CN113917461B - MIMO radar imaging method and system - Google Patents
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Abstract
The invention belongs to the technical field of MIMO radar detection, imaging identification and wireless communication, and particularly relates to an MIMO radar imaging method and system and application thereof in the fields. The method is based on the synthetic virtual array obtained by the MIMO technology, and the array signal is processed by adopting a new imaging algorithm so as to obtain the imaging information of the target, and the algorithm has the advantages of small operand, high imaging speed and compatibility with application scenes of different distances. The method of the invention has the same imaging effect as the holographic technology aiming at the short-distance target and the detection effect not weaker than the digital beam synthesis technology aiming at the long-distance target. The method also has the advantages of good imaging effect, low hardware cost and the like.
Description
Technical Field
The invention belongs to the technical field of MIMO radar detection, imaging identification and wireless communication, and particularly relates to an MIMO radar imaging method and application thereof in the fields.
Background
A MIMO (Multiple-Input Multiple-Output) technique, i.e., a Multiple-Input Multiple-Output technique, is to use Multiple transmitting antennas and Multiple receiving antennas at a signal transmitting end and a signal receiving end, respectively, without increasing bandwidth, so that signals are transmitted and received through the Multiple antennas at the transmitting end and the receiving end, thereby improving communication quality. The MIMO technology can make full use of space resources, realize multiple transmission and multiple reception through multiple antennas, and improve system channel capacity by multiple times without increasing spectrum resources and antenna transmission power, shows great advantages, and is considered as a core technology of next-generation mobile communication.
From the perspective of target detection and imaging identification, the MIMO technology can synthesize a large-aperture virtual array through a small number of transceiver units, thereby greatly reducing hardware cost and improving system resolution. However, the existing MIMO radar still has certain defects and shortcomings when performing target detection, and mainly includes:
1) Poor technical compatibility, incapability of being compatible with different scenes in far, middle and near fields
Due to the limitation of an imaging algorithm, for detection targets at different distances, the MIMO radar often needs to adopt different signal processing technologies: on one hand, when long-distance target detection is carried out, a digital beam synthesis technology is usually adopted to synthesize a certain number of detection beams, but the method is not suitable for short-distance, especially ultra-short-distance target detection, and the imaging effect of a short-distance target is poor or even effective imaging cannot be carried out; on the other hand, when detecting a short-distance target, a holographic imaging technology is usually adopted, but the technology has complex algorithm and great computation amount, and is not suitable for medium and long-distance targets.
2) Large operation amount, high cost and low imaging speed
When the MIMO technology is used for short-distance holographic imaging, two operations of Fast Fourier Transform (FFT) and Inverse Fast Fourier Transform (IFFT) ("FFT-phase compensation-IFFT" operation) need to be performed in sequence, the operation amount is very large, the configuration requirements on hardware environment and computing resources are high, so that both hardware price and operation cost are high, and in addition, the two operations of FFT and IFFT need to be performed in sequence, so that the imaging speed is slow. When the MIMO technology is used for detecting a long-distance target, a digital beam synthesis technology is generally used, but the more beams are synthesized, the higher the requirement on hardware computing resources is, and the hardware cost is extremely high.
In view of this, the development of the MIMO radar imaging method which has good compatibility, low cost, fast imaging speed and excellent imaging effect has significant application value.
Disclosure of Invention
In order to overcome the defects and shortcomings of the MIMO radar imaging technology, the invention provides a set of solution. The method is based on the synthetic virtual array obtained by the MIMO technology, and adopts a new imaging algorithm to process the array signal so as to obtain the imaging information of the target, and the algorithm has small operand and high imaging speed, and can be compatible with application scenes with different distances. The method of the invention has the same imaging effect as the holographic technology aiming at the short-distance target and the detection effect not weaker than the digital beam synthesis technology aiming at the long-distance target.
