CN102866398A - Method and system for performing moving-target identification by using frequency-modulated continuous-wave radar - Google Patents
Method and system for performing moving-target identification by using frequency-modulated continuous-wave radar Download PDFInfo
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Abstract
The invention discloses a method and a system for performing moving-target identification by using a frequency-modulated continuous-wave radar. The method comprises the following steps of: acquiring difference frequency and modulation signals according to a radar signal at the current moment; acquiring distance information according to the difference frequency signal, wherein the distance information comprises a plurality of distance points and an amplitude value corresponding to each distance point; acquiring a Doppler frequency at the current moment according to the modulation signal; judging whether a moving target exists according to the Doppler frequency at the current moment; averagely processing background data to acquire background distance information; acquiring modified distance information by comparing the distance information at the current moment and the background distance information at the current moment; acquiring a moving target identification result by comparing the modified distance information and a threshold; and updating the background data by virtue of the distance information at the current moment when the moving target does not exist. According to the method and the system, the probability of mistaken reports can be reduced, and the accuracy of target identification is effectively improved.
Description
Technical field
The present invention relates to a kind of method and system of utilizing radar to carry out target identification, particularly utilize frequency modulated continuous wave radar to carry out the method and system of moving-target identification.
Background technology
Compare with traditional pulsed radar, Continuous Wave with frequency modulation (FMCW:Frequency Modulation Continuous Wave) radar has the advantages such as low emissive power, the low property intercepted and captured, small solid, high range resolution, large time-bandwidth product, high sensitivity and high resistance active jamming capability, is widely used in engineering.The frequency modulated continuous wave radar basic functional principle is by consecutive periods ground modulate emission signal frequency, and analyzes x time and the signal frequency of the time of reception, thereby draws relative distance and the speed of measured target.
In order to survey the dynamic object in the defence area, the radar emission signal can adopt the triangle frequency sweeping of time domain neutral line, as shown in Figure 1.Here △ f is minimum and maximum value poor of sweep frequency, T
mIt is the time of scanning.
There is the delay of 2R/c time in the object reflected signal that radar receives with transmitting, as shown in Figure 2.Wherein R is the relative distance of radar emission position and testee, and c is the light velocity in the vacuum, and dotted line represents is object receive frequency corresponding to radar when static.
f
bBe called beat frequency, it is equal to stationary body is transmitted and received the poor of frequency.Can get according to simple triangle relation:
For a dynamic object, when the observer moved to wave source with the relative velocity of v, his received wavelength was the frequency that frequency that the frequency of the signal of λ is sent with respect to wave source has a v/ λ quantity, i.e. Doppler frequency.Concerning radar, this effect has occured twice in the two-way process of signal.Therefore total Doppler frequency can be expressed as:
The difference that transmits and receives frequency to dynamic object can be expressed as:
△f
1＝f
b-f
d (3)
△f
2＝f
b+f
d (4)
△ f
1With △ f
2Be intermediate-freuqncy signal, they are the results that need in the side circuit by the radar detection acquisition.Can get by simple fortran:
(5) formula is brought into formula (1) and is done the formula that proper transformation can obtain distance R:
(6) formula is brought into formula (2) and is done the formula that proper transformation can obtain relative velocity v:
Along with technical progress and device cost reduce gradually, fmcw radar progressively is applied to civil area, prison security protection supervision, the supervision of depopulated zone, airport, factory position warehouse supervision etc. can realize by FMCW signal radar, and carry out defence area scope setting by distance measurement function.Monitor in the civil area how the place is not quiet dummy section, monitor in the district and may comprise wall, cable, the fixed objects such as steel mesh, form complicated zone to be detected, existing solution is that the environment learning by the start period carries out background and sets up, compare to determine whether to exist target by real-time ambient conditions feedback with the background of having set up, this method is not considered the fluctuation that transmits and receives power and the fluctuating of background conscientiously, practice shows that setting up fixing background environment can't truly reflect the target travel situation, and owing to background fluctuation causes false alarm rate higher.That is to say, the radar system of setting up fixed background by start study is applicable to relatively stable and simple testing environment, if under complex environment, still use fixed background as a reference, background when the factors such as the fluctuating of background, multipath reflection, environmental energy stack can make and detect background information constantly and just set up occurs more different, causes false declaration, fails to report, reports by mistake.
