CN105487060B - A kind of multiple target extracting method of four Slope Modulation of binary channels - Google Patents
A kind of multiple target extracting method of four Slope Modulation of binary channels Download PDFInfo
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- CN105487060B CN105487060B CN201510831449.7A CN201510831449A CN105487060B CN 105487060 B CN105487060 B CN 105487060B CN 201510831449 A CN201510831449 A CN 201510831449A CN 105487060 B CN105487060 B CN 105487060B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
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Abstract
The invention discloses a kind of multiple target extracting method of four Slope Modulation of binary channels, comprising：S1, radar signal processing unit control frequency generator generation modulated signal through overshoot, receive and process to obtain echo-signal frequency spectrum；S2 extracts target by CFAR Methods from echo-signal frequency spectrum；S3 generates one or four Slope Modulation waveforms, removes the false target in the target and obtain real goal, and obtain the actual range and actual speed of the real goal；S4, object matching, data fusion are carried out to the result of different cycles detection, and tracking filter is carried out to multiple target using Kalman filtering.The present invention efficiently solves multi-targets recognition, detection problem, multiple target tracking problem, and with ranging, rate accuracy height, stability is good, low cost, and processing is simple, it is easy to accomplish.
Description
Technical field
The present invention relates to multiple target extracting method, more particularly to a kind of multiple target extraction side of four Slope Modulation of binary channels
Method.
Background technology
With the development of science and technology, Radar Technology is increasingly extensive in the application of civil field, and such as traffic speed radar is handed over
Through-current capacity police radar, automobile collision avoidance radar, Anticollision Radar peculiar to vessel, security radar equipment etc..Radar detection is relative to video detection
Have many advantages, such as it is round-the-clock, do not influenced by weather environment, have good market prospects.At present, domestic use is more extensive
It is the continuous wave Doppler radar based on Doppler effect, Doppler effect, which refers to work as, opposite fortune between emission source and recipient
When dynamic, the signal frequency received will change, and emitting signal by measurement can calculate with receiving the difference on the frequency of signal
The movement velocity of target, traditional Doppler radar can only measure the motion velocity information of object, it is impossible to measure object distance,
Location information greatly limits application range.
In terms of patent, Wang Zhongming, Du Jing of Hua Ru Science and Technology Ltd.s of Shenzhen have applied for that a kind of patent-traffic is tested the speed
Method and device (102798862 A of publication No. CN), the patent describe a kind of maximum speed to vehicles all in the range of testing the speed
The method that measures is spent, this method is only applicable to the situation of single goal, and when there are more vehicles in the range of test the speed, vehicle cannot be distinguished
Correspondence with speed.The dragon of Chengdu Zhong Yuanxin Electronic Science and Technology Co., Ltd.s has rather applied for that a kind of patent-continuous wave tests the speed
Radar (104251992 A of publication No. CN), the patent describe a kind of Modulation Continuous Wave Radar, which mainly applies
It tests the speed field in road traffic, the true velocity of each vehicular traffic can be detected in real time, be only applicable to the situation of single goal.Xu Cheng
Fine jade has applied for patent-make a dash across the red light detection radar (103366559 A of publication No. CN), the patent provides one kind with FMCW principles
Based on radar make a dash across the red light capturing system, when vehicle enters or sails out of radar shadow, radar triggering high definition camera, which is captured, to be disobeyed
The traveling picture of chapter vehicle.Toyota Motor Corporation rep. has applied for patent-Anti-collision control device (publication No. CN
104816697 A), vehicle accessory object is detected using imaging sensor and radar sensor the patent describe a kind of
Method.The Tang Ling, Wang Zhengxin of Shenzhen Graduate School of Peking University, it Huang Lijun, Xu Feng, Meng Fanyu, Li Yanhong, Wang Xinan, opens
Emerging to have applied for patent-a kind of CW with frequency modulation automobile anti-collision radar system (102788980 A of publication No. CN), which passes through
Spectrum analysis is carried out to radar intermediate frequency signal, measurement result is converted into distance and velocity information, 150 meters of maximum operating range,
1 meter of distance resolution, 1 meter per second of velocity resolution.Chen Jianshe, Wang Fei, He Dexi of Anhui Landun Photoelectron Co., Ltd.
