CN112666526B - Radar target positioning method, system, equipment and storage medium - Google Patents
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Abstract
The embodiment of the invention discloses a radar target positioning method, a radar target positioning system, radar target positioning equipment and a storage medium, and designs a novel MIMO radar antenna array mode, wherein any one of a receiving antenna array and a transmitting antenna array forms an included angle with the extension line of the other base line, and the complementary angle of the included angleThe method is larger than or equal to 0 degrees and smaller than 90 degrees, and the signals are screened on the basis to obtain non-redundant signal sequences, so that the problem of redundancy of the MIMO radar antenna array is effectively solved, and in addition, the data volume required by calculation is further reduced by signal screening.
Description
Technical Field
The embodiment of the invention relates to the technical field of radar positioning, in particular to a radar target positioning method, a radar target positioning system, radar target positioning equipment and a radar target positioning storage medium.
Background
MIMO Radar is generally referred to as a "Multiple-Input Multiple-Output Radar" (MIMO Radar), and is defined in the broad sense as a Radar in which there are Multiple antennas at the transmitting and receiving ends and the transmitting end transmits Multiple uncorrelated or partially correlated signal waveforms.
A large amount of array redundancy exists in a uniform linear array under a traditional MIMO radar system, the aperture efficiency of the array is very low, physical array elements are reduced by designing the minimum redundancy linear array, namely the number of required antennas is reduced, however, the space utilization rate of the antenna array cannot be improved because the size of the array space is not changed. Meanwhile, in the optimal array search, exhaustive screening is often adopted, so that the antenna layout introduces a large calculation amount.
Disclosure of Invention
Therefore, the embodiment of the invention provides a radar target positioning method, a radar target positioning system, radar target positioning equipment and a radar target storage medium, so as to solve the technical problems that the space utilization rate cannot be improved in the minimum redundant linear array design in the prior art, and the calculation amount of optimal array searching is large by adopting exhaustive screening.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
according to a first aspect of an embodiment of the present invention, there is provided a radar target positioning method, the method including:
constructing an MIMO radar antenna array, wherein the MIMO radar antenna array comprises a transmitting antenna array and a receiving antenna array, the transmitting antenna array and the receiving antenna array are respectively formed by equally-spaced arrangement of a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements, any one of the base line connecting lines of the transmitting antenna array and the receiving antenna array forms an included angle with the extension line of the base line connecting line of the other base line, and the complementary angle of the included angle is formed Greater than or equal to 0 ° and less than 90 °;
the transmitting antenna array element and the receiving antenna array element respectively realize signal transmission and signal reception to obtain a plurality of intermediate frequency signals a,b ，Wherein a is the sequence number of the transmitting antenna array element, b is the sequence number of the receiving antenna array element, and θ is the target azimuth angle;
selecting any received intermediate frequency signal a,b Processing to obtain target distance observation data L;
selecting multiple intermediate frequency signal signals a,b Forming a non-redundant signal sequence;
processing the signals of the non-redundant signal sequence to obtain target azimuth angle theta observation data; and
And obtaining the observation position of the target in the plane according to the target distance observation data L and the target azimuth angle theta observation data.
Further, the number N of the transmitting antenna array elements TX And the number N of the receiving antenna array elements RX The values of (2) are as follows:
N TX ＝N RX ＝N 0 the method comprises the steps of carrying out a first treatment on the surface of the Or N TX ＝N 0 ，N RX >N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX >N 0 ，N RX ＝N 0 ；
Wherein N is 0 Is the minimum array of the required receiving antenna array elements or the transmitting antenna array elementsThe number of elements is set to be equal to the number of elements,
wherein W is the scanning total length of the radar along the azimuth direction, and x res In order to achieve a resolution in the azimuth direction,representing an upward rounding.
Further, the distance between two adjacent receiving antenna array elements or transmitting antenna array elements is lambda/2, and lambda is the wavelength of the transmitting wave.
Further, the length L of the transmitting antenna array TX And the length L of the receiving antenna array RX The method comprises the following steps of:
further, any received intermediate frequency signal is utilized a,b Sampling is carried out on the time dimension, and the target distance observation data L is obtained through primary FFT processing and CFAR detection processing.
Further, the signals of the selected non-redundant signal sequences are sampled on an antenna dimension, and the target azimuth angle theta observation data are obtained through FFT processing and CFAR detection processing.
Further, the positions of the transmitting antenna array and the receiving antenna array satisfy an interchange condition.
According to a second aspect of an embodiment of the present invention, there is provided a radar target positioning system, the system comprising:
MIMO radar antenna array is constructed by transmitting antenna array and receiving antenna array, transmitting antenna array with receiving antenna array is respectively by a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements equidistant arrangement forms, transmitting antenna array with arbitrary party base line connecting wire in the receiving antenna array forms the contained angle with another party base line connecting wire extension line, the complementary angle of contained angleGreater than or equal to 0 ° and less than 90 °; the transmitting antenna array element and the receiving antenna array element respectively realize signal transmission and signal reception to obtain a plurality of intermediate frequency signals a,b ，Wherein a is the sequence number of the transmitting antenna array element, b is the sequence number of the receiving antenna array element, and θ is the target azimuth angle;
a target distance observation data L acquisition module for selecting any received intermediate frequency signal a,b Processing to obtain target distance observation data L;
a signal screening module for selecting multiple intermediate frequency signal a,b Forming a non-redundant signal sequence;
the target azimuth angle theta observation data acquisition module is used for processing the signals of the non-redundant signal sequence to obtain target azimuth angle theta observation data; and
And the target observation position acquisition module is used for acquiring the observation position of the target in the plane according to the target distance observation data L and the target azimuth angle theta observation data.