Summary of the invention
Technical matters to be solved by this invention provides a kind of method and system of utilizing frequency modulated continuous wave radar to carry out moving-target identification under the complex situations such as background fluctuation, can reduce the probability of misrepresenting deliberately, the correctness of Effective Raise target identification.
The present invention includes following technical scheme:
A kind of method of utilizing frequency modulated continuous wave radar to carry out moving-target identification comprises the steps:
(1) radar signal according to current time obtains difference frequency and modulation signal; Obtain range information according to difference frequency signal, described range information comprises a plurality of range points and the corresponding amplitude of each range points; Obtain the Doppler frequency of current time according to modulation signal;
(2) Doppler frequency according to current time judges whether to exist moving target;
When having moving target, background data is averaged processing obtain the background range information, utilize range information and the background range information of current time to compare the revised range information of acquisition, revised range information and thresholding are compared acquisition moving-target recognition result; Then return step (1) and carry out next identification constantly;
When not having moving target, utilize the range information of current time to upgrade background data; Then return step (1) and carry out next identification constantly.
Described background data comprises a plurality of range informations during without moving target.
Definite method of described thresholding is as follows: background data is carried out the variance that variance calculate to obtain each range points, obtain described thresholding according to the variance of this each range points.
Described background data is stored in the storer.
The process of upgrading background data is as follows: with the range information of current time replace store in the storer apart from the current time range information in the moment farthest.
Doppler frequency according to current time judges whether to exist the method for moving target as follows: when Doppler frequency is zero, then do not have moving target, when Doppler frequency is non-vanishing, then have moving target.
Utilize the range information of current time and background range information to be divided by or subtract each other and obtain revised range information.
When revised range information during greater than thresholding, then report to the police.
A kind of system that utilizes frequency modulated continuous wave radar to carry out moving-target identification comprises the radio-frequency antenna with mixing function, pretreatment unit, collecting unit, digital signal processing unit, background foundation and updating block, moving-target recognition unit and alarm unit;
Pretreatment unit comprises the frequency mixer of two a passages input, can finish the mixing that transmits with echoed signal;
The signal of collecting part after to mixing carries out analog to digital conversion and digital signal acquiring;
Digital signal processing unit goes out velocity information and the range information of current time according to the calculated signals after gathering, and described velocity information and Doppler frequency are linear; Described range information comprises a plurality of range points and the corresponding amplitude of each range points; According to the difference of velocity information range information is distributed to background and sets up updating block or moving-target recognition unit; When velocity information is zero, range information is sent to background sets up updating block; When velocity information is non-vanishing, the range information that obtains is sent to the moving-target recognition unit;
The moving-target recognition unit receives the range information that obtains, and sets up and updating block background extraction data from background; The moving-target recognition unit averages to process to background data and obtains the background range information; Utilize the range information and the background range information that obtain to compare the revised range information of acquisition, revised range information and thresholding are compared acquisition moving-target recognition result; When revised range information during greater than thresholding, output alarm signal is to alarm unit;
Background foundation and updating block comprise the storer of a fixed size, are used for the storage background data; When velocity information was zero, background was set up updating block and is used the range information that obtains to upgrade background data.
Described moving-target recognition unit carries out the variance that variance calculate to obtain each range points to background data, obtains described thresholding according to the variance of this each range points.
The present invention compared with prior art has following advantage:
(1) the present invention sets up by dynamic background, and the ambient conditions before the real-time reflection target invasion can reduce the probability of misrepresenting deliberately, the correctness of Effective Raise target identification.
(2) the present invention sets up by dynamic background, removed from and needed to start shooting several minutes process of study in the conventional security protection radar, use method of the present invention after the radar start, can come into effect target detection in the 1-2s, simplified the switching on and shutting down operating process, improved the operation usefulness that radar is installed.
Description of drawings
The relationship between frequency and time synoptic diagram of Fig. 1 triangular modulation signal;
The principle schematic of Fig. 2 Continuous Wave with frequency modulation signal ranging and range rate;
Fig. 3 system that utilizes frequency modulated continuous wave radar to carry out moving-target identification of the present invention forms synoptic diagram;
Fig. 4 method flow diagram that utilizes frequency modulated continuous wave radar to carry out moving-target identification of the present invention;
The possibility synoptic diagram of Fig. 5 a kind of multipath reflection back echo of the present invention;
Fig. 6 is of the present invention to have or not the range information under the target conditions to compare synoptic diagram;
Fig. 7 thresholding trend of the present invention synoptic diagram.
