CN104569961B - Radar ranging method based on spectrum zooming - Google Patents
Radar ranging method based on spectrum zooming Download PDFInfo
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- CN104569961B CN104569961B CN201510031621.0A CN201510031621A CN104569961B CN 104569961 B CN104569961 B CN 104569961B CN 201510031621 A CN201510031621 A CN 201510031621A CN 104569961 B CN104569961 B CN 104569961B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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Abstract
The invention provides a radar ranging method based on spectrum zooming. The radar ranging method includes the step of receiving radar echo intermediate frequency signals x(n) of a target and dividing the radar echo intermediate frequency signals x(n) into two paths, the step of conducting windowing on the two paths of the radar echo intermediate frequency signals to obtain windowed signal data f<1>(n) and windowed signal data f<2>(n), the step of conducting FFT processing on the signal data f<2>(n) to obtain echo data F(k) and further obtain an estimated frequency value (N<max>) of the echo data F(k), the step of determining initialization parameters of spectrum zooming on the basis of the estimated frequency value (N<max>), the step of conducting spectrum zooming on the signal data f<1>(n) on the basis of the initialization parameters of spectrum zooming to obtain a sequence X(z<k>) after spectrum zooming, the step of searching for the serial number i corresponding to the maximum value in the sequence X(z<k>) and obtaining an estimated frequency value f<IF> of the radar echo intermediate frequency signals through the serial number i, and the step of working out the accurate distance r of the target through the estimated frequency value f<IF> of the radar echo intermediate frequency signals x(n). The radar ranging method based on spectrum zooming meets the requirement of an LFMCW radar system for real-time performance and has adaptivity to changes of the distance of the radar target.
Description
Technical field
The present invention relates to field of radar, more particularly to a kind of radar range finding method based on frequency spectrum refinement.
Background technology
Radar range finding technology has been applied to the various aspects in military and civilian field.It is at full speed with electronic science and technology
It is progressive, particularly fast development of the development of microwave integrated circuit and Digital Signal Processing even more for precise distance measurement radar
There is provided strong technical guarantee.
Linear frequency modulation continuous wave (Linear Frequency Modulation Continuous Wave, abbreviation LFMCW)
Radar has the advantages that many other radars do not possess：Little, the linear frequency modulation without blind range zone, range resolution height, radiant power
Continuous wave radar is just because of possess above-mentioned advantage, so be generally equipped to as industrial thing position on-the-spot test instrument, for measuring
Height of materials in the regions such as tank body, warehouse, so as to obtain the commercial measurement parameter of correlation.With China's Industry Development Level
Improve, the requirement more and more higher to industrial automatic control and management level, in industrial automatic control and management, material
Material position is a critically important parameter, accurately measures the material position of material, be calculate material reserves and operational management it is main according to
According to.
Frequency indirect gain material position range information of the Modulation Continuous Wave Radar level meter by measurement echo-signal, institute
To accurately calculate the frequency of radar echo signal, range information just can be accurately measured.Due to thing position range finding permissible accuracy compared with
Height, but discrete Fourier transform has fence effect, and the peak point of selection is when measurement distance is certainty of measurement integral multiple
Be only accurately, other apart from when can all there is intrinsic systematic error.
In order to reduce the error that fence effect brings, research worker proposes frequency spectrum refinement method：ZFFT, CZT pass through
Zero padding carrys out zoom FFT, so as to find the precise frequency value corresponding to frequency spectrum maximum.However, these frequency spectrum refinement technologies need
Carry out adaptivity pretreatment and anti-noise sonication could meet the requirement of LFMCW radar ranging accuracies.
The content of the invention
(1) technical problem to be solved
In view of above-mentioned technical problem, the invention provides a kind of radar range finding method based on frequency spectrum refinement, with to radar
The change of target range has adaptivity, while meeting the requirement of real-time of LFMCW radar systems.
(2) technical scheme
The present invention is included based on the radar range finding method of frequency spectrum refinement：Step A：Receive the radar return intermediate-freuqncy signal of target
X (n), and it is classified as two-way；Step B：Windowing process is carried out respectively to two-way Radar IF Echo, windowing process is obtained
Signal data f afterwards1(n) and f2(n)；Step C：To signal data f2N () carries out FFT process and obtains echo data F (k), and then
Obtain the frequency estimation F (N of echo data F (k)max)；Step D：Based on frequency estimation F (Nmax) determine frequency spectrum refinement
Initiation parameter, wherein, the initiation parameter includes the initial value of frequency point of frequency spectrum refinement, terminates value of frequency point and frequency spectrum refinement times
Number；Step E：Based on the initiation parameter of frequency spectrum refinement, to signal data f1N () carries out frequency spectrum refinement process, obtain frequency spectrum thin
Sequence X (z after changek)；Step F：Find sequence X (zk) in corresponding sequence number i of maximum, radar mean frequency is obtained by sequence number i
The frequency estimation f of echo-signalIF；And step G：By the frequency estimation f of Radar IF Echo x (n)IF, calculate mesh
Target accurate distance r.