Further, the number N of the transmitting antenna array elements TX And the number N of the receiving antenna array elements RX The values of (2) are as follows:
N TX ＝N RX ＝N 0 the method comprises the steps of carrying out a first treatment on the surface of the Or N TX ＝N 0 ，N RX >N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX >N 0 ，N RX ＝N 0 ；
Wherein N is 0 For the minimum number of elements required for the receive antenna elements or the transmit antenna elements,
wherein W is the scanning total length of the radar along the azimuth direction, and x res In order to achieve a resolution in the azimuth direction,representing an upward rounding.
Further, the distance between two adjacent receiving antenna array elements or transmitting antenna array elements is lambda/2, and lambda is the wavelength of the transmitting wave.
Further, the length L of the transmitting antenna array TX And the length L of the receiving antenna array RX The method comprises the following steps of:
further, the target distance observation data L acquisition module uses any received intermediate frequency signal a,b Sampling is carried out on the time dimension, and the target distance observation data L is obtained through primary FFT processing and CFAR detection processing.
Further, the target azimuth angle theta observation data acquisition module samples the signals of the selected non-redundant signal sequences on an antenna dimension, and obtains the target azimuth angle theta observation data through FFT processing and CFAR detection processing.
Further, the positions of the transmitting antenna array and the receiving antenna array satisfy an interchange condition.
According to a third aspect of embodiments of the present invention, there is provided a radar target positioning device, the device comprising: a processor and a memory;
the memory is used for storing one or more program instructions;
the processor is configured to execute one or more program instructions to perform the steps of:
acquiring multiple intermediate frequency signals received by receiving antenna array elements from transmitting antenna array elements a,b ，Wherein a is the sequence number of the transmitting antenna array element, b is the sequence number of the receiving antenna array element, and θ is the target azimuth angle;
Selecting any received intermediate frequency signal a,b Processing to obtain target distance observation data L;
selecting multiple intermediate frequency signal signals a,b Forming a non-redundant signal sequence;
processing the signals of the non-redundant signal sequence to obtain target azimuth angle theta observation data; and
Obtaining the observation position of the target in the plane according to the target distance observation data L and the target azimuth angle theta observation data;
the antenna array comprises a transmitting antenna array and a receiving antenna array, wherein the transmitting antenna array and the receiving antenna array are constructed to form a MIMO radar antenna array, the transmitting antenna array and the receiving antenna array are respectively formed by equally-spaced arrangement of a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements, an included angle is formed between any one base line connecting line and the other base line connecting line extending line of the transmitting antenna array and the receiving antenna array, and the complementary angle of the included angle is formedGreater than or equal to 0 ° and less than 90 °.
Further, the number N of the transmitting antenna array elements TX And the number N of the receiving antenna array elements RX The values of (2) are as follows:
N TX ＝N RX ＝N 0 the method comprises the steps of carrying out a first treatment on the surface of the Or N TX ＝N 0 ，N RX >N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX >N 0 ，N RX ＝N 0 ；
Wherein N is 0 For the minimum number of elements required for the receive antenna elements or the transmit antenna elements,
wherein W is the scanning total length of the radar along the azimuth direction, and x res In order to achieve a resolution in the azimuth direction,representing an upward rounding.
Further, the distance between two adjacent receiving antenna array elements or transmitting antenna array elements is lambda/2, and lambda is the wavelength of the transmitting wave.
Further, the length L of the transmitting antenna array TX And the length L of the receiving antenna array RX The method comprises the following steps of:
further, any received intermediate frequency signal is utilized a,b Sampling is carried out on the time dimension, and the target distance observation data L is obtained through primary FFT processing and CFAR detection processing.
Further, the signals of the selected non-redundant signal sequences are sampled on an antenna dimension, and the target azimuth angle theta observation data are obtained through FFT processing and CFAR detection processing.
Further, the positions of the transmitting antenna array and the receiving antenna array satisfy an interchange condition.
According to a fourth aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program for execution by a processor to:
acquiring multiple intermediate frequency signals received by receiving antenna array elements from transmitting antenna array elements a,b ，Wherein a is the sequence number of the transmitting antenna array element, b is the sequence number of the receiving antenna array element, and θ is the target azimuth angle;
Selecting any received intermediate frequency signal a,b Processing to obtain target distance observation data L;
selecting multiple intermediate frequency signal signals a,b Forming a non-redundant signal sequence;
processing the signals of the non-redundant signal sequence to obtain target azimuth angle theta observation data; and
Obtaining the observation position of the target in the plane according to the target distance observation data L and the target azimuth angle theta observation data;
the antenna array comprises a transmitting antenna array and a receiving antenna array, wherein the transmitting antenna array and the receiving antenna array are constructed to form a MIMO radar antenna array, the transmitting antenna array and the receiving antenna array are respectively formed by equally-spaced arrangement of a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements, an included angle is formed between any one base line connecting line and the other base line connecting line extending line of the transmitting antenna array and the receiving antenna array, and the complementary angle of the included angle is formedGreater than or equal to 0 ° and less than 90 °.
