CN111443347B - Portable single-hand-held through-wall radar target detection device and target detection method - Google Patents
Portable single-hand-held through-wall radar target detection device and target detection method Download PDFInfo
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- CN111443347B CN111443347B CN202010186600.7A CN202010186600A CN111443347B CN 111443347 B CN111443347 B CN 111443347B CN 202010186600 A CN202010186600 A CN 202010186600A CN 111443347 B CN111443347 B CN 111443347B
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
- G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
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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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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Abstract
The utility model provides a portable one-hand wall radar target detection device and target detection method of wearing sets up the baseband board in the target detection device structure, the transmission path of integrated data, the setting of the transmission line that has significantly reduced, simultaneously, sets up respectively in the both sides of TR subassembly according to the size of device inner part, rationally lays each part in the device, realizes the purpose that reduces the volume. Meanwhile, the transmitting path and the receiving path are integrated on the baseband board, so that the completeness of target information can be improved. According to the target detection method, by combining the distance direction transformation and the Doppler direction change data processing, whether a human body target exists behind a wall is analyzed, if the human body target exists, whether the target is in a moving state or a static state is judged, for the target in the moving state, whether the target is close to a radar or far away from the radar is judged, and based on a through-the-wall radar system with one transmitting and one receiving, moving state results are given to different targets on a one-dimensional distance image.
Description
Technical Field
The disclosure relates to the technical field related to a through-wall radar technology, in particular to a portable single-hand-held through-wall radar target detection device and a target detection method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The through-wall radar based on the microwave technology has the capability of realizing perspective detection of a hidden target partition wall in a complex closed building environment, and has important application value in military and public safety fields of military road warfare, jungle search and catch, public security anti-terrorism, hostage rescue, disaster search and rescue and the like. Although many penetration positioning technologies exist, the through-wall radar system has a remarkable advantage in the case of surrounding complex environments (such as buildings and building shelters). Compared with penetration technologies such as a computer vision system, an infrared thermal imager and the like, the through-wall radar is not influenced by factors such as vision conditions, environmental temperature changes and weather changes, and has good penetration capacity and target resolution capacity.
The research direction of the existing through-wall radar focuses on target tracking imaging, particularly the field of high-resolution imaging, so that the requirements on the performance of system hardware are high, the complexity of the system is increased, and the volume is large. Aiming at the characteristic that the through-wall radar is mainly applied to emergency, a miniaturized, portable and quick-response through-wall radar system also becomes a research hotspot in recent years.
In 1996, through-wall radar detection was developed in the uk, of which Cambridge constultants, representative, and earlier in the development of handheld through-wall devices, mainly studied the trajectory information of moving objects in a closed room after the detection of a wall by a handheld device, whose classical product was prism 200. The product can well identify whether targets in a room exist or not, the center frequency of the product is 1.9GHz, the bandwidth is 600MHz, the distance resolution is high and can reach 35cm, a detection angle close to 120 degrees is provided, 20m can be detected at the farthest, the estimation on the existence of people is accurate, the size of the product is large, the weight is heavy, the portable flexible measurement is not facilitated, and the measurement result is single and only has distance information. Miniaturization leads to simplification of a hardware system, and thus, the acquired target information is incomplete, so that it is imperative to increase the amount of target motion information based on the miniaturization requirement.
Disclosure of Invention
In order to solve the problems, the disclosure provides a portable single-hand-held through-wall radar target detection device and a target detection method, which have multi-target identification and target motion state identification functions on the basis of miniaturization, and have higher practical value and reference value.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
one or more embodiments provide a portable single-hand-held through-wall radar target detection device, which comprises a shell, a TR component arranged in the shell, a baseband signal processing board, a battery pack and a wireless transmission module which are arranged on one side of the TR component, and a transceiving antenna arranged on the shell on the other side of the TR component, wherein the baseband signal processing board, the TR component and the transceiving antenna are sequentially connected, and the baseband signal processing board is connected with the wireless transmission module; the shell is externally provided with a groove area, a linear handle is arranged in the groove area, and the handle and the surface of the shell are separated by a set distance.
