CN108872977A - Life entity double station cooperative detection method based on single channel ULTRA-WIDEBAND RADAR - Google Patents

Life entity double station cooperative detection method based on single channel ULTRA-WIDEBAND RADAR Download PDF

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CN108872977A
CN108872977A CN201810408040.8A CN201810408040A CN108872977A CN 108872977 A CN108872977 A CN 108872977A CN 201810408040 A CN201810408040 A CN 201810408040A CN 108872977 A CN108872977 A CN 108872977A
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radar
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life entity
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CN108872977B (en
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郭勇
贾勇
晏超
钟晓玲
尹诗颖
李�权
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Chengdu Univeristy of Technology
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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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves

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  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • General Life Sciences & Earth Sciences (AREA)
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  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a kind of life entity double station cooperative detection method based on single channel ULTRA-WIDEBAND RADAR, pass through echo-signal in the radar receiving area of two different locations, form two two-dimentional echo-signal matrixes, motion filtering is carried out respectively to two matrixes, two matrixes are subjected to cross-correlation calculation along slow time dimension after the operation such as low-pass filtering, cross correlation matrix number is formed, calculates specific location and the imaging of target at a distance from two radars using target in cross-correlation matrix.This method can either realize effective detection to multiple and different strong and weak life entity targets, the range information relative to two radars of each life entity target can be disposably extracted again, the location information of life entity target can be resolved without pairing processing, it can be effectively reduced false-alarm and false dismissal probability under multi-target condition, the accuracy and robustness for improving human body target detection can satisfy the needs of the plural faint vital signs detection of name trapped person under the occasions such as disaster assistance.

Description

Life entity double station cooperative detection method based on single channel ULTRA-WIDEBAND RADAR
Technical field
The present invention relates to a kind of radar detection method more particularly to a kind of life entity based on single channel ULTRA-WIDEBAND RADAR are double It stands collaborative detection method.
Background technique
In radar type life detection field, in order to realize detection and positioning to life entity target, conventional method generally makes Life entity target is carried out simultaneously with the ULTRA-WIDEBAND RADAR of ULTRA-WIDEBAND RADAR or multiple single transceiver channels with multiple transceiver channels Detection.For the life entity echo-signal of single transceiver channel, the faint period is extracted by the way of multiple-pulse coherent accumulation Property breathing vital signs, and then range information of the life entity relative to radar is obtained by target detection, finally utilizes multiple receipts The life entity range information for sending out channel resolves the location information of life entity.
However in the case where multiple life entity targets, this life entity detection based on coherent accumulation is deposited with localization method In two main problems.First, due to multiple target scattering characteristics, relative to radar distance difference and multiple target hide Gear, causes different target echo-signal capacity volume variance larger, the small echo signal of backward energy is not easy to detect, or even is made an uproar There is detection leakage phenomenon in sound annihilation；It is carried out at pairing second, the life entity location information of multiple transceiver channels needs according to target to belong to Reason, pairing treatment process is cumbersome and is easy to appear false marriage problem and generates decoy.
Summary of the invention
It solves the above problems, is can be realized to multiple and different strong and weak life entity mesh the object of the invention is that providing one kind Target effectively detects, and can disposably extract the life entity dual station based on single channel ULTRA-WIDEBAND RADAR of each life entity target Collaborative detection method.