Further, the number N of the transmitting antenna array elements TX And the number N of the receiving antenna array elements RX The values of (2) are as follows:
N TX ＝N RX ＝N 0 the method comprises the steps of carrying out a first treatment on the surface of the Or N TX ＝N 0 ，N RX >N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX >N 0 ，N RX ＝N 0 ；
Wherein N is 0 For the minimum number of elements required for the receive antenna elements or the transmit antenna elements,
wherein W is the scanning total length of the radar along the azimuth direction, and x res In order to achieve a resolution in the azimuth direction,representing an upward rounding.
Further, the distance between two adjacent receiving antenna array elements or transmitting antenna array elements is lambda/2, and lambda is the wavelength of the transmitting wave.
Further, the length L of the transmitting antenna array TX And the length L of the receiving antenna array RX The method comprises the following steps of:
further, any received intermediate frequency signal is utilized a,b Sampling is carried out on the time dimension, and the target distance observation data L is obtained through primary FFT processing and CFAR detection processing.
Further, the signals of the selected non-redundant signal sequences are sampled on an antenna dimension, and the target azimuth angle theta observation data are obtained through FFT processing and CFAR detection processing.
Further, the positions of the transmitting antenna array and the receiving antenna array satisfy an interchange condition.
The embodiment of the invention has the following advantages:
the embodiment of the invention designs a novel MIMO radar antenna array mode, wherein any one of a receiving antenna array and a transmitting antenna array forms an included angle with the extension line of the other base line, and the complementary angle of the included angleThe method is larger than or equal to 0 degrees and smaller than 90 degrees, and the signals are screened on the basis to obtain non-redundant signal sequences, so that the problem of redundancy of the MIMO radar antenna array is effectively solved, and in addition, the data volume required by calculation is further reduced by signal screening.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the ambit of the technical disclosure.
FIG. 1 is a schematic diagram of a logic structure of a radar target positioning system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of novel MIMO radar antenna array provided in an embodiment of the present invention;
Fig. 3 is a schematic diagram of an antenna array of a conventional MIMO radar;
FIG. 4 is a flowchart of a radar target positioning method according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a positional relationship between a target and a radar in a plane according to an embodiment of the present invention.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to solve the problem that a large amount of array redundancy exists in a uniform linear array under the traditional MIMO radar system, and meanwhile, the space utilization rate of an antenna array is improved.
Referring to fig. 1, an embodiment of the present invention discloses a radar target positioning system, the system comprising: the system comprises a MIMO radar antenna array 1, a target distance observation data L acquisition module 2, a signal screening module 3, a target azimuth angle theta observation data acquisition module 4 and a target observation position acquisition module 5.
The embodiment of the invention discloses a radar target positioning system which is constructed based on a novel MIMO radar antenna layout mode. Referring to fig. 1, a mimo radar antenna array 1 is constructed by a transmitting antenna array 11 and a receiving antenna array 12, and referring to fig. 2, the transmitting antenna array 11 and the receiving antenna array 12 are respectively formed by a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements which are arranged at equal intervals.
The transmitting antenna array element 11 and the receiving antenna array 12 belong to physical array elements, and the transmitting antenna array element 11 is an antenna array element which is arranged on a planar array antenna and is used for transmitting signal waveforms, and is denoted by TX for short; the receiving antenna element 12 is an antenna element for receiving echo signals, and is denoted by RX.
The novel MIMO radar antenna array 1 in the embodiment of the present invention is shown in fig. 2, where the arrows represent single physical array elements of the transmitting antenna and the receiving antenna, that is, the transmitting antenna array element and the receiving antenna array element. Each transmitting antenna array element or each receiving antenna array element is located in an installed rectangular plane, and a black short straight line represents a base line connection line of the transmitting antenna array 11 and the receiving antenna array 12, and all array elements on the base line connection line form a linear array.
Referring to fig. 2, any one of the base lines of the transmitting antenna array 11 and the receiving antenna array 12 forms an angle with the extension line of the base line of the other base line, the complementary angle of the angleGreater than or equal to 0 ° and less than 90 °; referring to fig. 3, there is no angle, or 0 ° angle, between the baseline connection lines in the transmitting antenna array 11 and the receiving antenna array 12 of the conventional MIMO radar antenna arrangement.
Further, the number N of the transmitting antenna array elements TX And the number N of the receiving antenna array elements RX The values of (2) are as follows: n (N) TX ＝N RX ＝N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX ＝N 0 ，N RX >N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX >N 0 ，N RX ＝N 0 ；
Wherein N is 0 For the minimum number of elements required for the receive antenna elements or the transmit antenna elements,
wherein W is the scanning total length of the radar along the azimuth direction, and x res In order to achieve a resolution in the azimuth direction,representing an upward rounding.
Further, in the embodiment of the present invention, a distance between two adjacent receiving antenna array elements or transmitting antenna array elements is λ/2, λ is a wavelength of a transmitting wave, and a length L of the transmitting antenna array TX And the length L of the receiving antenna array RX The method comprises the following steps of:
in an embodiment of the present invention, referring to fig. 2, the transmitting antenna array 11 and the receiving antenna array 12 may be interchanged. The transmitting antenna array element is connected with the transmitting feeder line through the power divider, the receiving antenna array element is connected with the receiving feeder line through the power divider, and the other ends of the transmitting feeder line and the receiving feeder line are connected with the chip module. The signal transmission and the signal reception are respectively realized through the transmitting antenna array element and the receiving antenna array element, and a plurality of intermediate frequency signals are obtained a,b ，Wherein a is the sequence number of the array element of the transmitting antenna, a=1, 2, N TX I.e. a max ＝N TX B is the sequence number of the array element of the receiving antenna, b=1, 2, & N RX I.e. b max ＝N RX θ is the target azimuth.