Embodiment
As shown in Figure 3, the system that utilizes frequency modulated continuous wave radar to carry out moving-target identification of the present invention comprises the radio-frequency antenna with mixing function, pretreatment unit, collecting unit, digital signal processing unit, background foundation and updating block, moving-target recognition unit and alarm unit; Pretreatment unit comprises the frequency mixer of two a passages input, can finish the mixing that transmits with echoed signal; The signal of collecting part after to mixing carries out analog to digital conversion and digital signal acquiring.Digital signal processing unit goes out velocity information and the range information of current time according to the calculated signals after gathering, and described velocity information and Doppler frequency are linear; Described range information comprises a plurality of range points and the corresponding amplitude of each range points; According to the difference of velocity information range information is distributed to background and sets up updating block or moving-target recognition unit; When velocity information is zero, range information is sent to background sets up updating block; When velocity information is non-vanishing, the range information that obtains is sent to the moving-target recognition unit.The moving-target recognition unit receives the range information that obtains, and sets up and updating block background extraction data from background; The moving-target recognition unit is processed background data and is obtained the background range information; Utilize the range information and the background range information that obtain to compare the revised range information of acquisition, revised range information and thresholding are compared acquisition moving-target recognition result; When revised range information during greater than thresholding, output alarm signal is to alarm unit.Background foundation and updating block comprise the storer of a fixed size, are used for the storage background data; When velocity information was zero, background was set up updating block and is used the range information that obtains to upgrade background data.
Further, described moving-target recognition unit carries out the variance that variance calculate to obtain each range points to background data, obtains described thresholding according to the variance of this each range points.
The function of collecting unit, digital signal processing unit, background foundation and updating block, moving-target recognition unit can realize by DSP.
Continuous Wave with frequency modulation is the time dependent continuous wave signal of a kind of signal frequency, usually there is a modulation signal to limit the form of its frequency change, the modulation signal of Continuous Wave with frequency modulation uses triangular modulation signal or saw wave modulator signal more, for finishing the measurement of target velocity, the triangular wave of choice for use 100Hz is as modulation signal among the present invention.Pretreatment unit comprises a frequency mixer, two input signals of this frequency mixer are respectively to transmit and the echoed signal of antenna reception, the output of frequency mixer is the difference frequency result who transmits with echoed signal, and the simultaneously output of frequency mixer also can comprise the triangular modulation signal.Digital signal processing unit comprises Hi-pass filter and low-pass filter.Hi-pass filter by digital signal processing unit can the filtering modulation signal to obtain difference frequency information, this difference frequency information can reflect and transmits and electromagnetic wave hits the mark and the difference on the frequency that produces because of time delays between the echoed signal that forms, this difference frequency result's time-domain signal is carried out Fourier transform, frequency values result corresponding to maximal value is the difference frequency frequency values in the transformation results, the FMCW range measurement principle shows that the difference frequency frequency values is linear with distance, then use this frequency namely can calculate the range information of target, as shown in Figure 6.Low-pass filter by digital signal processing unit can obtain the triangular modulation signal, after selecting suitable sample frequency with the modulation signal that obtains a complete cycle, can obtain Doppler frequency by the rising edge of triangular wave and the frequency of negative edge, according to the measuring principle of FMCW signal, can obtain the velocity information in this moment.
Can determine the sampling rate of native system according to system's investigative range and Nyquist low pass sampling thheorem, require to select Fast Fourier Transform (FFT) to count according to systemic resolution, consider that processing is consuming time, system requirements are selected and the calculation process ability of system, select suitable acquisition process timeslice, to reach the purpose of real-time processing.
As shown in Figure 4, utilize frequency modulated continuous wave radar to carry out the method for moving-target identification, comprise the steps:
(1) sets up background
After radar measurement system start, continuous acquisition multiframe radar signal obtains a plurality of range informations during without moving target, i.e. background data according to this radar signal; Background data is stored in storer.