To achieve the goals above, the technical solution adopted by the present invention is that it is such：One kind being based on single channel ultra wide band thunder The life entity double station cooperative detection method reached, includes the following steps：
(1) rectangular area is selected, two radars are set in rectangular area on one side, are respectively labeled as No.1 radar, No. two thunders It reaches, the radar is Millimeter Wave Stepped-Frequency High Resolution Radar, and the transmitters of two radars is towards in rectangular area, and two radar spacing are c, detecting area Domain can partly overlap；
The transmitter of (2) two radars continuously issues the frequency stepping continuous wave signal in N number of period simultaneously, reaches life entity Target generates echo-signal after being scattered, is acquired by two radar receivers, and every radar obtains the frequency stepping in N number of period Echo-signal；
(3) by No.1 radar, the received frequency stepping echo-signal of No. two radars, IFFT transformation is carried out by the period, is formed Speed time data plane is stored in the matrix P of N row M column respectively1(N, M) and P2In (N, M), wherein M is the points of IFFT；
(4) motion filtering is carried out along the slow time by column respectively to two matrixes that step (3) obtains using motion filters, Matrix after motion filtering is denoted as Tp1(N, M) and Tp2(N,M)；
(5) low-pass filtering is carried out along the slow time by column respectively to two matrixes that step (4) obtains using low-pass filter, Filtered data matrix is denoted as TL1(N, M) and TL2(N,M)；
(6) by TL1(i=1,2 ..., M) column element and matrix T i-th in (N, M)L2The jth (j=1,2 ..., M) of (N, M) Column element carries out related coefficient calculating, forms cross-correlation coefficient matrix VM×M, VM×MMiddle related coefficient calculation formula is as follows：
Wherein tL1i(t) representing matrix TL1The element of (N, M) t row i column, tL2j(t) representing matrix TL2(N, M) t row j The element of column, V (i, j) are matrix VM×MI-th row j column element；
(7) to cross-correlation coefficient matrix VM×MCarry out constant false alarm rate detection, output matrix VC(M,M)；
(8) by matrix VCEach multiple connected regions of target proximity, which handle to merge by expansion algorithm, in (M, M) becomes single Connected region, each simply connected region are labeled as a target, count target number K；
(9) it is No.1 radar, No. two radars by two radar signatures, extracts the center point coordinate (a of each target respectivelyk, bk), akIt is target at a distance from No.1 radar, bkIt is target at a distance from No. two radars, k (k=1,2 ..., K)；
(10) using No.1 radar as origin, two radar line extended lines are that x-axis establishes coordinate system, calculate target with following formula Actual position coordinate (xk,yk)；
As preferred：The Millimeter Wave Stepped-Frequency High Resolution Radar is single channel frequency ultra wide band stepping radar.
As preferred：Motion filters can be divided into pulse canceller and two kinds of matched filter.For convenience of calculate and Programming, herein using motion filters are averagely offseted, specifically filtering method is step (4)：P is sought respectively1And P2In every column element Average value, and the average value for enabling each column all elements subtract every column element is obtained to eliminate the DC component in echo-signal Matrix Tp1(N, M) and Tp2(N, M), Tp1(N, M) and Tp2Each element calculation formula is as follows in (N, M)：
Wherein, n=1,2 ..., N, m=1,2 ..., M, the respectively line number and columns of matrix.
As preferred：Research shows that human body respiration frequency is between 0.2Hz to 0.7Hz, so the low-pass filter is Using finite impulse response (FIR) (fir) low-pass filter of 1Hz cutoff frequency.
As preferred：In step (7), constant false alarm rate detection is specially：
To cross-correlation coefficient matrix VM×MConstant false alarm rate detection is carried out, according to the false-alarm probability P of settingfaCalculating matrix VM×M In the corresponding decision threshold of each element V (i, j)IfV (i, j) is then set 1, V (i, j) is otherwise set 0, is sentenced Result is denoted as V after certainlyC(M,M)。
Integral Thought of the invention is：By echo-signal in the radar receiving area of two different locations, two are formed Two-dimentional echo-signal matrix carries out motion filtering to two matrixes, by two matrixes along the slow time after the operation such as low-pass filtering respectively Dimension carries out cross-correlation calculation, forms cross correlation matrix number, is calculated at a distance from two radars using target in cross-correlation matrix The specific location of target and imaging out.This method can either realize effective detection to multiple and different strong and weak life entity targets, again The range information relative to two radars that each life entity target can disposably be extracted can resolve life without pairing processing Order the location information of body target.
Compared with the prior art, the advantages of the present invention are as follows：The present invention is using different radars to same target echo-signal The method for carrying out cross-correlation, detects and positions human body target using degree of correlation, that is, related coefficient size between signal, and It is not the detection and positioning for carrying out human body target using the method for traditional comparison energy size, can be effectively reduced in multiple target In the case of false-alarm caused by the backward energy gap great disparity as caused by shadowing effect between target range gap is larger or target and False dismissal probability improves the accuracy and robustness of human body target detection, and it is stranded to can satisfy plural name under the occasions such as disaster assistance The needs of the faint vital signs detection of personnel.