In the embodiment of the present invention, the target distance observation data L obtaining module 2 is configured to select any received intermediate frequency signal a,b Processing to obtain target distance observation data L; specifically, any received intermediate frequency signal is utilized a,b Sampling is carried out on the time dimension, and the target distance observation data L is obtained through primary FFT processing and CFAR detection processing.
A signal screening module 3 for selecting multiple intermediate frequency signal signals a,b Forming a non-redundant signal sequence; specifically, a plurality of intermediate frequency signals are selected a,b The specific steps for forming the non-redundant signal sequence include: the first K intermediate frequency signals received by each receiving antenna array element are taken to obtain KN RX Signal KN RX The signals are sequenced according to increment to form a non-redundant signal sequence;wherein K is a preset variable for determining the length of a non-redundant signal sequence segment screened from the received signal of each receiving antenna array element, W is the scanning total length of the radar along the azimuth direction, and->Representing an upward rounding. The target azimuth angle theta observation data acquisition module 4 is used for processing the signals of the non-redundant signal sequence to obtain target azimuth angle theta observation data; specifically, for KN in the selected non-redundant signal sequence RX And sampling the intermediate frequency signals on an antenna dimension, and obtaining the target azimuth angle theta observation data through FFT processing and CFAR detection processing. And the target observation position acquisition module 5 is used for acquiring the observation position of the target in the plane according to the target distance observation data L and the target azimuth angle theta observation data.
Corresponding to the radar target positioning system disclosed above, the embodiment of the invention also discloses a radar target positioning method. The following describes in detail a radar target positioning method disclosed in the embodiment of the present invention in connection with a radar target positioning system described above.
The embodiment of the invention discloses a radar target positioning method which is constructed based on a novel MIMO radar antenna layout mode. The following is a detailed description of the novel MIMO radar antenna layout mode construction.
Step one, determining the number of array elements required for constructing a virtual linear array, and based on the preset scanning total length W of the radar along the azimuth direction and the azimuth resolution x res Calculate the requiredMinimum array element number N of transmitting antenna array and receiving antenna array 0 Described by a mathematical formula:
wherein,represents rounding up, in particular, +. >Representing taking the smallest integer not less than ";
number N of transmitting antenna array elements TX And the number N of the receiving antenna array elements RX The values of (2) are as follows:
N TX ＝N RX ＝N 0 the method comprises the steps of carrying out a first treatment on the surface of the Or N TX ＝N 0 ，N RX >N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX >N 0 ，N RX ＝N 0 。
Step two, determining the interval between the virtual linear array elements, and selecting the interval between two adjacent receiving antenna elements or transmitting antenna elements as lambda/2, wherein lambda is the wavelength of the transmitting wave.
Step three, determining the size parameter of the virtual linear array, and according to the number N of the array elements of the transmitting antenna TX Number N of receiving antenna elements RX And array element spacing, the calculation formula of the length of the transmitting antenna/receiving antenna virtual linear array is as follows:
arranging an emitting antenna array element and a receiving antenna array element, wherein the emitting antenna array element and the receiving antenna array element are respectively arranged on the respective arrays at equal intervals, and meanwhile, any one base line connecting line of the emitting antenna array and the receiving antenna array forms an included angle with the extension line of the other base line connecting line, and the complementary angle of the included angle is that The range of the values is as follows: />When (when)And in this case, the conventional MIMO radar antenna array is shown in fig. 3.
Through the first step to the fourth step, the novel MIMO radar antenna array is constructed in the embodiment of the invention. The constructed MIMO radar antenna array 1 comprises a transmitting antenna array 11 and a receiving antenna array 12, wherein the transmitting antenna array 11 and the receiving antenna array 12 are respectively formed by equally-spaced arrangement of a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements, any one of the base line connecting lines of the transmitting antenna array 11 and the receiving antenna array 12 forms an included angle with the extension line of the connecting line of the base line of the other base line, and the complementary angle of the included angle is formed Greater than or equal to 0 ° and less than 90 °.
In the embodiment of the invention, a movable structure is designed on the mounting plate of the MIMO radar antenna array to adapt to the angleIs provided. In principle, the term +_ is used without affecting the reception performance>The smaller the angle, the azimuth resolution x res The higher.
In the above description, the "angle between two straight lines" is defined mathematically as the angle that is not greater than a right angle in the angle between two straight lines in a plane. "complementary angle", mathematical noun. If the sum of two corners is a right angle, then the two corners are said to be "complementary" in that one corner is the complementary of the other corner.
The virtual array elements and virtual linear arrays appearing in the above expression are explained as follows: according to the phase center approximation principle, under far field conditions, a pair of antenna array elements with separated transmitting and receiving can be replaced by an equivalent phase center shared by transmitting and receiving at the center position of the antenna array elements, and the equivalent phase center shared by transmitting and receiving is a virtual array element; all the virtual array elements are arranged on a straight line according to a certain position relationship, namely the virtual linear array.
On the basis of the novel MIMO radar antenna array constructed by the method, referring to FIG. 4, the radar target positioning method disclosed by the embodiment of the invention further comprises the following steps.
The signal transmission and the signal reception are respectively realized through the transmitting antenna array element and the receiving antenna array element, and a plurality of intermediate frequency signals are obtained a,b ，Wherein a is the sequence number of the array element of the transmitting antenna, a=1, 2, N TX I.e. a max ＝N TX ，a max For the maximum value of a, b is the sequence number of the array element of the receiving antenna, b=1, 2, & N RX I.e. b max ＝N RX ，b max For a maximum value of b, θ is the target azimuth.