A kind of patent-speed-measuring radar system (102445689 A of publication No. CN) with function of distinguishing vehicle direction is applied for, this is specially
Profit provides a kind of high-performance, low cost, the survey with function of distinguishing vehicle direction for being easy to use, can distinguishing direction of traffic
Fast radar system.Yang Fu, Chen Weibiao, He Yan of Shanghai Optics and Precision Mechanics institute, Chinese Academy of Sciences have applied for patent-high-precision
Test the speed range laser radar system and the distance measuring method that tests the speed (101236253 B of publication No. CN) are spent, the patent provides a kind of surveys
The method for measuring target range and speed, but multi-target processing ability is bad, and laser is easily by such environmental effects.Shang Haihong
Yang Licheng, wangkai, Lv Xiaoming, Yang Zhiwei, Pan Jinyi depending on telecom technology co., ltd have applied for patent-mono- radar multilane intelligence
Energy speed-measuring method and its system (104424804 A of publication No. CN), the patent provides a kind of single radar multilane intelligent speed-measurings
Method and its system, the camera for being detected using a radar to multiple tracks and triggering corresponding track are taken pictures.Chinese science
The Li Heping of electronics research institute of institute has applied for that Microwave Velocity is surveyed during the high-precision real of patent-based on symmetric triangular LFMCW radars
Away from device (103630888 A of publication No. CN), which realizes the high-acruracy survey to velocity to moving target and distance, but
It is that this method treatment effect is not good enough in the case of multiple target.
Modulation Continuous Wave Radar has that transmission power is low, distance resolution is high, strong antijamming capability, small, again
Amount is light, advantages of simple structure and simple, is widely applied in numerous occasions.Traditional Modulation Continuous Wave Radar generally uses
Sawtooth wave or the modulation of symmetric triangular wave, solve target velocity and distance by the difference on the frequency for emitting signal and echo-signal
It calculates.
Sawtooth wave is obscured in speed and apart from upper presence, it is impossible to the accurate speed and distance for measuring moving target.
When, there are during n echo signals, ascent stage and descending branch echo-signal are with emitting signal in receiver echo-signal
Difference frequency signal respectively has n root spectral lines after Fast Fourier Transform (FFT), to the ascent stage and declines the segment data progress shared n of matching two-by-two2
Group data, n2There was only n groups for real goal in group data, remaining n2- n groups is false targets, therefore symmetric triangular wave frequency modulated(FM) radar
There are problems that spectral pair under multi-target condition, be only applicable to the situation of single goal.
Invention content
The object of the present invention is to provide a kind of multiple target extracting methods of four Slope Modulation of binary channels, efficiently solve more mesh
Mark is other, detection problem, multiple target tracking problem, and high with ranging, rate accuracy, and stability is good, low cost, and processing is simple
It is single, it is easy to accomplish the advantages that, it disclosure satisfy that the application demand of numerous occasions, good market prospect.
In order to achieve the goal above, the present invention is achieved by the following technical solutions：
A kind of multiple target extracting method of four Slope Modulation of binary channels, its main feature is that, this method includes：
S1, radar signal processing unit control frequency generator generation modulated signal through overshoot, receive and process to obtain
Echo-signal frequency spectrum；
S2 extracts target by CFAR Methods from echo-signal frequency spectrum；
S3 generates one or four Slope Modulation waveforms, removes the false target in the target and obtain real goal, and obtain institute
State the actual range and actual speed of real goal；
S4, to different cycles detection result carry out object matching, data fusion, using Kalman filtering to multiple target into
Line trace filters.
The step S1 is included：
S1.1, radar signal processing unit control frequency generator generates modulated signal, after power amplifier amplifies
Transmitting antenna is output to, transmitting antenna is gone out signal radiation is emitted；
S1.2, the transmitting signal are reflected back two reception antennas by one or more targets；
S1.3, echo-signal amplify by low noise amplifier, are mixed, intermediate-freuqncy signal are obtained after low-pass filtering；
S1.4, radar signal processing unit control analog-digital converter sample intermediate-freuqncy signal to obtain signal spectrum.
