is to choose at random from 16 volunteers according to the needs of target number, and target was the state of standing still when all experimental datas gathered, i.e. static human body target detection experiment.The distribution situation of target provides as follows: i.e. the fore-and-aft distance of any two targets interval 0.5m at least, lateral angles is interval 20 degree at least.
Driftlessness data through walls have gathered 17 groups altogether.According to above-mentioned mode classification the result of adopting data is added up, because all data are the driftlessness data, so there is not the situation of failing to judge and misjudging.Statistics is as shown in table 4.
Table 4 is worn the correct localization situation of 30cm brick wall driftlessness data
Single goal data through walls gather 48 groups altogether, and wherein, target is positioned at 2m 30 degree by north, 2m center, 2m 30 degree by north; 3m 30 degree by north, 3m center, 3m 30 degree by north; 4m 20 degree by north, 4m center, 4m 20 degree by north; Each 4 groups of these data such as 5m 20 degree by north, 5m center, 5m 20 degree by north, totally 48 groups of data.According to above-mentioned mode classification the result of adopting data is added up equally, statistics is as shown in table 5.
The correct localization situation of single goal data when table 5 is worn the 30cm brick wall
Bi-objective data in the data through walls have gathered 60 groups altogether.In the investigative range of 2-5m, the distribution form that makes up with the different distance different angles stood still after two target locations were randomly dispersed in wall on the basis of satisfying the described condition of preamble.According to above-mentioned mode classification the result of adopting data is added up equally, statistics is as shown in table 6.
Table 6 is worn the correct localization situation of 30cm brick wall Bi-objective data
Three target datas in the data through walls have gathered 85 groups altogether.In the investigative range of 2-5m, the distribution form that makes up with the different distance different angles stood still after the position of three targets was randomly dispersed in wall on the basis of satisfying the described condition of preamble.Because in algorithm, also only considered at most identification and location to three targets, so there is not the situation of erroneous judgement.According to above-mentioned mode classification the result of adopting data is added up equally, statistics is as shown in table 7.
Table 7 is worn the correct localization situation of 30cm brick wall three target datas
The result who is identified after the localization process by above various data to different target number, target different distributions situation adds up, filter back-projection algorithm is 94% to 17 groups of driftlessness discriminating data accuracy, be 81% to 48 groups of single goal data correct localization, being 78% to 60 groups of Bi-objective data correct localization, is 67% to 85 group of three target data correct localization.As seen, filter back-projection algorithm is the highest to the recognition correct rate of driftlessness data, and is minimum to the recognition correct rate of three targets.
On the whole, filtered back projection's reconstruction algorithm can be applied to identification and the location to maximum three static human body targets.
Should be understood that, for those of ordinary skills, can be improved according to the above description or conversion, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (9)
1. a hyperchannel is based on a plurality of human body target two-dimensional location methods of the radar life-detector of UWB, described life-detection instrument comprises an emitting antenna and three receiving antennas, form respectively three radar echo signal passages, it is characterized in that, described two-dimensional location method may further comprise the steps: A1, each passage strengthens the faint life signal of static human body, and 4 integral methods were carried out integration to radar echo signal between each passage adopted at 8 on distance; Again the signal behind the integration is broken up decompose, reconstruct, synthetic target echo signal and distance signal; Target echo signal is carried out digital filtering and numerical differentiation, realize the enhancing of weak useful signal; Described numerical differentiation adopts 60 exponent number word differentiators, and the computation process of differentiator is shown in formula:
In the formula: y is output signal, and x is input signal, and m is exponent number, and n is the sequence number of point;
A2, one-dimensional distance is distinguished, and target echo signal and the described distance signal of each passage after according to digital filtering and numerical differentiation carries out spatial-frequency analysis, obtains respectively three projection signals of target at three passages; The result of space, frequency analysis is one 3 dimension corresponding relation, and two coordinate axis are respectively distance and frequency, and energy intensity is to come corresponding by the depth of color; By suitable human life feature decision threshold is set, can realize that namely single channel is distinguished the distance of a plurality of quiet targets and distance is calculated; If on a certain distance, signal energy is large, the spectrum peak is concentrated, the signal energy on the neighbor distance, and meet decision threshold, think that then the respective distance in this receiving antenna investigative range has the static human body target; If have the signal of macro-energy to occur on a plurality of distances, and meet threshold value, then thinking has the static human body target to exist in a plurality of distances, records the one-dimensional distance value of these targets by algorithm, is each target to the distance of antenna;