Specifically, a signal source provides a baseband signal or a local oscillation signal to the transmitting antenna array 11, a transmitter modulates and up-converts the baseband signal provided by the signal source, and then the transmitting antenna array element is used for realizing signal transmission; the receiving antenna array elements of the receiving antenna array 12 receive the radio frequency signals, filter clutter through a band-pass filter, output pure radio frequency signals, amplify the signals by using a low noise amplifier, then down-convert the signals to intermediate frequency signals by a mixer, and finally output the signals through intermediate frequency filtering and amplification.
Any received intermediate frequency signal is selected by the target distance observation data L acquisition module 2 a,b Processing to obtain target distance observation data L; specifically, the target distance observation data L acquisition module 2 uses any received intermediate frequency signal a,b Sampling is carried out on the time dimension, and the target distance observation data L is obtained through primary FFT processing and CFAR detection processing. The measurement distance is only obtained here, and the positioning result of the target on the two-dimensional plane cannot be obtained due to the lack of angle information.
The first K intermediate frequency signals received by each receiving antenna array element are taken by a signal screening module 3 to obtain KN RX Signal KN RX The signals are sequenced according to increment to form a non-redundant signal sequence;wherein K is a preset variable for determining the length of a non-redundant signal sequence segment screened from the received signal of each receiving antenna array element, W is the scanning total length of the radar along the azimuth direction, and->Representing an upward rounding. Specifically, the screened KN RX The individual signals are shown below:
assume thatAt this time, azimuth resolution x res The approximation is calculated as:
wherein L is target distance observation data, and obviously can be obtained, the azimuth resolution x res The value of (2) does not change with the transformation of L.
Processing the signals of the non-redundant signal sequences through a target azimuth angle theta observation data acquisition module 4 to obtain target azimuth angle theta observation data; specifically, the target azimuth angle θ observation data obtaining module 4 samples the signal of the selected non-redundant signal sequence on an antenna dimension, and obtains the target azimuth angle θ observation data through FFT processing and CFAR detection processing. And obtaining the observation position of the target in the plane according to the target distance observation data L and the target azimuth angle theta observation data through a target observation position obtaining module 5. Thus realizing the positioning of the radar to the target.
The selection of signals in the non-redundant signal sequence related to the above embodiment of the present invention and the obtaining of the calculation formula of the azimuth resolution are described in detail below.
The calculation of the frequency map during radar data processing is achieved by the following equation:
wherein p, q, s are frequency magnitudes of distance, speed and angle observed by the radar, respectively, and X (p, q, s) represents FFT calculation results of various physical quantities; x (k) n ,k m ,k r ) Represents the original sequence after AD sampling, k n ，k m ，k r For the sequence numbers of the respective dimensions (time dimension, chirp dimension, antenna dimension) in the sampling sequence, N, M, R represents the total length of the sequence of the respective dimensions.
According to the above, the angle measurement is performedIt can be seen that the angular resolution is mainly affected by the R-value, i.e. the azimuthal resolution at radar angle measurement is actually dependent on the length of the sequence for FFT after up-sampling in the antenna dimension. However, since effective information is not obtained by performing FFT processing on random sequences regardless of the length, the sequences used for FFT processing are kept frequency periodic. For example, a phase sequence x [ n ]]＝nAsin(θ)，x(k r )＝exp(jx[k r ]) That is, a sequence which can obtain effective frequency information after FFT processing.
For the MIMO radar antenna array, consider the signal sent by the a-th transmitting antenna array element received by the b-th receiving antenna array element, the above-mentioned phase sequence x [ n ] is written as x [ a, b ] =asin (θ) +bcos (θ), θ is azimuth, at this time, although effective frequency information can be obtained after FFT processing, the sequence length cannot be well increased, so in this scheme, the following processing is performed on this:
First, an angle is defined in relation to the direction of signal emission The remaining angle of the angle formed by the extension line of either one of the base lines of the transmitting antenna array 11 and the receiving antenna array 12 and the extension line of the other base line, namely the angle shown in fig. 2 +>The above sequence is expressed as:
the sequence 1 of the signals received by the 1 st receiving antenna array element is expressed as:
the sequence 2 of the signals received by the 2 nd receiving antenna array element is expressed as:
……
the sequence x of signals received by the x-th receiving antenna array element is expressed as:
nth (N) RX Sequence N of signals received by a root receive antenna element RX Expressed as:
as described above, N is obtained in total in the embodiment of the present invention RX A sequence.
According to the selection requirement of the non-redundant signal sequence in the embodiment of the invention, the signals of the adjacent previous sequence and the adjacent next sequence are used as the adjacent signals of the non-redundant signal sequence, and the non-redundant signal sequence after screening has frequency periodicity, and the frequency periodicity is explained as follows: the phase difference value between any two adjacent intermediate frequency signals in the non-redundant signal sequences is equal, and for the sequences, the frequency periodicity needs to be met after screening, and the requirement needs to be met:
The kth signal of the post-screening sequence x-the kth-1 signal of the post-screening sequence x = the 1 st signal of the post-screening sequence x + 1-the kth signal of the post-screening sequence x;
namely:
and (3) deforming to obtain:
in fact, considering the acceptable errors, it is only necessary to satisfy:
solving the above inequality can be obtained:
next, the position relationship of the target and the radar in the plane is calculated as shown in fig. 5: in the figure, T represents the position of a target, and R represents the position of a radar antenna.