(2) radar signal of collection current time obtains difference frequency and modulation signal; Obtain range information according to difference frequency signal, described range information comprises a plurality of range points and the corresponding amplitude of each range points (as shown in Figure 6); Obtain the Doppler frequency of current time according to modulation signal; Also can obtain according to Doppler frequency the velocity information of current time;
(3) velocity information or the Doppler frequency according to current time judges whether to exist moving target;
When velocity information greater than zero the time, think to have moving target; Background extraction data at first, background data is averaged processing obtain the background range information, utilize the range information of current time and background range information to be divided by or subtract each other to obtain revised range information, revised range information and thresholding are compared acquisition moving-target recognition result; Then change step (2) over to and carry out next collection constantly;
When velocity information is zero, carry out context update; Range information with current time is replaced storer middle distance current time range information farthest; Then change step (2) over to and carry out next collection constantly.
For example select 10 frame pitches from information data as a setting, in processing procedure, open up the storer of one section fixed size, and be divided into 10 groups according to the range information data length, the data of this 10 frame are stored in respectively according to time sequencing and are numbered in 1～10 the group, wherein be numbered the range information stored in 1 the group for apart from current time frame data farthest, the storage pointer of this moment refers to 1 group of numbering.When not having the moving target existence to carry out context update, this range information covers storage pointer group pointed, and makes the storage pointer add 1; When carrying out next time context update, repeat said process; When storage pointed group number 10, and need the storage pointer to add at 1 o'clock, the storage pointer is set to point to and is numbered 1 group.
It is as follows that described a plurality of range informations are averaged the method for processing acquisition background range information: take 10 frame data as example, 10 frame data of storage are obtained every mean value according to range points.
Definite method of described thresholding is as follows: background data is carried out the variance that variance calculate to obtain each range points, obtain described thresholding according to the variance of this each range points.Take 10 frame data as example, 10 frame data of storage are obtained every variance yields according to range points, every variance yields and every threshold value are linear; Thus, can determine described thresholding according to every variance yields.
As shown in Figure 5, because the security protection environment is comparatively complicated, may comprise such as steel mesh, anti-creep net, trees, wall etc. in the background and have object than the strong reflection ability, when target enters the defence area, except the target appearance point has the backward energy enhancing, because of the impact such as multipath reflection, target be overlapping, the energy of some undefined positions also can increase.If should affect obviously, it is fuzzy target range then can to occur, and as shown in Figure 6, target appears at the L2 position, but because multipath causes the amplitude of L1 and L3 position and the amplitude of L2 to reach same magnitude with stack, then can't distinguish target and clutter.
The variance that utilization calculates when not having moving target can reflect the possibility of multipath and stack in the environmental background, as guidance, can accurately mark the trend of thresholding with dynamic variance result.When the range information data of current time and background range data compare, can do the method for removing by corresponding point carries out, namely use the data of current time divided by the background range data of correspondence, the division result that has the position of target to obtain can be obviously greater than other each points, if because multipath and stack cause the result of certain some division result and impact point position to reach the same order of magnitude, then this statistical variance is also necessarily larger, for the large point of variance, its threshold value of differentiating division result then needs corresponding raising, as shown in Figure 7, just reduced thus the probability misrepresented deliberately.
Process can be in time and without the situation that reflects the target invasion of leaking because the FMCW signal tests the speed.The processing procedure that the present invention detects for moving-target, use be last background in the driftlessness situation, what guarantee to use when target detection is the most real background, detects effect to improve.
The present invention compared with prior art, have following difference: background of the present invention is set up process and has been used the effective time section interior background information of current detection before the moment, can be truly and the background when being reflected in driftlessness accurately, solved the expired problem of environment that occur because background sets up fixing.The present invention is take Doppler frequency information as judgment basis, when the Doppler frequency information in the environment is zero, then upgrade background, and when the Doppler frequency information in the environment is non-vanishing, then select temporarily to stop context update, background is ageing when effectively having guaranteed object detection process.Impact for reducing to cause because of background fluctuation in the testing process among the present invention has been used the multiframe data of using when setting up background, and has been calculated the variance of each range points, by the fluctuating trend of variance reflection background, to instruct the setting of detection threshold.