One or more embodiments provide a target detection method of a portable single-hand-held through-wall radar target detection device, which includes the following steps:
acquiring echo data: transmitting a linear frequency modulation continuous wave signal, and receiving a reflected echo signal;
sampling echo data, performing distance Fourier transform and Doppler Fourier transform on the sampled data, and preprocessing the transformed data;
judging a moving target: accumulating the distance direction of the preprocessed data to obtain the signal amplitude on the distance unit, setting a second self-adaptive threshold value T2 as the average value of the accumulated values of the signal amplitudes on all the distance units, wherein if the signal amplitudes on the distance units have a set number of continuous data points which are greater than a threshold value T2, a moving human body target exists, executing, and carrying out the next step; otherwise, outputting a detection result if no moving human body target exists;
judging the moving direction of the moving object: judging the position of the moving target to obtain a distance wave gate with the moving target; extracting the position of the maximum value of the range data in the range gate with the moving target, and if the frequency of the Doppler data corresponding to the position data of the maximum value is positive, judging that the target moves away from the radar direction; otherwise, the target is judged to move close to the radar direction.
Compared with the prior art, the beneficial effect of this disclosure is:
(1) the base band plate is arranged in the structure of the device, the transmission path of data is integrated, the number of transmission lines is greatly reduced, meanwhile, the components in the device are reasonably arranged on two sides of the TR component according to the sizes of the components in the device, and the purpose of reducing the size is achieved. Meanwhile, the transmitting access and the receiving access are integrated on the baseband board, so that the completeness of target information can be improved.
(2) The target detection method disclosed by the invention relates to the detection of a target hidden behind a wall by an ultra-wideband through-wall radar under a limited distance. By combining the processing of the distance direction transformation and Doppler direction change data, whether a human body target exists behind a wall is analyzed, if the human body target exists, the target is judged to be in a moving state or a static state, for the target in the moving state, the target is judged to be close to a radar or far away from the radar, and a moving state result is given to different targets on a one-dimensional range profile. The through-wall radar system based on the transmitting-receiving has the characteristics of small volume, simple structure and high execution efficiency, and has the functions of distinguishing static targets and moving targets and judging the moving direction of the targets.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and not to limit the disclosure.
Fig. 1 is a block diagram of the structure of an apparatus according to embodiment 1 of the present disclosure;
FIG. 2 is a front view of the device structure of example 1 of the present disclosure;
FIG. 3 is a back side view of the device structure of example 1 of the present disclosure;
FIG. 4 is a side view of the device structure of example 1 of the present disclosure;
fig. 5 is a block diagram of a baseband signal processing board according to embodiment 1 of the present disclosure;
FIG. 6 is a block diagram of the T/R component of embodiment 1 of the present disclosure;
FIG. 7 is a block diagram of the structure of the transmitting module of the T/R component of embodiment 1 of the present disclosure;
FIG. 8 is a block diagram of a receiving module of the T/R component of embodiment 1 of the present disclosure;
FIG. 9 is a flowchart of a method of embodiment 2 of the disclosure;
FIG. 10 is a comparison of example measured data of example 2 of the present disclosure with a threshold T1;
fig. 11 is a schematic diagram of the example of embodiment 2 of the present disclosure performing a wave gate division on data after preprocessing;
fig. 12 is a first recognition result diagram of an example of embodiment 2 of the present disclosure;
fig. 13 is a second recognition result diagram of an example of embodiment 2 of the present disclosure;
wherein: 1. casing, 2, handle, 3, vertical recess, 4, switch, 5, reference column.
The specific implementation mode is as follows:
the present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments in the present disclosure may be combined with each other. The embodiments will be described in detail below with reference to the accompanying drawings.
Example 1
In the technical solution disclosed in one or more embodiments, as shown in fig. 1 and 2, a portable single-hand-held through-wall radar target detection device includes a housing 1, a TR assembly disposed in the housing 1, a baseband signal processing board, a battery pack and a wireless transmission module disposed on one side of the TR assembly, and a transceiver antenna disposed on the housing 1 on the other side of the TR assembly, wherein the baseband signal processing board, the TR assembly and the transceiver antenna are sequentially connected, and the baseband signal processing board is connected with the wireless transmission module; a groove area is arranged outside the shell 1, a linear type handle is arranged in the groove area, and the handle and the surface of the shell 1 are spaced at a set distance.