Considering that the total length W of the scan in azimuth when the radar observes a far target is much smaller than the distance L of the radar from the target, then there is:
the operation is that: representing an upward rounding.
The calculation formula of the angular resolution of the millimeter wave radar is as follows:
wherein N is the number of equivalent receiving antennas, i.e. the sequence length R in the antenna dimension. To avoid the influence of coupling between grating lobes and resistors, taked is the spacing between two adjacent receiving or transmitting antenna elements, taking into account L>>At W, cos θ≡1, where the angular resolution is calculated as:
in this scheme, assume N RX ＝N TX ＝N 0 ，N 0 For the minimum number of required receiving antenna elements or transmitting antenna elementsThe method comprises the following steps:
/>
i.e. arbitrary->X under angle res When->When (the transmit antenna array and the receive antenna array are perpendicular to each other), the equation becomes: / >I.e. the azimuthal resolution does not change with the observation distance.
In this scheme, assume N RX ≠N TX The following steps are:
i.e. arbitrary->X under angle res When->When (the transmit antenna array and the receive antenna array are perpendicular to each other), the equation becomes: />Likewise, the azimuthal resolution does not change with the observed distance.
Under the traditional MIMO radar system, the angular resolution of the radar is determined by the number of equivalent receiving antennas and azimuth angles, namely, under the condition that the number of physical array elements is unchanged, the angular resolution of the radar is equal at different distances along the same radial direction relative to the radar, and the distance resolution of the radar is a fixed value, so that the resolution of the radar in the azimuth direction is increased along with the increase of the distance on the whole according to the mapping relation between polar coordinates and a rectangular coordinate system, thereby leading to low data density and poor resolution capability of the radar for the observation and return of a remote target.
The embodiment of the invention designs a novel antenna array mode, wherein any one base line connecting line in the receiving antenna array and the transmitting antenna array forms an included angle with the extension line of the connecting line of the other base line, and the complementary angle of the included angleGreater than 0 DEG and less than or equal to 90 DEG, the number N of transmitting antenna array elements TX And the number N of the receiving antenna array elements RX Can select the minimum number N of the receiving antenna array elements or the transmitting antenna array elements 0 Length L of transmitting antenna array TX And length L of the receiving antenna array RX The method comprises the following steps of: />And on the basis, the signals are screened to obtain non-redundant signals, so that the problem of redundancy of the MIMO radar antenna array is effectively solved, the data volume required by calculation is reduced, and the space utilization rate is improved. The azimuth resolution is not changed along with the change of the observation distance, and the problem of low cloud density of the remote target point is effectively solved.
In addition, the embodiment of the invention also provides equipment for avoiding radar interference, which comprises: a processor and a memory;
the memory is used for storing one or more program instructions;
the processor is configured to execute one or more program instructions to perform the steps of:
acquiring multiple intermediate frequency signals received by receiving antenna array elements from transmitting antenna array elements a,b ，Wherein a is the sequence number of the array element of the transmitting antenna, a=1, 2, N TX B is the sequence number of the array element of the receiving antenna, b=1, 2, & N RX θ is the target azimuth;
selecting any received intermediate frequency signal a,b Processing to obtain target distance L observation data;
From the plurality of intermediate frequency signals a,b Signals of the non-redundant signal sequence selected in the above;wherein K is a preset variable for determining the length of a non-redundant signal sequence screened from the received signals of each receiving antenna array element, W is the scanning total length of the radar along the azimuth direction, and->Representing an upward rounding;
processing the signals of the non-redundant signal sequences to obtain target azimuth angle theta observation data; and
Obtaining the observation position of the target in the plane according to the observation data of the target distance L and the observation data of the target azimuth angle theta;
the antenna array comprises a transmitting antenna array and a receiving antenna array, wherein the transmitting antenna array and the receiving antenna array are constructed to form a MIMO radar antenna array, the transmitting antenna array and the receiving antenna array are respectively formed by equally-spaced arrangement of a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements, an included angle is formed between any one base line connecting line and the other base line connecting line extending line of the transmitting antenna array and the receiving antenna array, and the complementary angle of the included angle is formedGreater than 0 ° and less than or equal to 90 °.
Further, the number N of the transmitting antenna array elements TX And the number N of the receiving antenna array elements RX The values of (2) are as follows:
N TX ＝N RX ＝N 0 the method comprises the steps of carrying out a first treatment on the surface of the Or N TX ＝N 0 ，N RX >N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX >N 0 ，N RX ＝N 0 ；
Wherein N is 0 For a desired minimum number of said receive antenna elements or said transmit antenna elements,
wherein W is the scanning total length of the radar along the azimuth direction, and x res In order to achieve a resolution in the azimuth direction,representing an upward rounding.
Further, the distance between two adjacent receiving antenna array elements or transmitting antenna array elements is lambda/2, and lambda is the wavelength of the transmitting wave.
Further, the length L of the transmitting antenna array TX And the length L of the receiving antenna array RX The method comprises the following steps of:
further, any received intermediate frequency signal is utilized a,b Sampling is carried out on the time dimension, and the target distance L observation data is obtained through one-time FFT processing and CFAR detection processing.
Further, the signals of the selected non-redundant signal sequences are sampled on an antenna dimension, and the target azimuth angle theta observation data are obtained through FFT processing and CFAR detection processing.