(3) beneficial effect
From above-mentioned technical proposal as can be seen that the present invention has following beneficial effect based on the radar range finding method of frequency spectrum refinement
Really：
(1) the characteristics of radar range finding method of the present invention has adaptivity, can be according to the spy of LFMCW radar echo signals
Property adjustment frequency spectrum refinement initiation parameter；
(2) radar range finding method of the present invention has good noise robustness, and being experimentally confirmed LFMCW radars can expire
The application conditions of sufficient practical matter；
(3) the characteristics of real-time being had based on the distance-finding method of FPGA, by FPGA realizing surveying using parallel organization
Away from method, the operation time of method is improve, meet the requirement of LFMCW radars scene range finding real-time.
Description of the drawings
Fig. 1 is the structural representation according to embodiment of the present invention LFMCW radar ranging system；
Fig. 2 is the flow chart according to the embodiment of the present invention based on the radar range finding method of frequency spectrum refinement；
Fig. 3 is using the structural representation that CZT methods are realized based on FPGA.
【Main element symbol description】
1- receives and dispatches electromagnetic horn；2- radiofrequency signal source units；
3- analog-digital converters；4- derived reference signal generation units；
5- display units；6-FPGA units；
7- system clocks；8- Power Management Unit；
Specific embodiment
To make the object, technical solutions and advantages of the present invention become more apparent, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.It should be noted that in accompanying drawing or description description, similar or identical portion
Divide and all use identical figure number.The implementation for not illustrating in accompanying drawing or describing, is those of ordinary skill in art
Known form.In addition, though the demonstration of the parameter comprising particular value can be provided herein, it is to be understood that parameter is without the need for definite etc.
In corresponding value, but corresponding value can be similar in acceptable error margin or design constraint.Mention in embodiment
Direction term, for example " on ", D score, "front", "rear", "left", "right" etc., be only the direction of refer to the attached drawing.Therefore, the side for using
It is for illustrating not for limiting the scope of the invention to term.
In one exemplary embodiment of the present invention, it is proposed that a kind of radar range finding method based on frequency spectrum refinement.Such as
Shown in Fig. 1, the present embodiment radar range finding method is realized based on the radar echo signal processing system with FPGA as core.
The radar echo signal processing system includes：Analog-digital converter 3；Display unit 5；FPGA unit 6；System clock 7；
Derived reference signal generation unit 4.Range radar system also includes：Power Management Unit 8；Transmitting-receiving electromagnetic horn 1；Radio-frequency signal source
Unit 2.Wherein, analog-digital converter 3, derived reference signal generation unit 4, display unit 5, FPGA unit 6 and system clock 7 are located at
On one pcb board.Transmitting-receiving electromagnetic horn 1, radiofrequency signal source unit 2 and Power Management Unit 8 are arranged at outside the pcb board.
Power Management Unit 8 provides the power supply of whole radar ranging system, and in the radar system, Power Management Unit is
One layer of independent power supply circuit board, is attached by connector between plate with other unit circuit boards of system.
Transmitting-receiving electromagnetic horn 1 is the dual-mode antenna of K-band radar ranging system LFMCW signals, for K-band radiofrequency signal
Transmitting and the electromagnetic wave signal after reflection is received.
Radiofrequency signal source unit 2 is the unit for producing K-band LFMCW signal source, and the radio-frequency signal source is using PLL (lock phases
Ring) structure, frequency multiplication is carried out to the arrowband LFM signals that radio frequency reference signal source generation unit 4 is produced, K-band LFMCW radio frequency is obtained
Signal source, is launched finally by electromagnetic horn 1.
Derived reference signal generation unit 4 is mainly made up of digital to analog converter AD9736, the AD9736 chips and FPGA unit 6
In DDS IP kernels constitute DDS (digital frequency synthesizer) signal generator together, under the control of FPGA unit 6, with reference to letter
Number source generation unit 4 produces radio frequency reference signal source signal by digital to analog converter AD9736, and then passes through radio-frequency signal source list
Unit 2 produces K-band radio-frequency signal source.
System clock 7 is the system clock of radar echo signal processing system, and selected clock chip is AD9518, should
Chip can provide the differential clock signal source of 1.2GHz for AD9736, and FPGA unit 6 is exported by the synchronised clock of AD9736
End obtains homologous clock signal, it is ensured that the clock homology of signal processing system.
