CN111308435B - Variable-carrier multi-delay centralized MIMO radar signal processing method - Google Patents
Variable-carrier multi-delay centralized MIMO radar signal processing method Download PDFInfo
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- CN111308435B CN111308435B CN201911250734.4A CN201911250734A CN111308435B CN 111308435 B CN111308435 B CN 111308435B CN 201911250734 A CN201911250734 A CN 201911250734A CN 111308435 B CN111308435 B CN 111308435B
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- 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
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Abstract
The invention relates to a variable-carrier multi-delay centralized MIMO radar signal processing method, wherein an MIMO radar array is provided with L t Each transmitting antenna and L r A linear array of receive antennas, the signal of the 1 st transmit antenna being the reference signal, the other transmit signals having equally spaced time delays and frequency steps. Mixing with reference signal at receiving end, multiplying with corresponding frequency signal, down-converting, analog low-pass filtering to form L t ×L r And a plurality of channels. Digital sampling and digital low-pass filtering are carried out on each channel signal, FFT processing is carried out, and the target frequency f is extracted k,m,n . The invention creates a frequency division multiplexing condition by utilizing multiple paths of time delays, saves detection time, and solves the problem of Doppler frequency ambiguity of a high-speed target by changing the design of carrier frequency waveforms. The performance of millimeter wave radar is improved by the centralized MIMO continuous wave radar.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a variable-carrier multi-delay centralized MIMO radar signal processing method.
Background
Millimeter wave radar is a mainstream technology for commercial application of automobile auxiliary driving due to various advantages such as all-weather working capacity, good environmental adaptability and the like. Particularly, in recent years, the development of a monolithic microwave integrated circuit technology provides a solution for realizing a high-integration on-chip millimeter wave radar transmitter/receiver, and promotes the development of an on-vehicle millimeter wave radar technology. However, the radar system with one or more radar systems can not meet the space detection requirement of automatic driving, and is only used as an auxiliary detection means outside the 'vision+laser sensor' framework.
The centralized MIMO continuous wave radar is a main technical means for improving the performance of millimeter wave radar, and accords with the necessary trend of radar technology development. The cascade extension of the radio frequency chip provides technical feasibility for the centralized MIMO continuous wave radar. The primary criterion to be satisfied by the waveform design of the centralized MIMO continuous wave radar is as follows: ensuring the separation and reception of the signals. Time division multiplexing and frequency division multiplexing are the most straightforward methods to solve the above problems. However, there is no ideal solution for time division multiplexing to increase the detection time, frequency division multiplexing to waste frequency resources or increase the hardware cost. Therefore, the invention provides a variable-carrier multi-delay centralized MIMO radar signal processing method.
Disclosure of Invention
Aiming at the defects of the prior art, the invention relates to a variable-carrier multi-delay centralized MIMO radar signal processing method.
The technical scheme adopted by the invention for achieving the purpose is as follows:
a variable-carrier multi-delay centralized MIMO radar signal processing method comprises the following steps:
1) MIMO radar array with L t Each transmitting antenna and L r A linear array of receiving antennas, the transmitting signal of the 1 st transmitting antenna being used as a transmitting reference signal;
2) The transmitting signal is reflected by a target in the space to obtain a receiving signal of a receiving antenna;
3) Mixing a receiving signal of a receiving antenna with a transmitting reference signal to obtain a mixed beat signal;
4) Processing the mixed beat signal, and performing low-pass filtering to realize channel separation;
5) And carrying out discrete sampling on the channels, carrying out FFT processing after digital low-pass filtering, and extracting the frequency spectrum of each channel to obtain the frequency corresponding to the channel.
The transmission reference signal is:
wherein p (t) is a phase encoded signal varying with time t, f 0 For signal carrier frequency, mu is linear modulation frequency, modulation period is T s Modulation bandwidth is B, μ=b/T s T represents time;
the transmission signal of the mth transmitting antenna is:
wherein f p For the step frequency, f, of adjacent transmit antennas p ＞μτ max ，T rth For the transmission delay of adjacent transmitting antennas, satisfies tau max ＜T rth ＜T/L t Require τ max The signal propagation time requirement, denoted as the furthest detection distance, T represents the MIMO signal period.