Optionally, the TR assembly is arranged in the middle of the shell 1, the TR assembly serves as a large part in the structure, small parts are arranged on two sides to be filled, and the space in the shell 1 can be effectively utilized.
This embodiment sets up the baseband board, and the transmission path of integrated data has significantly reduced the setting of transmission line, simultaneously, sets up respectively in the both sides of TR subassembly according to the size of device inner part, rationally lays each part in the device, realizes the purpose that reduces the volume.
In some embodiments, the transceiver antenna comprises a transmit antenna and a receive antenna. A horn antenna or a sleeve antenna, etc. may be used.
As an implementation structure, as shown in fig. 5, the baseband signal processing board includes a circuit board, and a signal conditioning circuit, an a/D conversion circuit, an FPGA device, and a controller, which are sequentially connected to the circuit board; the signal conditioning circuit is connected with the TR component to receive data, and the controller is connected with the TR component through the FPGA device to send a trigger signal of a transmitting signal.
The signal conditioning circuit filters, shapes and reduces noise of input signals, so that the processed signals meet the requirements of an ADC chip on input sampling signals, and the signal conditioning circuit at least comprises a shaping circuit, an amplifying circuit and a filtering circuit, and can also select an analog signal conditioning module.
Optionally, the a/D conversion circuit converts the conditioned signal into a discrete digital signal for data processing, and the model of the ADC chip of the a/D conversion circuit and the a/D conversion circuit is AD 9260.
In some embodiments, the FPGA device includes a gate array for implementing digital signal sampling, parallel transmission and parallel processing, and the rapid processing of data is implemented by performing parallel processing on data through the gate array arranged inside the FPGA device.
Optionally, the controller ARM is connected with the wireless transmission module, so as to control a peripheral interface arranged on the baseband signal processing board, control a data transmission and processing mode of the FPGA device, and display a result;
furthermore, a power module is further arranged on the baseband signal processing board and connected with the battery pack, the voltage of the battery pack is converted into a voltage-stabilized power supply with different voltage sizes, and the voltage-stabilized power supply supplies power to the device.
One end of the T/R component is connected with the antenna, and the other end of the T/R component is connected with the signal processing module of the baseband signal processing board to form a wireless transceiving system. Used for amplifying, phase-shifting and attenuating signals.
The T/R component comprises a power supply module, a transmitting module, a receiving module and a local vibration source module. The main function is to generate S-band sweep frequency signals, amplify and output the signals, and simultaneously carry out frequency mixing and AGC processing on the echo sweep frequency signals of the S-band. The vibration source module generates a linear sweep frequency signal, a clock signal and a trigger signal, is respectively connected with the transmitting module and the receiving module, provides a signal source for the transmitting module, the receiving module is used for receiving an echo signal, and the receiving module is electrically connected with the baseband signal processing board. The schematic block diagram of the signals is shown in fig. 6.
The local oscillator part generates a linear frequency sweep signal, a clock signal and a trigger signal. The circuit comprises a crystal oscillator, a first phase-locked loop (PLL1), a DDS circuit, a frequency multiplication phase-locked loop (PLL2) circuit and a control circuit which are sequentially connected and used as a reference circuit.
In some embodiments, the reference circuit may use a 100MHZ temperature compensated crystal oscillator as a reference source, a 512MHZ reference signal is generated by a phase-locked loop (PLL1) as a reference signal of the DDS circuit, the DDS circuit outputs a 50-100 MHZ linear frequency sweep signal, the frequency of the signal is multiplied to 4-8 GHz by the phase-locked loop (PLL2), and a 2-4 GHz linear frequency sweep signal is obtained after frequency division. The clock signal of 10MHz is obtained by internal reference frequency division, and the trigger signal is generated by FPGA circuit.
Optionally, as shown in fig. 7, the transmitting module includes a power amplifier, an isolator, and a filter, which are connected in sequence, and outputs the processed sweep frequency signal, where the sweep frequency signal is amplified by the broadband medium-power amplifier device, and then output by the broadband strip line isolator and the dielectric filter.
Optionally, as shown in fig. 8, the receiving module includes an isolator, a low noise amplifier LNA, a mixer, a filter LPF, and an automatic gain control circuit AGC, which are connected in sequence.