Analog-digital converter 3 completes the sampling work of range radar echo signal of intermediate frequency, and in the present embodiment, modulus used turns
Parallel operation chip is ADS62P48, and the data transfer of echo-signal is realized in the case where FPGA unit 6 is controlled, and wherein sampling clock is system
Homologous clock of the clock 7 after frequency dividing.
Display unit 5 is the range measurement display unit of range radar system, and can realize the setting function of system
And the function of being interacted by menu with user.
FPGA unit 6 is the core of range radar system echoes signal processing, assume responsibility for system multi-job operation control,
DDS signal sources are produced and the distance-finding method of echo-signal realizes function.Here the radar range finding method based on FPGA unit 6 is first
Set up the phantom of distance-finding method in the System Generator softwares of XILINX companies, and carried out emulation testing and
System is surveyed.In FPGA resource, FFT IP kernels, DDS IP kernels, FIFO IP kernels and multiplier and adder have mainly been used
Etc. FPGA resource.
The present embodiment radar range finding method is realized that by FPGA unit Fig. 2 is to be based on frequency spectrum refinement according to the embodiment of the present invention
Radar range finding method flow chart.Fig. 2 is refer to, the present embodiment radar range finding method includes：
Step A：Radar return intermediate-freuqncy signal x (n) of target is received, and is classified as two-way；
Wherein, Radar IF Echo is admitted to FPGA unit after being gathered by analog-digital converter 3.
Step B：Windowing process is carried out respectively to two-way Radar IF Echo, the signal data after windowing process is obtained
f1(n) and f2(n), wherein, signal data f1N () is used as the standby data cached of frequency spectrum refinement, signal data f2N () is used as frequency
The input data of spectrum bigness scale；
Wherein, window function h (n) of windowing process is Hanning window, and weight coefficient is stored in the FIFO of FPGA unit 6, should
Step B is specifically included：
Sub-step B1, starts the output of Hanning window weight coefficient；
Sub-step B2, Radar IF Echo data will be multiplied with Hanning window weight coefficient h (n) all the way, obtain adding window
Signal data after process.
Step C：In frequency spectrum bigness scale, to signal data f2N () carries out FFT process and obtains echo data F (k)；And then
To the frequency estimation of echo data F (k)：
F(Nmax)=Nmaxfs/N (1)
Wherein, N and fsIt is the sampling number and sample frequency of Radar IF Echo x (n) respectively, NmaxIt is peak value inspection
The corresponding sequence number of F (k) sequences maximum in survey；
By signal data f2N () obtains echo data F (k) after carrying out FFT process.
In the present embodiment, in order to obtain the frequency estimation of echo data F (k), need to carry out echo data F (k) low
Frequency filtering and peakvalue's checking.Wherein, the low frequency filtering is for the amplitude modulation low frequency for removing the presence of LFMCW Radar IF Echos
Signal component, which is realizing by way of setpoint frequency threshold value on frequency domain.The frequency threshold is determined as needed by user.
In the present embodiment, peakvalue's checking is realized by the relative method of frequency spectrum data modulus value.In peakvalue's checking, F'(k) with from
Scattered data mode is present, to F'(k) delivery process, can represent | F'(0) |, | F'(1) |, | F'(2) | ..., | F'(N-
2) |, | F'(N-1) |, in order to determine the frequency of echo signal data x (n), search sequence | F'(0) |, | F'(1) |, | F'(2)
| ..., | F'(N-2) |, | F'(N-1) | in maximum, by relative method determining maximum | F'(i) |max, and then really
It is fixed | F'(i) |maxSequence number Nmax, when | F'(k) | sequence maximum sequence number NmaxWhen known, it is possible to determine echo data F (k)
Frequency estimation：F(Nmax)=Nmax*fs/N。
Step D：Frequency estimation F (N based on echo datamax) determine the initiation parameter of frequency spectrum refinement, wherein, should
Initiation parameter includes the initial value of frequency point of frequency spectrum refinement, terminates value of frequency point and frequency spectrum refinement multiple；
When to signal data f2When () carries out FFT process n, if f2N the actual frequency value of () is not frequency resolution fs/N
Integral multiple, then in the presence of fence effect, f can be made2N the estimated value of () falls in the front or behind of actual frequency value,
Fall in frequency estimation F (Nmax) previous frequency discrimination unit or latter frequency resolution cell in the range of, wherein F (Nmax) be
Frequency resolution fsThe integral multiple of/N, frequency spectrum refinement starting value of frequency point beFrequency spectrum refinement terminates value of frequency point
In initiation parameter, depending on frequency spectrum refinement multiple is generally according to radar ranging accuracy, signal data f2The frequency of (n)
Relation between rate and measurement distance r：
Wherein, fIFFor the precise frequency estimated value of Radar IF Echo, TswpFor the radar signal source frequency sweep time, B is
Radar signal source swept bandwidth, v are electromagnetic wave spread speed in media as well.