The step S3 is included：
S3.1 generates one or four Slope Modulation waveforms, and the four Slope Modulation waveforms are made of two trapezoidal waveforms, each
Trapezoidal waveform is made of ascent stage, horizontal segment, descending branch；The modulation bandwidth of one trapezoidal waveform be B1, another trapezoidal wave
The modulation bandwidth of shape is B2, and the modulation time and slope K 1 of trapezoidal waveform, K2, K3, K4 and modulation bandwidth B1, B2 can be by
Radar signal processing unit is controlled in real time according to current goal quantity, target type；
S3.2 when measuring single goal by formula (1), calculates the radial distance R and radial velocity of the opposite radar of target
V；
Wherein, T is the modulation time, and B is modulation bandwidth, fr +For ascent stage echo-signal with transmitting signal beat frequency,
fr -For descending branch echo-signal and the beat frequency of transmitting signal；
When measuring n target, n ＞ 1, by two trapezoidal ascent stages, the lower distance and velocity amplitude for rising section and horizontal segment with
Whether the distance and velocity amplitude of target overlap, if so, for real goal, if being otherwise virtual target；
Using the phase difference calculating target of binary channels echo-signal and the angle of radar, and the reality of target is obtained in S3.3
Distance and actual speed.
The step S4 is included：
S4.1 sets target heap to store history target information, each history target in the target heap include ID,
Apart from the factor, velocity factor, angular factors and system factor；
S4.2 calculates objective attribute target attribute according to formula (2) to the actual range and actual speed of the target after resolving every time：
Wherein, α is apart from the factor, and β is velocity factor, and χ is angular factors, and κ is system factor,For objective attribute target attribute.
S4.3, judges whether objective attribute target attribute matches with the objective attribute target attribute of some ID in target heap, if so, for same mesh
Mark, and the ID is updated using the calculated value of current target properties；If it is not, then one is redistributed for the target
ID, and be added in target heap；
S4.4 if some ID in target heap is not updated for continuous Z times, deletes corresponding target from target heap
Information；
S4.5 carries out recurrence tracking and filtering using Kalman filtering to multiple target.
Compared with prior art, the present invention it has the following advantages：
1st, a kind of four new slope Modulation Continuous Wave Radar waveforms, within a modulation period by two ascent stages,
Two descending brancies, two horizontal segments form a kind of double trapezoid modulation waveforms, by control in real time ascent stage, descending branch slope,
Modulation bandwidth and modulation time, it can effectively reject false target.
2nd, this method can effectively solve the problems, such as range-velocity coupling and multiple target spectral pair problem, can accurately obtain
Obtain distance, speed and the azimuth information of each target under multi-target condition.
Description of the drawings
Fig. 1 is a kind of flow chart of the multiple target extracting method of four Slope Modulation of binary channels of the present invention；
Fig. 2 is the structure chart of radar system that the present invention uses；
Fig. 3 is constant false alarm processing system schematic diagram；
Fig. 4 is constant false alarm treatment effect figure；
Fig. 5 is the schematic diagram of four Slope Modulation waveforms in the present invention；
Fig. 6 crosses figure for target multi slope of the present invention；
Fig. 7 is phase angle measurement schematic diagram of the present invention；
Fig. 8 is Kalman filtering design sketch.
Specific embodiment
Below in conjunction with attached drawing, by the way that a preferable specific embodiment is described in detail, the present invention is further elaborated.
As shown in Figure 1, a kind of multiple target extracting method of four Slope Modulation of binary channels, comprising：
S1, radar signal processing unit control frequency generator generation modulated signal through overshoot, receive and process to obtain
Echo-signal frequency spectrum；
S2 extracts target by CFAR Methods from echo-signal frequency spectrum；
S3 generates one or four Slope Modulation waveforms, removes the false target in the target and obtain real goal, and obtain institute
State the actual range and actual speed of real goal；
S4, to different cycles detection result carry out object matching, data fusion, using Kalman filtering to multiple target into
Line trace filters.