Further, the positions of the transmitting antenna array and the receiving antenna array satisfy an interchange condition.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a processor to:
Acquiring multiple intermediate frequency signals received by receiving antenna array elements from transmitting antenna array elements a,b ，Wherein a is the sequence number of the array element of the transmitting antenna, a=1, 2, N TX B is the sequence number of the array element of the receiving antenna, b=1, 2, & N RX θ is the target azimuth;
selecting any received intermediate frequency signal a,b Processing to obtain target distance L observation data;
the first K intermediate frequency signals received by each receiving antenna array element are taken to obtain KN RX Signal KN RX The signals are sequenced according to increment to form a non-redundant signal sequence;wherein K is a preset variable for determining the length of a non-redundant signal sequence screened from the received signals of each receiving antenna array element, W is the scanning total length of the radar along the azimuth direction, and->Representing an upward rounding;
processing the signals of the non-redundant signal sequences to obtain target azimuth angle theta observation data; and
Obtaining the observation position of the target in the plane according to the observation data of the target distance L and the observation data of the target azimuth angle theta;
the transmitting antenna array and the receiving antenna array are constructed to form a MIMO radar antenna array, and the transmitting antenna array and the receiving antenna array are respectively formed by a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements The receiving antenna array elements are arranged at equal intervals, any one of the transmitting antenna array and the receiving antenna array forms an included angle with the extension line of the connection line of the other base line, and the complementary angle of the included angleGreater than 0 ° and less than or equal to 90 °.
Further, the number N of the transmitting antenna array elements TX And the number N of the receiving antenna array elements RX The values of (2) are as follows:
N TX ＝N RX ＝N 0 the method comprises the steps of carrying out a first treatment on the surface of the Or N TX ＝N 0 ，N RX >N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX >N 0 ，N RX ＝N 0 ；
Wherein N is 0 For a desired minimum number of said receive antenna elements or said transmit antenna elements,
wherein W is the scanning total length of the radar along the azimuth direction, and x res In order to achieve a resolution in the azimuth direction,representing an upward rounding.
Further, the distance between two adjacent receiving antenna array elements or transmitting antenna array elements is lambda/2, and lambda is the wavelength of the transmitting wave.
Further, the length L of the transmitting antenna array TX And the length L of the receiving antenna array RX The method comprises the following steps of:
further, any received intermediate frequency signal is utilized a,b Sampling is carried out on the time dimension, and the target distance L observation data is obtained through one-time FFT processing and CFAR detection processing.
Further, the signals of the selected non-redundant signal sequences are sampled on an antenna dimension, and the target azimuth angle theta observation data are obtained through FFT processing and CFAR detection processing.
Further, the positions of the transmitting antenna array and the receiving antenna array satisfy an interchange condition.
In the embodiment of the invention, the processor may be an integrated circuit chip with signal processing capability. The processor may be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP for short), an application specific integrated circuit (Application Specific f ntegrated Circuit ASIC for short), a field programmable gate array (FieldProgrammable Gate Array FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The processor reads the information in the storage medium and, in combination with its hardware, performs the steps of the above method.
The storage medium may be memory, for example, may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory.
The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable ROM (Electrically EPROM, EEPROM), or a flash Memory.
The volatile memory may be a random access memory (Random Access Memory, RAM for short) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (Double Data RateSDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and direct memory bus RAM (directracram, DRRAM).
The storage media described in embodiments of the present invention are intended to comprise, without being limited to, these and any other suitable types of memory.
Those skilled in the art will appreciate that in one or more of the examples described above, the functions described in the present invention may be implemented in a combination of hardware and software. When the software is applied, the corresponding functions may be stored in a computer-readable medium or transmitted as one or more instructions or code on the computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (11)
1. A method of radar target location, the method comprising:
Constructing a MIMO radar antenna array, wherein the MIMO radar antenna array comprises a transmitting antenna array and a transmitting antenna arrayThe antenna comprises a receiving antenna array, wherein the transmitting antenna array and the receiving antenna array are respectively formed by a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements which are distributed at equal intervals, any one of the base line connecting lines of the transmitting antenna array and the receiving antenna array forms an included angle with the extension line of the other base line connecting line, and the complementary angle of the included angle is as followsGreater than or equal to 0 ° and less than 90 °;
the transmitting antenna array element and the receiving antenna array element respectively realize signal transmission and signal reception to obtain a plurality of intermediate frequency signals a,b ，Wherein a is the sequence number of the transmitting antenna array element, b is the sequence number of the receiving antenna array element, and θ is the target azimuth angle;
selecting any received intermediate frequency signal a,b Processing to obtain target distance observation data L;
selecting multiple intermediate frequency signal signals a,b Forming a non-redundant signal sequence;
processing the signals of the non-redundant signal sequence to obtain target azimuth angle theta observation data; and
And obtaining the observation position of the target in the plane according to the target distance observation data L and the target azimuth angle theta observation data.
2. The radar target positioning method of claim 1, wherein the number N of transmit antenna elements TX And the number N of the receiving antenna array elements RX The values of (2) are as follows:
N TX ＝N RX ＝N 0 the method comprises the steps of carrying out a first treatment on the surface of the Or N TX ＝N 0 ，N RX >N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX >N 0 ，N RX ＝N 0 ；
Wherein N is 0 For the minimum number of elements required for the receive antenna elements or the transmit antenna elements,
wherein W is the scanning total length of the radar along the azimuth direction, and x res In order to achieve a resolution in the azimuth direction,representing an upward rounding.
3. A radar target positioning method according to claim 2, wherein the spacing between two adjacent receiving antenna elements or transmitting antenna elements is λ/2, λ being the wavelength of the transmitted wave.