The relation of radar ranging accuracy Δ r and frequency resolution Δ f can be obtained according to above formula：
When radar ranging accuracy Δ r is determined, the frequency of frequency spectrum refinement method is assured that according to relational expression above
Resolution ax f, and then frequency spectrum refinement multiple：
When M is decimal, frequency spectrum refinement multiple M ' takes M and rounds up the integer for obtaining.
Step E：Based on the initiation parameter of frequency spectrum refinement, to signal data f1N () carries out frequency spectrum refinement process, obtain frequency
Sequence X (z after spectrum refinementk)；
In this step, to signal data f1N the frequency spectrum refinement of () can be expressed as：
Wherein, shown in the expression formula such as formula (6) and formula (7) of f (n) and h (n)：
In superincumbent expression formula,L=M'+N-1.For the sake of simplicity, A0And W0Take
1。
In the factors A and W of constructed fuction, θ0For the phase angle of starting sample point, the i.e. starting point of selecting frequency scope, i.e.,φ0It is poor for the angular frequency between two neighbouring sample points, i.e.,Foregoing frequency spectrum
Refinement initiation parameter is exactly to determine θ0And φ0Value.
The two functions be can be seen that from the expression formula of f (n) and h (n) all to exist with exponential form, and in fpga chip
DDS IP kernels can be with the function of structural index form, it is possible to constructs two functions using two DDS IP kernels and realizes CZT side
Method.The discrete convolution of f (n) and h (n) in formula (5) can represent there is limit for length with the circular convolution of f (n) and the suitable section of h (n)
The circular convolution of sequence can be quickly calculated using FFT, so realizing that CZT methods can adopt knot as shown in Figure 3 based on FPGA
Structure is realized.
Step F：Find sequence X (zk) in corresponding sequence number i of maximum, by sequence number i obtain radar IF echo letter
Number frequency estimation fIF；
Search sequence X (zk) in maximum, FPGA realize in adopt relative method.In search sequence X (zk) maximum it
Before, to sequence X (zk) delivery, can be expressed as after delivery | X (0) |, | X (1) |, | X (2) | ..., | X (N-2) |, | X
(N-1)|}.Maximum in search sequence { | X (0) |, | X (1) |, | X (2) | ..., | X (N-2) |, | X (N-1) | }, leads to
Cross relative method determining maximum | X (i) |max, and then determine | X (i) |maxSequence number i.
When known to { | X (0) |, | X (1) |, | X (2) | ..., | X (N-2) |, | X (N-1) | } maximum sequence number i, just
Can determine that Radar IF Echo x (n) terminates the frequency between value of frequency point in frequency spectrum refinement starting value of frequency point and frequency spectrum refinement
Rate estimated value, i.e. its frequency separation areFrequency estimation in the interval：X
(zi)=i* Δ f/M', wherein, the frequency resolution of Δ f frequency spectrum refinements, M' is frequency spectrum refinement multiple, and then radar IF echo
The high accuracy frequency estimation of signal x (n)：
Step G：By the frequency estimation f of Radar IF Echo x (n)IF, according to following formula calculate target it is accurate away from
From：
So far, the present embodiment has been described in detail already in connection with accompanying drawing.According to above description, those skilled in the art
The present invention should be had based on the radar range finding method of frequency spectrum refinement and clearly be recognized.
Additionally, the above-mentioned definition to each element and method is not limited in the various concrete structures mentioned in embodiment, shape
Shape or mode, those of ordinary skill in the art can be simply changed or be replaced to which, for example：
(1) the hanning window functions of echo-signal according to circumstances can be using other window function forms；
(2) in FPGA, FIFO IP kernels can be replaced with two-port RAM；
In sum, the invention provides a kind of radar range finding method based on frequency spectrum refinement.The distance-finding method has certainly
Adaptive feature, while having good noise robustness, is experimentally confirmed LFMCW radars and disclosure satisfy that practical matter
Application conditions, are improve the operation time of method, are meeting the requirement of LFMCW radars scene range finding real-time.