As shown in Fig. 2, above-mentioned step S1 is included：
S1.1, radar signal processing unit control frequency generator generate modulated signal, are put by power amplifier (PA)
Transmitting antenna is output to after big, transmitting antenna is gone out signal radiation is emitted；
S1.2, the transmitting signal are reflected back two reception antennas (1,2) by one or more targets；
S1.3, echo-signal is by low noise amplifier (LNA) amplifies, frequency mixer 3 is mixed, after 4 low-pass filtering of wave filter
Obtain intermediate-freuqncy signal；
S1.4, radar signal processing unit control analog-digital converter sample intermediate-freuqncy signal to obtain signal spectrum.
Useful target is extracted in radar detection requirement in the background that there is interference, and it is miscellaneous that interference includes atural object, sleet, wave etc.
Wave interference, receiver internal noise, artificial active interference and sourceless seism and the neighbouring mesh mixed in together with useful target
Mark interference etc., as shown in figure 3, above-mentioned step S2 carries out radar echo signal using constant false alarm processing system (OS-CFAR)
Processing, specially：D is to be detected unit, and front window and rear window are the reference samples for being detected cells D, and i sample is included in each window
This, 2i sample in front window and rear window is ranked up by sequence from small to large：
X(1)≤X(2)≤X(3)≤X(4)≤……≤X(2i)
It is regulation coefficient to the estimation Z, T of clutter power level that k-th of sample x (k), which is chosen, as detector, and detection is single
First D and threshold value S=TZ is compared the judgement that can be obtained to current detection unit, i.e. D>During S, current detection cells D is adjudicated
It is otherwise noise jamming for effective target.In Fig. 4, solid line is echo-signal frequency spectrum, and dotted line is calculated by sequence
Threshold value, dot are the target obtained after constant false alarm is handled.
Above-mentioned step S3 is included：
S3.1 generates one or four Slope Modulation waveforms (referring to Fig. 5), and the four Slope Modulation waveforms are by two trapezoidal waveforms
It forms, each trapezoidal waveform is made of ascent stage, horizontal segment, descending branch；The modulation bandwidth of one trapezoidal waveform is B1, another
The modulation bandwidth of a trapezoidal waveform is B2, the modulation time and slope K 1 of trapezoidal waveform, K2, K3, K4 and modulation bandwidth B1,
B2 can in real time be controlled by radar signal processing unit according to current goal quantity, target type, be embodied as emitting in Fig. 5
Signal, dotted line are echo-signal；
S3.2 when measuring single goal by formula (1), calculates the radial distance R and radial velocity of the opposite radar of target
V；
Wherein, T is the modulation time, and B is modulation bandwidth, fr +For ascent stage echo-signal with transmitting signal beat frequency,
fr -For descending branch echo-signal and the beat frequency of transmitting signal；
When measuring n target, n ＞ 1, first trapezoidal ascent stage and decline segment data carry out matching shared n two-by-two2
Group data, second trapezoidal ascent stage and decline segment data are matched two-by-two also n2Group data, and trapezoidal horizontal segment
Echo-signal in only exist the velocity information of target, include n velocity information in horizontal segment frequency spectrum.As shown in fig. 6, true mesh
Target distance, speed are unrelated with modulation bandwidth, modulation period, and ascent stage, descending branch, the distance of horizontal segment, velocity amplitude can weigh
It closes, and the distance of false target and speed are related with modulation bandwidth, modulation period, it is impossible to it is completely superposed.By two trapezoidal risings
Whether the distance and velocity amplitude of section, lower liter section and horizontal segment overlap with the distance and velocity amplitude of target, if so, for true mesh
Mark, if being otherwise virtual target；
Using the phase difference calculating target of binary channels echo-signal and the angle of radar, and the reality of target is obtained in S3.3
Distance and actual speed, referring to Fig. 7, dotted line is normal direction, is embodied as target direction, the two angle is θ, due to reception antenna
Distance is d between 1 and reception antenna 2, and the echo-signal that two antennas receive is because there are generate phase difference during a wave path-difference Δ RAccording to relationship in Fig. 7：
λ is phase wave length, and phase difference can be acquired by the result of 2 Fast Fourier Transform (FFT) of channel 1 and channelSo as to really
Set the goal direction θ.