The received echo signal is amplified by a Low Noise Amplifier (LNA), and then is mixed with a local oscillator signal (LO) by a mixer to output an intermediate frequency signal. The intermediate frequency signal is filtered by the filter and then amplified and output by AGC.
The power module is connected with the battery pack to provide power for the operation of the TR component.
As a further improvement, the wireless communication module is further included, the wireless communication module is connected with the signal processing module, and the wireless transmission module can be a 4G wireless communication module, a ZigBee wireless communication module, a LoRa wireless communication module, a WiFi wireless communication module, and the like. The collected data can be transmitted to a remote upper computer through the wireless communication module, and real-time processing of the data is achieved.
As a way that can be realized, as shown in fig. 2-4, the side of the housing 1 where the transceiving antenna is arranged is a plane, the middle of the opposite surface of the side is provided with a transverse groove and a vertical groove 3 with a set width, the vertical groove is internally used for fixedly arranging the handle 2, and the transverse groove is used for providing an operation gap, so that an operator can conveniently hold the housing.
Alternatively, the handle 2 may be a rubber handle. Further, in the vertical recess of the mobile setting in rubber handle both ends, in some embodiments, the rubber handle both ends set up the buckle, set up the slider on the buckle, both ends set up the slide rail respectively about in the vertical recess, slider and slide rail phase-match, when rubber handle was pulled, the slider removed in the slide rail.
In some embodiments, the side of the housing 1 where the handle is arranged is provided with a power switch 4, and the power switch 4 is connected with a battery pack.
As a further improvement, still be provided with reference column 5 on the setting face that sets up receiving and dispatching antenna for realize the interval contact of device and wall body, the protection casing 1 surface and the electric wire that sets up receive the fish tail of colliding with.
During the use, the emitting antenna and the receiving antenna that radar inner structure was located the top layer are close to the wall, and the centre is the TR subassembly, and baseband signal processing board, group battery and wireless transmission module are distributed respectively to the bottom. The overall size of the handheld through-wall radar target detection device can be reduced to 26.5cm in length, 12.5cm in width and 15cm in thickness.
Example 2
The present embodiment provides a target detection method of a portable single-hand-held through-wall radar target detection device according to embodiment 1, as shown in fig. 9, including the following steps:
step 4, judging the moving direction of the moving target: judging the position of the moving target to obtain a distance wave gate with the moving target; extracting the position of the maximum value of the range data in the range gate with the moving target, and if the frequency of the Doppler data corresponding to the position data of the maximum value is positive, judging that the target moves away from the radar direction; otherwise, the target is judged to move close to the radar direction.
In this embodiment, whether a moving object exists is determined in the above steps, and the moving direction of the moving object is determined.
As a further technical solution, the method further includes a step of determining whether there is a stationary target, that is, when there is no moving target after step 2, the method performs the determination of the stationary human target, and includes the following steps:
1) selecting Doppler direction data of a Doppler frequency range when a human body is static as a first interception data set for the preprocessed data;
2) accumulating the first intercepted data set on each distance unit in a distance direction to obtain a signal amplitude accumulated value on each distance unit;
3) setting a first adaptive threshold T1 as an average value of signal amplitude accumulated values on all distance units of a first capturing data set, setting a first number threshold X, and if the signal amplitude accumulated values on at least X continuous distance units are greater than a threshold T1, a static human body target exists; otherwise, no static target exists in the detected area.
In this embodiment, in step 1, a chirp continuous wave signal may be transmitted through the apparatus, and the receiving antenna receives an echo signal and transmits the antenna.
In step 2, sampling echo data: the radio frequency module carries out mixing amplification processing on the echo signal to obtain an intermediate frequency signal, the acquisition card acquires the intermediate frequency signal once every T seconds, the sampling frequency is fs, and the number of data points acquired once can be calculated through a formula 1:
the acquisition card continuously acquires M times of data, wherein M is large enough to ensure sufficient data accumulation, and M groups of data acquired by the acquisition card are subjected to distance Fourier transform and Doppler Fourier transform and are preprocessed as described in a formula (2).
Wherein, continuously collecting M times is M groups of Doppler direction data, collecting N data points each time is N distance direction data, wherein M is an integral power of 2.