Detailed description of the invention
Fig. 1 is：Radar detection area schematic diagram；
Fig. 2 is：Embodiment radar and target position schematic diagram；
Fig. 3 is：The speed time data matrix that No.1 radar receives；
Fig. 4 is：The speed time data matrix that No. two radars receive；
Fig. 5 is：No.1 radar passes through the speed time data matrix of motion filtering；
Fig. 6 is：No. two radars pass through the speed time data matrix of motion filtering；
Fig. 7 is：Speed time data matrix of the No.1 radar Jing Guo low-pass filtering；
Fig. 8 is：Speed time data matrix of No. two radars Jing Guo low-pass filtering；
Fig. 9 is：Two radar echo signal cross correlation matrix numbers；
Figure 10 is：Cross correlation matrix number passes through the result of constant false alarm rate detection；
Figure 11 is：Final goal positions image.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
Embodiment 1：Referring to Fig. 1, a kind of life entity double station cooperative detection method based on single channel ULTRA-WIDEBAND RADAR, including Following steps：
(1) rectangular area is selected, two radars are set in rectangular area on one side, are respectively labeled as No.1 radar, No. two thunders It reaches, the radar is Millimeter Wave Stepped-Frequency High Resolution Radar, and the transmitters of two radars is towards in rectangular area, and two radar spacing are c, detecting area Domain can partly overlap；
The transmitter of (2) two radars continuously issues the frequency stepping continuous wave signal in N number of period simultaneously, reaches life entity Target generates echo-signal after being scattered, is acquired by two radar receivers, and every radar obtains the frequency stepping in N number of period Echo-signal；
(3) by No.1 radar, the received frequency stepping echo-signal of No. two radars, IFFT transformation is carried out by the period, is formed Speed time data plane is stored in the matrix P of N row M column respectively1(N, M) and P2In (N, M), wherein M is the points of IFFT；
(4) motion filtering is carried out along the slow time by column respectively to two matrixes that step (3) obtains using motion filters, Matrix after motion filtering is denoted as Tp1(N, M) and Tp2(N,M)；
(5) low-pass filtering is carried out along the slow time by column respectively to two matrixes that step (4) obtains using low-pass filter, Filtered data matrix is denoted as TL1(N, M) and TL2(N,M)；
(6) by TL1(i=1,2 ..., M) column element and matrix T i-th in (N, M)L2The jth (j=1,2 ..., M) of (N, M) Column element carries out related coefficient calculating, forms cross-correlation coefficient matrix VM×M, VM×MMiddle related coefficient calculation formula is as follows：
Wherein tL1i(t) representing matrix TL1The element of (N, M) t row i column, tL2j(t) representing matrix TL2(N, M) t row j The element of column, V (i, j) are matrix VM×MI-th row j column element；
(7) to cross-correlation coefficient matrix VM×MCarry out constant false alarm rate detection, output matrix VC(M,M)；
(8) by matrix VCEach multiple connected regions of target proximity, which handle to merge by expansion algorithm, in (M, M) becomes single Connected region, each simply connected region are labeled as a target, count target number K；
(9) it is No.1 radar, No. two radars by two radar signatures, extracts the center point coordinate (a of each target respectivelyk, bk), akIt is target at a distance from No.1 radar, bkIt is target at a distance from No. two radars, k (k=1,2 ..., K)；
(10) using No.1 radar as origin, two radar line extended lines are that x-axis establishes coordinate system, calculate target with following formula Actual position coordinate (xk,yk)；
In the present embodiment：The Millimeter Wave Stepped-Frequency High Resolution Radar is single channel frequency ultra wide band stepping radar；
The motion filters are averagely to offset motion filters, and the specific filtering method of step (4) is：P is sought respectively1And P2 In every column element average value, and each column all elements is enabled to subtract the average value of every column element, to eliminate in echo-signal DC component obtains matrix Tp1(N, M) and Tp2(N, M), Tp1(N, M) and Tp2Each element calculation formula is as follows in (N, M)：
Wherein, n=1,2 ..., N, m=1,2 ..., M, the respectively line number and columns of matrix.
The low-pass filter is finite impulse response (FIR) (fir) low-pass filter using 1Hz cutoff frequency.