The transmitted signal is reflected by K targets in space, and then the received signal of the nth antenna is:
wherein G (t, m, τ) m,k,n )＝A k p(t-(m-1)T rth -τ m,k,n ) Expressed as envelope of the received signal, is a function of the parameters t, m, τ m,k,n A variable function, t is time, mu is linear frequency adjustment, f p For the step frequency, f, of adjacent transmit antennas 0 For signal carrier frequency, A k Representing the reflection coefficient of k targets τ m,k,n Representing the time of reflection of a signal from an mth transmitting antenna to an nth receiving antenna via a kth target, t m,k,n ＝t-(m-1)T rth -τ m,k,n ，f D,k,m Is the firstDoppler frequency, f, induced by m transmitting antennas via the kth target D,k,m ＝2(f 0 +(m-1)f p )v k /c，v k The speed of the kth target relative to the radar, c is the speed of light.
Reception signal and transmission reference signal S of nth reception antenna 1 (t) complex mixing, the mixed beat signal being:
the mixed signal is the combination of a plurality of single-frequency signals, and the frequency of the signal mixed by the kth target for the mth antenna is (m-1) f p -μ(m-1)T rth -μτ m,k,n Wherein, (m-1) f p Frequency offset due to variable carrier frequency, -mu (m-1) T rth F is frequency offset caused by time delay B,k,m,n F is frequency offset caused by the target B,k,m,n ＝-μτ m,k,n ，G B (t,m,τ m,k,n ) Representing the envelope of the mixed signal, t being time, τ m,k,n Representing the time of reflection of a signal from an mth transmitting antenna to an nth receiving antenna via a kth target, f p For the step frequency, T, of adjacent transmit antennas rth For the transmission delay of adjacent transmitting antennas, f D,k,m For the mth transmit antenna via the kth target induced doppler frequency,
representing the induced phase change, the expression is:
the mth channel signal of the nth receiving antenna is:
wherein K is a target number, G B (t,m,τ m,k,n ) Representing the envelope of the mixed signal, (m-1) f p Frequency offset caused by variable carrier frequency, f B,k,m,n For frequency offset due to the target, t is time,
indicating the resulting phase change.
The frequency corresponding to the kth target of the mth channel of the nth receiving antenna is:
f k,m,n ＝f B,k,m,n +f D,k,m
wherein f can be extracted by multi-period signal FFT processing D,k,m Then according to the obtained f k,m,n Calculating f B,k,m,n 。f B,k,m,n And f D,k,m Distance and speed information of corresponding target, at the same time, f D,k,m Can be used for solving the problem of Doppler frequency ambiguity of a high-speed target.
In step 4), the processing procedure of the beat signal is that the beat signal is processed by the step of processing the beat signal with exp { j2 pi [ mu (m-1) T rth t]Multiplication, where μ is the linear modulation frequency, T rth The time delay is the transmission time delay of adjacent transmitting antennas, and t is the time.
The invention has the following beneficial effects and advantages:
1. the invention creates the frequency division multiplexing condition by utilizing the multipath time delay, and compared with the time division multiplexing, the invention saves the detection time;
2. the invention designs f through variable carrier frequency waveform D,k,m The Doppler frequency ambiguity problem of the high-speed target can be solved;
3. the invention carries out discrete sampling on each channel, and the sampling frequency is f s ，f s ＝f p The signal is down-frequency to baseband, eliminating the need for a mixer.
Drawings
Fig. 1 is a diagram of a structure of a variable-carrier multipath time delay centralized MIMO radar according to the present invention;
fig. 2 is a waveform diagram of a variable-carrier multipath time delay centralized MIMO radar according to the present invention;
FIG. 3a is a diagram of the separation result of the 1 st receiving antenna channel of the present invention, 1 st channel;
FIG. 3b is a diagram of the separation result of the 1 st receiving antenna channel of the present invention, namely the 2 nd channel;
FIG. 3c is a diagram of the separation result of the 1 st receiving antenna channel of the present invention, namely, the 3 rd channel;
FIG. 3d is a diagram of the separation result of the 1 st receiving antenna channel of the present invention, namely, the 4 th channel;
FIG. 3e is a diagram of the separation result of the 1 st receiving antenna channel of the present invention, namely, the 5 th channel;
fig. 3f is a diagram of the separation result of the 1 st receiving antenna channel of the present invention, namely, the 6 th channel.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the invention relates to a variable-carrier multipath time-delay centralized MIMO radar.