Calculating the distance corresponding to each data point according to the data obtained by the distance-to-fourier transform, and calculating the doppler frequency corresponding to each data point according to the data obtained by the doppler-to-fourier transform, which may specifically be as follows:
after the distance fourier transform, the distance Rn corresponding to the nth data point in the distance direction can be calculated by the formula (3), and after the doppler fourier transform, the doppler frequency fvm corresponding to the mth data point in the doppler direction can be calculated by the formula (4), and the obtained result is shown by the formula (5).
Wherein fs is the sampling rate of the acquisition module, T is the pulse repetition period, B is the pulse bandwidth, and c is the speed of light.
Sampling frequency if the position of the moving human target is in the range of (-1/2T, 0), the target is moving close to the radar direction;
if the moving human target position is within the range of (0, 1/2T), this is an indication that the target is moving away from the radar.
The preprocessing is used for removing the influence of a wall body, the delay of a system and the like, and the processing method is to move data points forward and remove or reduce the time difference of echo signals caused by the wall body and the system.
Judging a static human body target:
selecting Doppler direction data of a Doppler frequency range when the human body is static from the preprocessed data, and performing distance direction accumulation on the selected data by using a distance unit; wherein the Doppler frequency range of the human body when the human body is static is 0.3-2 Hz, the sampling interval is delta t, and the interval of the Doppler frequency range of 0.3-2 Hz is as follows: [0.3/Δ t, 2/Δ t ], corresponding to the range of index j for Ai, j, the data obtained are as follows:
where Nmin and Nmax are the number of data points corresponding to the minimum distance and the maximum distance from the direction, respectively, st is the number of data groups in the matrix (2) data corresponding to the doppler frequency closest to less than 0.3Hz, and sp is the number of data groups in the matrix (2) data corresponding to the doppler frequency closest to more than 2 Hz.
The data of each row of the matrix (6) is the data on the same distance unit. Accumulating the distances of the matrix (6), namely accumulating each row in the matrix (6) to obtain a signal amplitude accumulated value on each distance unit, and obtaining:
BNmin，BNmin+1，…，BNmax (7)
setting a first adaptive threshold T1 as the average value of the accumulated values of the signal amplitudes of all the distance units, setting a first number threshold X, and if the signal amplitudes of X continuous distance units are greater than the threshold T1, then a static human body target exists; otherwise, no static target exists in the detected area. That is, each data in the matrix 4 is compared with the first adaptive threshold T1, if the signal amplitudes of all the range bins are less than the threshold T1, no stationary object exists in the detected region, and the object identification result is output as no stationary object.
As shown in fig. 10, after data is collected by the apparatus of embodiment 1 for the example of this embodiment, the result of comparing the measured data with the threshold T1 is obtained. If the condition that the static target exists is that the amplitude of a plurality of continuous or adjacent data points is larger than a threshold value T1 and the number of the adjacent data points is larger than or equal to X, the static target exists, otherwise, the static target does not exist. For example, when the data are compared with the threshold T1, respectively, there are points that are larger than the threshold T1, but the points are not adjacent and cannot be determined as the presence of the target.
(II) pre-judging a moving target: and judging whether a moving object exists in the detection area.
The M times of sampled data obtained in the step 2 are M groups of data, namely M-L +1 to M groups are intercepted from the data in the matrix (2), and the total L groups of data are preprocessed as follows:
in the formula (8), Nmin and Nmax are the number of data points corresponding to the minimum distance and the maximum distance of the intercepted data respectively, and L data continuously collected on the same distance unit are L data which is an integer power of 2 and L is less than M.
Accumulating the intercepted L groups of data at the same distance position, namely the data at the same distance unit to obtain a signal amplitude accumulated value at each distance unit, namely accumulating each row in a matrix (8) to obtain an expression (9):
CNmin，CNmin+1，…，CNmax (9)
setting a second adaptive threshold T2 as the average value of the accumulated values of the signal amplitudes of all the distance units, wherein the threshold T2 is obtained by averaging the data in the formula (9) under the background condition, the signal amplitude values of adjacent data points are all larger than the threshold T2, and the number of the adjacent data points is larger than or equal to Y, then considering that a moving target exists in the detection area, and determining the position of the moving target; otherwise, outputting the target identification result of the detection area as a non-moving target. Wherein the background condition refers to data collected without any object.