The present invention has stronger universality, although at first verify and use at civilian safety-security area, but usable condition is not limited to this, for any model that needs abnormal conditions and regular situation to compare, the method for setting up dynamic background and using variance to carry out the trend anticipation among the present invention can be used.
Claims (10)
1. a method of utilizing frequency modulated continuous wave radar to carry out moving-target identification is characterized in that, comprises the steps:
(1) radar signal according to current time obtains difference frequency and modulation signal; Obtain range information according to difference frequency signal, described range information comprises a plurality of range points and the corresponding amplitude of each range points; Obtain the Doppler frequency of current time according to modulation signal;
(2) Doppler frequency according to current time judges whether to exist moving target;
When having moving target, background data is averaged processing acquisition background range information utilize the range information of current time and background range information to compare the revised range information of acquisition, revised range information and thresholding are compared acquisition moving-target recognition result; Then return step (1) and carry out next identification constantly;
When not having moving target, utilize the range information of current time to upgrade background data; Then return step (1) and carry out next identification constantly.
2. a kind of method of utilizing frequency modulated continuous wave radar to carry out moving-target identification according to claim 1 is characterized in that, described background data comprises a plurality of range informations during without moving target.
3. a kind of method of utilizing frequency modulated continuous wave radar to carry out moving-target identification according to claim 1 is characterized in that,
Definite method of described thresholding is as follows: background data is carried out the variance that variance calculate to obtain each range points, obtain described thresholding according to the variance of this each range points.
4. a kind of method of utilizing frequency modulated continuous wave radar to carry out moving-target identification according to claim 1 is characterized in that described background data is stored in the storer.
5. a kind of frequency modulated continuous wave radar that utilizes according to claim 4 carries out the method that moving-target is identified, it is characterized in that the process of upgrading background data is as follows: with the range information of current time replace store in the storer apart from the current time range information in the moment farthest.
6. a kind of frequency modulated continuous wave radar that utilizes according to claim 1 carries out the method that moving-target is identified, it is characterized in that, Doppler frequency according to current time judges whether to exist the method for moving target as follows: when Doppler frequency is zero, then there is not moving target, when Doppler frequency is non-vanishing, then there is moving target.
7. a kind of method of utilizing frequency modulated continuous wave radar to carry out moving-target identification according to claim 1 is characterized in that, utilizes the range information of current time to be divided by with the background range information or subtracts each other the revised range information of acquisition.
8. a kind of method of utilizing frequency modulated continuous wave radar to carry out moving-target identification according to claim 1 is characterized in that, when revised range information during greater than thresholding, then reports to the police.
9. one kind is utilized frequency modulated continuous wave radar to carry out the system that moving-target is identified, it is characterized in that, comprise the radio-frequency antenna with mixing function, pretreatment unit, collecting unit, digital signal processing unit, background foundation and updating block, moving-target recognition unit and alarm unit;
Pretreatment unit comprises the frequency mixer of two a passages input, can finish the mixing that transmits with echoed signal;
The signal of collecting part after to mixing carries out analog to digital conversion and digital signal acquiring;
Digital signal processing unit goes out velocity information and the range information of current time according to the calculated signals after gathering, and described velocity information and Doppler frequency are linear; Described range information comprises a plurality of range points and the corresponding amplitude of each range points; According to the difference of velocity information range information is distributed to background and sets up updating block or moving-target recognition unit; When velocity information is zero, range information is sent to background sets up updating block; When velocity information is non-vanishing, the range information that obtains is sent to the moving-target recognition unit;
The moving-target recognition unit receives the range information that obtains, and sets up and updating block background extraction data from background; The moving-target recognition unit averages to process to background data and obtains the background range information; Utilize the range information and the background range information that obtain to compare the revised range information of acquisition, revised range information and thresholding are compared acquisition moving-target recognition result; When revised range information during greater than thresholding, output alarm signal is to alarm unit;
Background foundation and updating block comprise the storer of a fixed size, are used for the storage background data; When velocity information was zero, background was set up updating block and is used the range information that obtains to upgrade background data.
10. a kind of Radar Signal Processing System according to claim 9 is characterized in that, described moving-target recognition unit carries out the variance that variance calculate to obtain each range points to background data, obtains described thresholding according to the variance of this each range points.
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