As shown in fig. 2, the variable-carrier multipath time delay centralized MIMO radar waveform of the present invention has parameters set as shown in the table.
A variable-carrier multi-path time delay centralized MIMO radar waveform and channel separation method comprises the following steps:
1) The MIMO radar array has a linear array of 6 transmit antennas and 8 receive antennas. The signal of the 1 st transmitting antenna is used as a reference signal, and the signal form is expressed as
Wherein p (t) is the signal envelope, f 0 For signal carrier frequency, μ is the linear tone.
The signal form of the mth transmitting antenna is expressed as
Wherein f p For the step frequency, f, of adjacent transmit antennas p ＞μτ max ，T rth For adjacent transmitting daysThe transmission delay of the line satisfies tau max ＜T rth ＜T/L t Require τ max The signal propagation time requirement, denoted as the furthest detection distance, T represents the MIMO signal period.
2) The transmitted signal is reflected by K targets in space, and the received signal of the nth antenna is
Wherein G (t, m, τ) m,k,n )＝A k p(t-(m-1)T rth -τ m,k,n )，A k Representing the reflection coefficient of k targets τ m,k,n Representing the time of reflection of a signal from an mth transmitting antenna to an nth receiving antenna via a kth target, t m,k,n ＝t-(m-1)T rth -τ m,k,n ，f D,k,m For the mth transmitting antenna via the kth target induced Doppler frequency, f D,k,m ＝2(f 0 +(m-1)f p )v k /c，v k Is the velocity of the kth target relative to the radar.
3) Reception signal and transmission reference signal S of nth reception antenna 1 (t) complex mixing, the mixed beat signal being in the form of
The mixed signal is the combination of a plurality of single-frequency signals, and the frequency of the signal mixed by the kth target for the mth antenna is (m-1) f p -μ(m-1)T rth -μτ m,k,n Wherein, (m-1) f p Frequency offset due to variable carrier frequency, -mu (m-1) T rth F is frequency offset caused by time delay B,k,m,n F is frequency offset caused by the target B,k,m,n ＝-μτ m,k,n ，G B (t,m,τ m,k,n ) Representing the envelope of the signal after mixing,
representing the induced phase changeAnd (5) melting.
4) The beat signals after the nth receiving antenna are mixed are respectively mixed with exp { j2 pi [ mu (m-1) T rth t]Multiplying, low-pass filtering to realize channel separation, and then the mth channel signal of the nth receiving antenna is
5) Discrete sampling is carried out on each channel, and the sampling frequency is f s ，f s ＝f p After digital low-pass filtering, FFT processing is carried out, the frequency spectrum of the channel is extracted, the frequency spectrum comprises k spectral lines corresponding to k targets, and the frequency corresponding to the kth target of the mth channel of the nth receiving antenna is
f k,m,n ＝f B,k,m,n +f D,k,m
The invention is further illustrated by the following specific examples, the values of which are shown in the table.
TABLE 1 variable Carrier Multi-path time delay centralized MIMO Radar waveform parameters
| Parameters (parameters) | Numerical value |
| Transmitting antenna L t | 6 |
| Receiving antenna L r | 8 |
| Signal carrier frequency f 0 | 24GHz |
| Modulation bandwidth B | 200MHz |
| Modulation period T s | 1ms |
| Step frequency f p | 1.024MHz |
| Sampling frequency f s | 1.024MHz |
| Transmission delay T of adjacent antennas rth | 0.1ms |
Assuming that there are 4 targets in the detection space, the distance and speed of the targets are shown in the following table.
TABLE 2 spatial target information
Fig. 3a to 3f show the separation result of the 1 st receiving antenna channel according to the present invention.