(III) determining the position of the moving target: judging the position of the moving target, specifically:
41. carrying out equidistant gate division on the preprocessed data in the distance direction;
42. calculating the average value Di' of the distance direction data of the data in each distance wave gate;
43. calculating the total average value A 'of the distance data of all the preprocessed data, and calculating the threshold value T2 of each wave gate according to the total average value A' and the distance value of the central position of the wave gateDi；
44. If the mean Di' of the range data within a range bin is greater than the threshold T2 for that range binDiIf so, a moving target is arranged in the range wave gate; otherwise, no moving target exists in the distance wave gate; the distance wave gate with the moving target is the position of the moving target;
as shown in fig. 11, the data after the preprocessing is subjected to the gate division. Threshold T2DiThe distance direction data of the whole data A are averaged to obtain A', and distance direction wave gates are equally divided by empirical values delta n [ D1, D2... Di. ].]。
Taking the first gate D1 as an example, it is determined whether there is a moving object in the first gate D1:
by the firstThe individual gates D1 are explained as an example, and as shown in equation (10), Δ n pieces of distance direction data are extracted, L times of data in the doppler direction are acquired, an average value D1' of D1 is obtained, and the distance direction center position a in the gate D1Nmin+Δn/2Corresponding distance value RNmin+Δn/2The weighting factor being defined by the value R of the distance from the centre position of the gateNmin+Δn/2The threshold calculation formula of the gate D1 is determined as shown in equation (11).
And judging the data in each distance wave gate according to the method, and processing the data of all the distance wave gates. The position of the moving object is obtained, namely the position of the moving object is located in which range gate.
(IV) determining the moving direction of the moving object: extracting the position of the maximum value of the range data in the range gate with the moving target, and if the frequency of the Doppler data corresponding to the position data of the maximum value is positive, judging that the target moves away from the radar direction; otherwise, the target is judged to move close to the radar direction.
That is, if the position of the maximum value is in the (-fs/2, 0) range, it represents that the target is moving closer to the radar direction; if the position of the maximum is in the (0, fs/2) range, it represents that the target is moving away from the radar direction.
The moving direction of the moving object is determined, the position of the maximum value of the range direction data within the range gate is extracted, and whether it is within the (-fs/2, 0) range or within the (0, fs/2) range is determined. As shown in fig. 12, the circled position is the target, within the positive doppler frequency range, so the direction of motion of the target is away from the radar direction; as shown in fig. 13, the circled labeled position is the target, in the negative doppler frequency range, so the target moves in the direction close to the radar.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
Claims (10)
1. A target detection method of a portable single-hand-held through-wall radar target detection device is characterized by comprising the following steps:
acquiring echo data: transmitting a linear frequency modulation continuous wave signal, and receiving a reflected echo signal;
sampling echo data, performing distance Fourier transform and Doppler Fourier transform on the sampled data, and preprocessing the transformed data;
judging a moving target: accumulating the distance direction of the preprocessed data to obtain the signal amplitude on the distance unit, setting a second self-adaptive threshold value T2 as the average value of the accumulated values of the signal amplitudes on all the distance units, wherein if the signal amplitudes on the distance units have a set number of continuous data points which are greater than a threshold value T2, a moving human body target exists, executing, and carrying out the next step; otherwise, outputting a detection result if no moving human body target exists;
judging the moving direction of the moving object: judging the position of the moving target to obtain a distance wave gate with the moving target; extracting the position of the maximum value of the range data in the range gate with the moving target, and if the frequency of the Doppler data corresponding to the position data of the maximum value is positive, judging that the target moves away from the radar direction; otherwise, judging that the target moves in the direction close to the radar;
after judging that no moving human body target exists, judging whether a static target exists or not, wherein the method comprises the following steps:
selecting Doppler direction data of a Doppler frequency range when a human body is static as a first interception data set for the preprocessed data;
accumulating the first intercepted data set on each distance unit in a distance direction to obtain a signal amplitude accumulated value on each distance unit;
setting a first adaptive threshold T1 as an average value of signal amplitude accumulated values on all distance units of a first capturing data set, setting a first number threshold X, and if the signal amplitude accumulated values on at least X continuous distance units are greater than a threshold T1, a static human body target exists; otherwise, no static target exists in the detected area.