4. A radar target positioning method as recited in claim 3, wherein said transmitting antenna array has a length L TX And the length L of the receiving antenna array RX The method comprises the following steps of:
5. a radar target positioning method as claimed in claim 1, characterized in that any received intermediate frequency signal is used a,b Sampling is carried out on the time dimension, and the target distance observation data L is obtained through primary FFT processing and CFAR detection processing.
6. The radar target positioning method according to claim 1, wherein the selected signal of the non-redundant signal sequence is sampled in an antenna dimension, and the target azimuth angle θ observation data is obtained through FFT processing and CFAR detection processing.
7. A radar target positioning system, the system comprising:
MIMO radar antenna array is constructed by transmitting antenna array and receiving antenna array, transmitting antenna array with receiving antenna array is respectively by a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements equidistant arrangement forms, transmitting antenna array with arbitrary party base line connecting wire in the receiving antenna array forms the contained angle with another party base line connecting wire extension line, the complementary angle of contained angleGreater than or equal to 0 ° and less than 90 °; the transmitting antenna array element and the receiving antenna array element respectively realize signal transmission and signal reception to obtain a plurality of intermediate frequency signals a,b ，/>Wherein a is the sequence number of the transmitting antenna array element, b is the sequence number of the receiving antenna array element, and θ is the target azimuth angle;
a target distance observation data L acquisition module for selecting any received intermediate frequency signal a,b Processing to obtain target distance observation data L;
a signal screening module for selecting multiple intermediate frequency signal a,b Forming a non-redundant signal sequence;
the target azimuth angle theta observation data acquisition module is used for processing the signals of the non-redundant signal sequences to obtain target azimuth angle theta observation data; and
And the target observation position acquisition module is used for acquiring the observation position of the target in the plane according to the target distance observation data L and the target azimuth angle theta observation data.
8. A radar target positioning system as recited in claim 7, wherein said number N of transmit antenna elements TX And the number N of the receiving antenna array elements RX The values of (2) are as follows:
N TX ＝N RX ＝N 0 the method comprises the steps of carrying out a first treatment on the surface of the Or N TX ＝N 0 ，N RX >N 0 The method comprises the steps of carrying out a first treatment on the surface of the Or N TX >N 0 ，N RX ＝N 0 ；
Wherein N is 0 For the minimum number of elements required for the receive antenna elements or the transmit antenna elements,
wherein W is the scanning total length of the radar along the azimuth direction, and x res In order to achieve a resolution in the azimuth direction,representing an upward rounding.
9. The radar target positioning system of claim 8, wherein a spacing between two adjacent ones of said receiving antenna elements or said transmitting antenna elements is λ/2, λ being a wavelength of a transmitted wave, a length L of said transmitting antenna array TX And the length L of the receiving antenna array RX The method comprises the following steps of:
10. a radar target positioning device, the device comprising: a processor and a memory;
the memory is used for storing one or more program instructions;
the processor is configured to execute one or more program instructions to perform the steps of:
Acquiring multiple intermediate frequency signals received by receiving antenna array elements from transmitting antenna array elements a,b ，Wherein a is the sequence number of the transmitting antenna array element, b is the sequence number of the receiving antenna array element, and θ is the target azimuth angle;
selecting any receivedSignal of intermediate frequency a,b Processing to obtain target distance observation data L;
selecting multiple intermediate frequency signal signals a,b Forming a non-redundant signal sequence;
processing the signals of the non-redundant signal sequence to obtain target azimuth angle theta observation data; and
Obtaining the observation position of the target in the plane according to the target distance observation data L and the target azimuth angle theta observation data;
the antenna array comprises a transmitting antenna array and a receiving antenna array, wherein the transmitting antenna array and the receiving antenna array are constructed to form a MIMO radar antenna array, the transmitting antenna array and the receiving antenna array are respectively formed by a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements which are distributed at equal intervals, an included angle is formed by connecting any one base line in the transmitting antenna array and the receiving antenna array with the connecting extension line of the other base line, and the complementary angle of the included angle is formed by connecting the connecting extension line of the other base lineGreater than or equal to 0 ° and less than 90 °.
11. A computer readable storage medium having a computer program stored thereon, the computer program being executable by a processor to perform the steps of:
Acquiring multiple intermediate frequency signals received by receiving antenna array elements from transmitting antenna array elements a,b ，Wherein a is the sequence number of the transmitting antenna array element, b is the sequence number of the receiving antenna array element, and θ is the target azimuth angle;
selecting any received intermediate frequency signal a,b Processing to obtain target distance observation data L;
selecting multiple intermediate frequency signal signals a,b Forming a non-redundant signal sequence;
processing the signals of the non-redundant signal sequence to obtain target azimuth angle theta observation data; and
Obtaining the observation position of the target in the plane according to the target distance observation data L and the target azimuth angle theta observation data;
the antenna array comprises a transmitting antenna array and a receiving antenna array, wherein the transmitting antenna array and the receiving antenna array are constructed to form a MIMO radar antenna array, the transmitting antenna array and the receiving antenna array are respectively formed by a plurality of transmitting antenna array elements and a plurality of receiving antenna array elements which are distributed at equal intervals, an included angle is formed by connecting any one base line in the transmitting antenna array and the receiving antenna array with the connecting extension line of the other base line, and the complementary angle of the included angle is formed by connecting the connecting extension line of the other base lineGreater than or equal to 0 ° and less than 90 °.
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