In step (7), constant false alarm rate detection is specially：
To cross-correlation coefficient matrix VM×MConstant false alarm rate detection is carried out, according to the false-alarm probability P of settingfaCalculating matrix VM×M In the corresponding decision threshold of each element V (i, j)IfV (i, j) is then set 1, V (i, j) is otherwise set 0, is sentenced Result is denoted as V after certainlyC(M,M)。
Embodiment 2：Referring to Fig. 1 to Figure 11；
(1) two radars are arranged in MATLAB simulation software to be located at (0,0) and (1,0) coordinate；Wherein No.1 thunder It is (0,0) up to position, No. two radar sites are (1,0)；In order to verify the accuracy of this method, in a coordinate system, setting movement Target and static target, wherein moving target is located at (1,6), at (2,4) coordinate, and with frequency 0.2Hz, amplitude 0.01m Sinusoidal vibration is done, and being located at the target echo signal power at (1,6) coordinate is 0.3 times at (2,4)；Static target in Static background clutter is simulated at coordinate (0,2).Radar center frequency 2GHz, bandwidth 1.5GHz are set, white Gaussian noise is added and makes an uproar Sound, signal-to-noise ratio 10dB.Target and radar site as shown in Fig. 2, the radar range that uses of the present embodiment for 9 meters；
(2) two radar transmitters continuously issue the frequency stepping continuous wave signal in 3840 periods simultaneously, reach life Body target is scattered that rear target echo signal is acquired by two radar receivers, and every radar obtains N=3840 period Ultra wide band frequency stepping echo-signal；
(3) respectively to every radar obtain N=3840 period ultra wide band frequency stepping echo-signal Cycle by Cycle into Row inverse Fourier transform (IFFT) pulse is compressed to form speed time data plane, is stored in two speed time data matrix P1 (3840,400) and P2(3840,400), such as Fig. 3, shown in Fig. 4；Wherein M=400 is the points of IFFT；
It can be clearly visible 3 vertical lines in Fig. 3, Fig. 4, be from left to right followed successively by static target, target 1, target 2；
(4) respectively to two speed time data matrix P1(N, M) and P2(N, M) is averagely offseted by column along the slow time Processing filters out static background clutter, i.e., each element in each column is individually subtracted the average value of the column all elements, averagely offsets Data are stored in matrix T respectively afterwardsp1(3840,400) and Tp2In (3840,400), such as Fig. 5, shown in Fig. 6.And it is seen that quiet The signal of state clutter target scattering time has been filtered out, and can not be found out from matrix.2 can be clearly visible in Fig. 5, Fig. 6 to erect Line is from left to right followed successively by target 1, target 2；
(5)：50 ranks are built with MATLAB software, cutoff frequency is the fir low-pass filter of 1Hz, respectively to data Matrix Tp1(3840,400) and Tp2(3840,400) fir low-pass filtering is carried out along the slow time by column, inhibit high frequency spurs and made an uproar Sound, filtered data matrix are denoted as TL1(3840,400) and TL2(3840,400), such as Fig. 7, shown in Fig. 8；It can be bright in Fig. 7, Fig. 8 It is aobvious to see 2 vertical lines, from left to right it is followed successively by target 1, target 2；
(6) by TL1(3840,400) (i=1,2 ..., 400) column element and matrix T i-th inL2(3840,400) jth (j =1,2 ..., 400) column element carries out related coefficient calculating, and calculated result is stored in cross-correlation coefficient matrix V400×400In, square Related coefficient calculation formula is as follows in battle array：
Wherein tL1i(t) representing matrix TL1The element of (3840,400) t row i column, tL2j(t) representing matrix TL2(3840, 400) element of t row j column, V (i, j) are matrix VM×MI-th row j column element, cross-correlation coefficient matrix V400×400Middle element is larger Region be target region, as shown in Figure 9.It can be seen that have two pieces high degree of correlation region, as 2 Vibration Targets, Matrix V400×400Middle element position can indicate target to the distance of two radars.2 shades can be clearly visible in Fig. 9, from a left side Target 1, target 2 are followed successively by the right side；
(7) according to the false-alarm probability P of settingfa=0.01 calculating matrix V400×400In the corresponding judgement of each element V (i, j) ThresholdingIfV (i, j) is then set 1, V (i, j) is otherwise set 0, result is denoted as V after judgementC(400,400), such as It can be clearly visible 2 stains shown in Figure 10, in Figure 10, be from left to right followed successively by target 1, target 2；
(8) matrix V for being obtained step 7 by imdilate function in MATLABC(400,400) each target is attached in Nearly multiple connected regions, which handle to merge by expansion algorithm, becomes simply connected region,
(9) center point coordinate in each region is extracted as target and radar using regionprops function in MATLAB Between apart from coordinate (a1=6.01, b1=6.02), (a2=4.49, b2=4.14), wherein a1Between expression target 1 and No. 1 radar Distance, b1It indicates at a distance between target 1 and No. 2 radar, a2It indicates at a distance between target 2 and No. 1 radar, b2Indicate target 2 with Distance between No. 2 radars；
(10) according to distance (a between obtained target and two radars1,b1) and (a2,b2), it is calculated with 1 location algorithm of axonometric projection The actual position coordinate (1.16m, 6.00m) of target out, (1.98m, 4.02m), the error very little set when starting with embodiment, MATLAB imaging is as shown in figure 11.It can be clearly visible 2 circles in Figure 11, be from left to right followed successively by target 1, target 2.
In conclusion the present invention by after the echo-signal matrix disposal that is received to two different location radars along the slow time Cross-correlation operation is carried out, steady detection and positioning to life entity target is realized, can be effectively reduced because distance and position etc. are former Because of the probability that the false dismissal and false-alarm of initiation occur, the demand for detecting and positioning to life entity in different scenes can satisfy.