2. The object detection method of the portable single-hand-held through-wall radar object detection device as claimed in claim 1, characterized by: the method for judging the position of the moving target to obtain the range gate with the moving target specifically comprises the following steps:
carrying out equidistant gate division on the preprocessed data in the distance direction;
calculating the average value Di' of the distance direction data of the data in each distance wave gate;
obtaining the total average value A 'of the distance direction data of all the preprocessed data, and calculating the threshold value T2 of each wave gate according to the total average value A' and the distance value of the central position of the wave gateDi；
If the mean Di' of the range data within a range gate is greater than the threshold T2 for that range gateDiIf so, a moving target is arranged in the range wave gate; otherwise, no moving object exists in the range gate.
3. The object detection method of the portable single-hand-held through-wall radar object detection device as claimed in claim 1, characterized by: the frequency of the Doppler direction data corresponding to the position data with the maximum value is positive, namely, the frequency is located in the range of (0, fs/2), the frequency of the Doppler direction data corresponding to the position data with the maximum value is negative, namely, the frequency is located in the range of (-fs/2, 0), and fs is sampling frequency.
4. A portable single-hand-held through-the-wall radar target detection device based on the target detection method of any one of claims 1 to 3, characterized in that: the wireless transmission device comprises a shell, a TR component arranged in the shell, a baseband signal processing board, a battery pack and a wireless transmission module which are arranged on one side of the TR component, and a receiving and transmitting antenna which is arranged on the shell on the other side of the TR component, wherein the baseband signal processing board, the TR component and the receiving and transmitting antenna are sequentially connected, and the baseband signal processing board is connected with the wireless transmission module; the shell is externally provided with a groove area, a linear handle is arranged in the groove area, and the handle and the surface of the shell are separated by a set distance.
5. The portable single-hand-held through-wall radar target detection device of claim 4, wherein:
the baseband signal processing board comprises a circuit board, and a signal conditioning circuit, an A/D conversion circuit, an FPGA device and a controller which are arranged on the circuit board and connected in sequence; the signal conditioning circuit is connected with the TR component to receive data, and the controller is connected with the TR component through the FPGA device to send a trigger signal of a transmitting signal.
6. The portable single-hand-held through-wall radar target detection device of claim 4, wherein: the T/R component comprises a transmitting module, a receiving module and a local vibration source module; the vibration source module generates a linear sweep frequency signal, a clock signal and a trigger signal, is respectively connected with the transmitting module and the receiving module, provides a signal source for the transmitting module, the receiving module is used for receiving an echo signal, and the receiving module is electrically connected with the baseband signal processing board.
7. The portable single-hand-held through-wall radar target detection device of claim 4, wherein: still include wireless communication module, wireless communication module is connected with signal processing module, wireless transmission module is 4G wireless communication module, zigBee wireless communication module, wiFi wireless communication module or loRa wireless communication module.
8. The portable single-hand-held through-wall radar target detection device of claim 4, wherein: the shell side face provided with the receiving and transmitting antenna is a plane, the opposite face of the side face is provided with a transverse groove and a vertical groove with set width for the middle, a handle is fixedly arranged in the vertical groove, and the transverse groove is used for providing an operation gap.
9. A portable, single-handed, through-the-wall radar target detection device, as defined in claim 4, wherein: the handle can be a rubber handle, and two ends of the rubber handle can be movably arranged in the vertical grooves.
10. A portable, single-handed, through-the-wall radar target detection device, as defined in claim 4, wherein: the handle both ends set up the buckle, set up the slider on the buckle, both ends set up the slide rail respectively about in the vertical recess, slider and slide rail phase-match, when the handle was pulled, the slider removed in the slide rail.
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| CN112630763A (en) * | 2020-11-30 | 2021-04-09 | 山东省科学院自动化研究所 | Target judgment method and system for Doppler radar |
| CN112700619B (en) * | 2020-12-29 | 2022-05-10 | 潍坊医学院 | Intelligent monitoring method and system for falling of old people |
| CN113253263B (en) * | 2021-06-22 | 2021-10-15 | 湖南华诺星空电子技术有限公司 | Three-dimensional through-wall radar system |
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