Modulation Continuous Wave Radar each period complete a target detection, obtain current target away from
From, velocity information, target component is estimated using Kalman filter during week, realize multiple target tracking.To target following
Before first to determine target that radar detects every time is a fresh target or a front has been detected target.Assuming that first
Beginning state t0 time data has 3 targets after resolving, and distance, speed are respectively r01, v01, r02, v02, r03, v03, by three
The ID of target is respectively set to ID1, ID2, ID3, and there is also 3 targets, distance, speed after the resolving of t1 time datas to be respectively
How the distance, speed and ID at t1 moment are carried out being paired as key by r11, v11, r12, v12, r13, v13.
Above-mentioned step S4 is included：
S4.1 sets target heap to store history target information, each history target in the target heap include ID,
Apart from the factor, velocity factor, angular factors and system factor；
S4.2 calculates objective attribute target attribute according to formula (2) to the actual range and actual speed of the target after resolving every time：
Wherein, α is apart from the factor, and β is velocity factor, and χ is angular factors, and κ is system factor,For objective attribute target attribute, r,
V, θ is distance, speed, the angle of target.
S4.3, judges whether objective attribute target attribute matches with the objective attribute target attribute of some ID in target heap, if so, for same mesh
Mark, and the ID is updated using the calculated value of current target properties；If it is not, then one is redistributed for the target
ID, and be added in target heap；
S4.4 if some ID in target heap is not updated for continuous Z times, deletes corresponding target from target heap
Information, it is achieved thereby that the tracking of target, capture, discarding process under multi-target condition.
S4.5 carries out recurrence tracking and filtering, in engineer application, radar surveying using Kalman filtering to multiple target
Data usually carry noise jamming, it is impossible to which the actual value of data needed for acquisition can be distorted measurement data, very in some cases
To causing data unavailable.Traditional filtering method requirement signal and noise have a different frequency distribution, and Kalman filtering
Device can effectively reduce the influence of noise, and target data is extracted from noise.To the effect of the filtering of certain target range
As shown in figure 8, stain is the range data that radar obtains certain target acquisition, solid black lines are the number after Kalman filtering
According to.
In conclusion a kind of multiple target extracting method of four Slope Modulation of binary channels of the present invention, efficiently solves multiple target
Identification, detection problem, multiple target tracking problem, and it is high with ranging, rate accuracy, stability is good, and low cost, processing is simple,
The advantages that being easily achieved disclosure satisfy that the application demand of numerous occasions, good market prospect.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (3)
1. a kind of multiple target extracting method of four Slope Modulation of binary channels, which is characterized in that this method includes：
S1, radar signal processing unit control frequency generator generation modulated signal through overshoot, receive and process to obtain echo
Signal spectrum；
S2 extracts target by CFAR Methods from echo-signal frequency spectrum；
S3 generates one or four Slope Modulation waveforms, removes the false target in the target and obtain real goal, and obtains described true
The actual range and actual speed of real target；
S4, to different cycles detection result carry out object matching, data fusion, multiple target is carried out using Kalman filtering with
Track filters；
The step S3 is included：
S3.1 generates one or four Slope Modulation waveforms, and the four Slope Modulation waveforms are made of two trapezoidal waveforms, each trapezoidal
Waveform is made of ascent stage, horizontal segment, descending branch；The modulation bandwidth of one trapezoidal waveform is B1, another trapezoidal waveform
Modulation bandwidth is B2, and the modulation time and slope K 1 of trapezoidal waveform, K2, K3, K4 and modulation bandwidth B1, B2 can be by radars
Signal processing unit is controlled in real time according to current goal quantity, target type；
S3.2 when measuring single goal by formula (1), calculates the radial distance R of the opposite radar of target and radial velocity V；
Wherein, T is the modulation time, and B is modulation bandwidth, fr +For ascent stage echo-signal and the beat frequency of transmitting signal, fr -For
Descending branch echo-signal and the beat frequency of transmitting signal, c is the light velocity, and f is radar operating frequency；
When measuring n target, n ＞ 1, by two trapezoidal ascent stages, the lower distance and velocity amplitude and target for rising section and horizontal segment
Distance and velocity amplitude whether overlap, if so, for real goal, if being otherwise virtual target；
Using the phase difference calculating target of binary channels echo-signal and the angle of radar, and the actual range of target is obtained in S3.3
And actual speed.