Claims (6)
1. A variable-carrier multi-delay centralized MIMO radar signal processing method is characterized by comprising the following steps:
1) MIMO radar array with L t Hair-growing deviceRadio antenna and L r A linear array of receiving antennas, the transmitting signal of the 1 st transmitting antenna being used as a transmitting reference signal;
2) The transmitting signal is reflected by a target in the space to obtain a receiving signal of a receiving antenna;
3) Mixing a receiving signal of a receiving antenna with a transmitting reference signal to obtain a mixed beat signal;
4) Processing the mixed beat signal, and performing low-pass filtering to realize channel separation;
5) Discrete sampling is carried out on the channels, after digital low-pass filtering, FFT processing is carried out, and the frequency spectrum of each channel is extracted to obtain the frequency corresponding to the channel;
reception signal and transmission reference signal S of nth reception antenna 1 (t) complex mixing, the mixed beat signal being:
the mixed signal is the combination of a plurality of single-frequency signals, and the frequency of the signal mixed by the kth target for the mth antenna is (m-1) f p -μ(m-1)T rth -μτ m,k,n Wherein, (m-1) f p Is frequency offset caused by variable carrier frequency, -mu (m-1) T rth F is frequency offset caused by time delay B,k,m,n F is frequency offset caused by the target B,k,m,n ＝-μτ m,k,n ，G B (t,m,τ m,k,n ) Representing the envelope of the mixed signal, t being time, τ m,k,n Representing the time of reflection of a signal from an mth transmitting antenna to an nth receiving antenna via a kth target, f p For the step frequency, T, of adjacent transmit antennas rth For the transmission delay of adjacent transmitting antennas, f D,k,m For the mth transmit antenna via the kth target induced doppler frequency,
representing the induced phase change, the expression is:
2. the variable-carrier multi-delay centralized MIMO radar signal processing method of claim 1, wherein the transmission reference signal is:
wherein p (t) is a phase encoded signal varying with time t, f 0 For signal carrier frequency, mu is linear modulation frequency, modulation period is T s Modulation bandwidth is B, μ=b/T s T represents time;
the transmission signal of the mth transmitting antenna is:
wherein f p For the step frequency, f, of adjacent transmit antennas p ＞μτ max ，T rth For the transmission delay of adjacent transmitting antennas, satisfies tau max ＜T rth ＜T/L t Require τ max The signal propagation time requirement, denoted as the furthest detection distance, T represents the MIMO signal period.
3. The method for processing variable-carrier multi-delay centralized MIMO radar signals according to claim 1, wherein the transmitted signal is reflected by K targets in space, and the received signal of the nth antenna is:
wherein G (t, m, τ) m,k,n )＝A k p(t-(m-1)T rth -τ m,k,n ) Expressed as the envelope of the received signal, is a function of the parameters t, m,τ m,k,n A variable function, t is time, mu is linear frequency adjustment, f p For the step frequency, f, of adjacent transmit antennas 0 For signal carrier frequency, A k Representing the reflection coefficient of k targets τ m,k,n Representing the time of reflection of a signal from an mth transmitting antenna to an nth receiving antenna via a kth target, t m,k,n ＝t-(m-1)T rth -τ m,k,n ，f D,k,m For the mth transmitting antenna via the kth target induced Doppler frequency, f D,k,m ＝2(f 0 +(m-1)f p )v k /c，v k The speed of the kth target relative to the radar, c is the speed of light.
4. The variable-carrier multi-delay centralized MIMO radar signal processing method of claim 1, wherein the nth channel signal of the nth receiving antenna is:
wherein K is a target number, G B (t,m,τ m,k,n ) Representing the envelope of the mixed signal, (m-1) f p Frequency offset caused by variable carrier frequency, f B,k,m,n For frequency offset due to the target, t is time,
indicating the resulting phase change.
5. The variable-carrier multi-delay centralized MIMO radar signal processing method of claim 1, wherein the frequency corresponding to the kth target of the mth channel of the nth receiving antenna is:
f k,m,n ＝f B,k,m,n +f D,k,m
wherein, the Doppler frequency f induced by the mth transmitting antenna through the kth target can be extracted through multi-period signal FFT processing D,k,m Then according to the obtained f k,m,n Calculating f B,k,m,n 、f B,k,m,n And f D,k,m Distance and speed information of corresponding target, at the same time, f D,k,m Can be used for solving the problem of Doppler frequency ambiguity of a high-speed target.
6. The method for processing variable-carrier multi-delay concentrated MIMO radar signals according to claim 1, wherein in step 4), the processing of the beat signal is performed by combining the beat signal with exp { j2 pi [ mu (m-1) T rth t]Multiplication, where μ is the linear modulation frequency, T rth The time delay is the transmission time delay of adjacent transmitting antennas, t is the time, and m is the mth transmitting antenna.
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