Claims (5)

1. a kind of life entity double station cooperative detection method based on single channel ULTRA-WIDEBAND RADAR, it is characterised in that：Including following step Suddenly：
(1) rectangular area is selected, two radars are set in rectangular area on one side, are respectively labeled as No.1 radar, No. two radars, institute Stating radar is Millimeter Wave Stepped-Frequency High Resolution Radar, and the transmitters of two radars is towards in rectangular area, and two radar spacing are c, search coverage energy It partly overlaps；
The transmitter of (2) two radars continuously issues the frequency stepping continuous wave signal in N number of period simultaneously, reaches life entity target Echo-signal is generated after being scattered, is acquired by two radar receivers, and every radar obtains the frequency stepping echo in N number of period Signal；
(3) by No.1 radar, the received frequency stepping echo-signal of No. two radars, IFFT transformation is carried out by the period, forms speed Time data plane is stored in the matrix P of N row M column respectively1(N, M) and P2In (N, M), wherein M is the points of IFFT；
(4) motion filtering, movement are carried out along the slow time by column respectively to two matrixes that step (3) obtains using motion filters Filtered matrix is denoted as Tp1(N, M) and Tp2(N,M)；
(5) low-pass filtering, filtering are carried out along the slow time by column respectively to two matrixes that step (4) obtains using low-pass filter Data matrix is denoted as T afterwardsL1(N, M) and TL2(N,M)；
(6) by TL1(i=1,2 ..., M) column element and matrix T i-th in (N, M)L2Jth (j=1,2 ..., the M) column element of (N, M) Related coefficient calculating is carried out, cross-correlation coefficient matrix V is formedM×M, VM×MMiddle related coefficient calculation formula is as follows：
Wherein tL1i(t) representing matrix TL1The element of (N, M) t row i column, tL2j(t) representing matrix TL2The member of (N, M) t row j column Element, V (i, j) are matrix VM×MI-th row j column element；
(7) to cross-correlation coefficient matrix VM×MCarry out constant false alarm rate detection, output matrix VC(M,M)；
(8) by matrix VCEach multiple connected regions of target proximity, which handle to merge by expansion algorithm, in (M, M) becomes simply connected area Domain, each simply connected region are labeled as a target, count target number K；
(9) it is No.1 radar, No. two radars by two radar signatures, extracts the center point coordinate (a of each target respectivelyk, bk), ak It is target at a distance from No.1 radar, bkIt is target at a distance from No. two radars, k (k=1,2 ..., K)；
(10) using No.1 radar as origin, two radar line extended lines are that x-axis establishes coordinate system, and the reality of target is calculated with following formula Border position coordinates (xk,yk)；
2. the life entity double station cooperative detection method according to claim 1 based on single channel ULTRA-WIDEBAND RADAR, feature It is：The Millimeter Wave Stepped-Frequency High Resolution Radar is single channel frequency ultra wide band stepping radar.
3. the life entity double station cooperative detection method according to claim 1 based on single channel ULTRA-WIDEBAND RADAR, feature It is：The motion filters are averagely to offset motion filters, and the specific filtering method of step (4) is：P is sought respectively1And P2In it is every The average value of column element, and each column all elements is enabled to subtract the average value of every column element, to eliminate the direct current in echo-signal Component obtains matrix Tp1(N, M) and Tp2(N, M), Tp1(N, M) and Tp2Each element calculation formula is as follows in (N, M)：
Wherein, n=1,2 ..., N, m=1,2 ..., M, the respectively line number and columns of matrix.
4. the life entity double station cooperative detection method according to claim 1 based on single channel ULTRA-WIDEBAND RADAR, feature It is：The low-pass filter is finite impulse response (FIR) (fir) low-pass filter using 1Hz cutoff frequency.
5. the life entity double station cooperative detection method according to claim 1 based on single channel ULTRA-WIDEBAND RADAR, feature It is：In step (7), constant false alarm rate detection is specially：To cross-correlation coefficient matrix VM×MConstant false alarm rate detection is carried out, according to setting The false-alarm probability P setfaCalculating matrix VM×MIn the corresponding decision threshold of each element V (i, j)IfThen by V (i, j) sets 1, and V (i, j) is otherwise set 0, and result is denoted as V after judgementC(M,M)。
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CN111999711A (en) * 2020-10-10 2020-11-27 辽宁工程技术大学 Performance detection system and method of UWB radar life detection device
CN112826462A (en) * 2020-12-31 2021-05-25 安徽理工大学 Method for monitoring vital signs of underground personnel based on frequency spectrum sensing and ultra-wideband radar

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