Particular embodiments described above, has been carried out to the purpose of the present invention, technical scheme and beneficial effect further in detail
Describe bright, the be should be understood that specific embodiment that the foregoing is only the present invention in detail, be not limited to the present invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (8)
1. a kind of radar range finding method based on frequency spectrum refinement, it is characterised in that include：
Step A：Radar return intermediate-freuqncy signal x (n) of target is received, and is classified as two-way；
Step B：Windowing process is carried out respectively to two-way Radar IF Echo, the signal data f after windowing process is obtained1(n)
And f2(n)；
Step C：To signal data f2N () carries out FFT process and obtains echo data F (k), and then obtain echo data F (k)
Frequency estimation F (Nmax), including：
Echo data F (k) is filtered, echo data F ' (k) is obtained；
Peakvalue's checking is carried out according to following formula to echo data F ' (k), frequency estimation F (N are obtainedmax)：
F(Nmax)=Nmax fs/N
Wherein, N and fsIt is the sampling number and sample frequency of Radar IF Echo x (n) respectively, NmaxIt is to return in peakvalue's checking
Wave number is according to the corresponding sequence of F (k) sequence maximums；
Step D：Based on frequency estimation F (Nmax) determine the initiation parameter of frequency spectrum refinement, wherein, the initiation parameter includes
The initial value of frequency point of frequency spectrum refinement, terminate value of frequency point and frequency spectrum refinement multiple；
Step E：Based on the initiation parameter of frequency spectrum refinement, to signal data f1N () carries out frequency spectrum refinement process, obtain frequency spectrum thin
Sequence X (z after changek)；
Step F：Find sequence X (zk) in corresponding sequence number i of maximum, the frequency of Radar IF Echo is obtained by sequence number i
Rate estimated value fIF；And
Step G：By the frequency estimation f of Radar IF Echo x (n)IF, calculate the accurate distance r of target.
2. radar range finding method according to claim 1, it is characterised in that described that peak value is carried out to echo data F ' (k)
Detection, obtains frequency estimation F (Nmax) include：
To the process of echo data F ' (k) delivery, be expressed as | F ' (0) |, | F ' (1) |, | F ' (2) | ..., | F ' (N-2) |, |
F ' (N-1) | }, search sequence { | F ' (0) |, | F ' (1) |, | F ' (2) |, ..., | F ' (N-2) |, | F ' (N-1) | } in most
Big value | F ' (i) |max, and then determine sequence number N of | F ' (i) | maxmax, by sequence number NmaxDetermine the Frequency Estimation of echo data F (k)
Value F (Nmax)。
3. radar range finding method according to claim 1, it is characterised in that in step D：
The initial value of frequency point of frequency spectrum refinement is：
The end value of frequency point of frequency spectrum refinement is：
Frequency spectrum refinement multiple M ' is obtained by rounding up to M：
Wherein, N and fsIt is the sampling number and sample frequency of Radar IF Echo x (n) respectively, Δ f is frequency resolution.
4. radar range finding method according to claim 3, it is characterised in that in step E, according to the following formula to signal data f1
N () carries out frequency spectrum refinement：
Wherein, the expression formula of f (n) and h (n) is shown below：
Wherein, in superincumbent expression formula,L=M '+N-1, A0And W0Take 1.
5. radar range finding method according to claim 4, it is characterised in that step F includes：
To sequence X (zk) delivery, be expressed as | X (0) |, | X (1) |, | X (2) | ..., | X (N-2) |, | X (N-1) | }；
Maximum in search sequence { | X (0) |, | X (1) |, | X (2) | ..., | X (N-2) |, | X (N-1) | } | X (i)
|max, and then determine | X (i) |maxSequence number i；
The frequency estimation of Radar IF Echo x (n) is calculated by following formula：
Wherein, Δ f is frequency resolution.
6. radar range finding method according to claim 1, it is characterised in that in step G, according to following formula calculate target away from
From：
Wherein, TswpFor the radar signal source frequency sweep time, B is radar signal source swept bandwidth, and v is electromagnetic wave biography in media as well
Broadcast speed.
7. the radar range finding method according to claim 3 or 5, it is characterised in that the frequency resolution Δ f meets：
Wherein, Δ r be radar ranging accuracy, TswpFor the radar signal source frequency sweep time, B is radar signal source swept bandwidth, and v is
Electromagnetic wave spread speed in media as well.
8. radar range finding method according to any one of claim 1 to 6, it is characterised in that in step B, the adding window
The window function of process is Hanning window.
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| WO2019119223A1 (en) * | 2017-12-18 | 2019-06-27 | 深圳市大疆创新科技有限公司 | Radar-based ranging processing method and device, and unmanned aerial vehicle |
| US10859691B2 (en) * | 2018-08-22 | 2020-12-08 | Infineon Technologies Ag | Radar range accuracy improvement method |
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