It is as follows that multiobject differentiation and distance are calculated concrete steps:
With the time window be that distance signal evenly is divided into 100 sections on distance behind the differential of 60ns, find out energy value maximum in 100 sections 15 sections, and find out all energy crests in these 15 sections, be designated as respectively E by the energy size
Peak1, E
Peak2, E
Peak3... crest is such regulation: namely the energy value of this section is greater than adjacent two sections energy values, and then this section is crest; Find out after the energy crest, the section sequence number of record crest place section is used for the subsequent calculations target range;
The average energy value of 10 sections of energy value minimum is designated as in calculating 100 sections: E
Mean, utilize crest energy and the average energy value of minimum 10 sections to make comparisons to determine the number of target; Compare threshold is as follows:
(1) if the ENERGY E of energy crest 1
Peak1Minimum average B configuration energy value E greater than 4 times
Mean, i.e. E
Peak1＞4E
Mean, think that then crest 1 position has target to exist, the distance of target is calculated by the sequence number of crest 1;
(2) if the ENERGY E of energy crest 2
Peak2Minimum average B configuration energy value E greater than 3 times
Mean, i.e. E
Peak2＞3E
Mean, think that then crest 2 positions have target to exist, the distance of target is calculated by the sequence number of crest 2;
(3) if the ENERGY E of energy crest 3
Peak3Minimum average B configuration energy value E greater than 2.5 times
Mean, i.e. E
Peak3＞2.5E
Mean, think that then crest 3 positions have target to exist, the distance of target is calculated by the sequence number of crest 3;
A3 determines the two-dimensional position information of target and forms to show image according to described three projection signals.
2. a plurality of human body target two-dimensional location method according to claim 1 is characterized in that, described emitting antenna and one of them receiving antenna close-packed arrays place central authorities, and other two receiving antennas are arranged at both sides, forms the structure of likeness in form dumbbell.
3. a plurality of human body target two-dimensional location method according to claim 1 is characterized in that, described steps A 1 concrete following operation: the A11 that carries out carries out integration to three road radar echo signals respectively on distance; A12 will decompose respectively through three road radar echo signals behind the integration, reconstruct, synthetic three road target echo signals and three road distance signals; A13 carries out respectively digital filtering and numerical differentiation to three road target echo signals.
4. a plurality of human body target two-dimensional location method according to claim 3 is characterized in that, also comprises projection signal's pre-treatment step before the described steps A 3, is used for described three projection signals are gone intermediate value and normalized; Three projection signals after the pre-service are used for steps A 3.
5. a plurality of human body target two-dimensional location method according to claim 4 is characterized in that, described steps A 3 concrete following operation: the A31 that carry out do one-dimensional Fourier transform to projection signal after the pre-service of three passages; A32, multiply by the one dimension weight factor to described through the projection signal after the one-dimensional Fourier transform | ρ |; A33, to multiply by the one dimension weight factor | ρ | after projection signal do inverse Fourier transform; A34 does direct back projection to the projection signal through inverse Fourier transform.
6. a plurality of human body target two-dimensional location method according to claim 5 is characterized in that, steps A 32 described one dimension weight factors | ρ | finally determine be shown below:
g
θ(t) be the projection signal after certain passage processing, F
1{ g
θ(t) } be the projection signal after the one-dimensional Fourier transform.
7. according to claim 1 to 6 arbitrary described a plurality of human body target two-dimensional location methods, it is characterized in that, also comprise the hangover removal process, for elimination that the demonstration image that obtains is trailed.
8. a plurality of human body target two-dimensional location method according to claim 7, it is characterized in that, adopt the following methods elimination of trailing: the pixel value in the two dimensional surface of viewing area is pre-seted a threshold value, and the pixel that will be lower than described threshold value is painted background color.
9. a plurality of human body target two-dimensional location method according to claim 7 is characterized in that, the display mode of described demonstration image is the pseudo-color display mode of two dimensional surface, and while range of a signal and angle, realizes that multiobject location and result of detection show.
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| PCT/CN2011/001022 WO2012055148A1 (en) | 2010-10-27 | 2011-06-20 | Multichannel ultra wide band based (uwb-based) radar life detector and positioning method thereof |
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