2. the multiple target extracting method of four Slope Modulation of binary channels as described in claim 1, which is characterized in that the step
S1 is included：
S1.1, radar signal processing unit control frequency generator generate modulated signal, are exported after power amplifier amplifies
To transmitting antenna, transmitting antenna is gone out signal radiation is emitted；
S1.2, the transmitting signal are reflected back two reception antennas by one or more targets；
S1.3, echo-signal amplify by low noise amplifier, are mixed, intermediate-freuqncy signal are obtained after low-pass filtering；
S1.4, radar signal processing unit control analog-digital converter sample intermediate-freuqncy signal to obtain signal spectrum.
3. the multiple target extracting method of four Slope Modulation of binary channels as described in claim 1, which is characterized in that the step
S4 is included：
S4.1 sets target heap to store history target information, and each history target in the target heap includes ID, distance
The factor, velocity factor, angular factors and system factor；
S4.2 calculates objective attribute target attribute according to formula (2) to the actual range and actual speed of the target after resolving every time：
Wherein, α is apart from the factor, and β is velocity factor, and χ is angular factors, and κ is system factor,For objective attribute target attribute, r, v, θ divide
Not Wei apart from factor-alpha, apart from factor-beta, the corresponding objective attribute target attribute coefficients of angular factors χ；
S4.3, judges whether objective attribute target attribute matches with the objective attribute target attribute of some ID in target heap, if so, for same target,
And the ID is updated using the calculated value of current target properties；If it is not, an ID then is redistributed for the target,
And it is added in target heap；
S4.4 if some ID in target heap is not updated for continuous Z times, deletes corresponding target letter from target heap
Breath；
S4.5 carries out recurrence tracking and filtering using Kalman filtering to multiple target.
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| CN106405556B (en) * | 2016-11-02 | 2019-03-08 | 上海神添实业有限公司 | Vehicle target information detection identifying system and its signal processing method |
| CN108078555A (en) * | 2016-11-23 | 2018-05-29 | 南京理工大学 | A kind of vital sign remote monitoring device based on Kalman filtering and target following |
| WO2019091867A1 (en) * | 2017-11-13 | 2019-05-16 | Robin Radar Facilities Bv | Radar based system and method for detection of an object and generation of plots holding radial velocity data, and system for detection and classification of unmanned aerial vehicles, uavs |
| CN108120975A (en) * | 2017-12-16 | 2018-06-05 | 广西大学 | Radar velocity measurement distance measuring method based on trapezoidal continuous wave |
| 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 |
| CN109001692B (en) * | 2018-06-29 | 2022-04-08 | 广东工业大学 | Adaptive mutual interference resisting method for millimeter wave radar |
| CN109375202B (en) * | 2018-12-14 | 2022-11-18 | 武汉理工大学 | Vehicle distance and speed measurement method based on vehicle-mounted millimeter wave radar |
| CN110361735B (en) * | 2019-07-22 | 2023-04-07 | 成都纳雷科技有限公司 | Vehicle speed measuring method and device based on speed measuring radar |
| CN111103575A (en) * | 2019-12-30 | 2020-05-05 | 微源光子(深圳)科技有限公司 | Laser super-continuous sensing system |
| CN114690171A (en) * | 2020-12-31 | 2022-07-01 | 上海禾赛科技有限公司 | Method for detecting by frequency-modulated continuous wave and laser radar |
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| CN102707285A (en) * | 2012-05-28 | 2012-10-03 | 河海大学 | Method for detecting frequency domain constant false alarm of vehicle-mounted millimeter-wave anti-collision radar system |
| CN102866398B (en) * | 2012-09-21 | 2014-03-19 | 中国航天空气动力技术研究院 | Method and system for performing moving-target identification by using frequency-modulated continuous-wave radar |
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