In a first aspect, the invention provides a method for imaging a MIMO radar, the method comprising processing an echo signal received by a receiving antenna by using MIMO technology to synthesize a virtual aperture array signal; adopting a rapid imaging method to perform imaging processing on the synthesized virtual aperture array signal and obtain an imaging detection result; the fast imaging method is based on a lens imaging principle, combines an electromagnetic field theory, and obtains image field distribution corresponding to a target by weighting amplitude and phase of a unit signal according to a target signal received by an antenna array and adopting an efficient parallel algorithm, wherein the specific algorithm is as follows:
wherein: j is an imaginary unit, e is an Euler constant,
in order to obtain a distribution of the image field,
for the target signal received by the array element, A mn Is a weighting coefficient for the array element amplitude,
in order to focus the phase weighting coefficients,
for scanning the phase weighting coefficients, M is the number of array elements in the x-direction, and N is the number of array elements in the y-direction, (x) m ，y n ) As the coordinates of the array element, (delta, sigma) is the imageThe coordinate of the point, V is the image distance, i.e. the distance from the image plane to the array plane, m and n are the serial numbers of the array unit in the x direction and the y direction respectively,
in wavenumber, λ is the wavelength, and the symbol Σ represents the summation operation.
Specifically, the MIMO radar imaging method comprises the following steps:
the method comprises the following steps: carrying out amplitude weighting on the array unit signals to reduce side lobe levels;
step two: carrying out scanning phase weighting on the array unit signals to adjust the central visual angle direction of the imaging system;
step three: carrying out automatic focusing phase weighting on the array unit signals to realize imaging focusing;
step four: performing rapid imaging processing on the array unit signals by adopting an efficient parallel algorithm;
step five: and resolving the image field coordinates, and performing coordinate inversion on the image field to obtain the position of the real target.
Further, the amplitude weighting method in step one of the method of the present invention includes, but is not limited to, uniform distribution, cosine weighting, hamming window, taylor distribution, chebyshev distribution and hybrid weighting method.
Further, in step two of the method of the present invention, the scanning phase is weighted to adjust the central view direction of the imaging system, and the phase calculation formula of the scanning phase weighting is as follows:
wherein: m and n are respectively the serial numbers of the array unit in the x direction and the y direction;
the phase difference between the adjacent cells of the array in the x direction and the y direction respectively has the following calculation formula:
wherein: k is the wave number; delta x 、Δ y Array unit spacing in the x direction and the y direction respectively; theta.theta. ζ 、θ ξ The x-direction and y-direction scanning angle coordinates when the central visual angle direction points to the source coordinates (zeta ) are respectively calculated by the following formulas:
wherein: u is the object distance, i.e., the distance from the plane of the target to the plane of the array.
Further, in the third step of the method of the present invention, autofocus phase weighting is performed on the array unit signals to achieve imaging focusing, wherein:
the autofocus phase weighted focus phase calculation is given by:
wherein: r is the target slope distance (x) m ,y n ) Are the coordinates of the array elements.
Further, the method of the invention comprises the following fourth step: performing rapid imaging processing on the signals after the amplitude and the phase of the array unit are weighted by adopting an efficient parallel algorithm; the efficient parallel algorithm comprises two-dimensional or three-dimensional FFT, IFFT, non-uniform FFT and sparse FFT, and the calculation formula is as follows:
wherein:
is like, symbol
Represents an efficient parallel algorithm function that is,
for a target fringe field received by an array element, A is the array element amplitude weighting coefficient, φ F For focusing the phase weighting coefficients, [ phi ] S Is a scanning phase weighting coefficient, j is an imaginary number unit, and e is an Euler constant;
ω corresponding to the image field calculation result δ 、ω σ The value range is as follows: omega δ ∈[0,2π]、ω σ ∈[0,2π]After fftshift operation, the value of ω is calculated δ 、ω σ The value range is transformed into: omega δ ∈[-π,π]、ω σ ∈[-π,π]The image at this time is an image conforming to the actual distribution:
further, the method of the invention comprises the following step five: carrying out coordinate calculation on an image field obtained by the efficient parallel algorithm, and carrying out coordinate inversion on the image field to obtain the position of a real target; wherein:
for the efficient parallel algorithm of the IFFT class, the calculation formula of the angular coordinate of the image field scanning is as follows:
for the FFT-type efficient parallel algorithm, the calculation formula of the image field scanning angle coordinate is as follows:
the rectangular coordinate calculation formula of the image is as follows:
δ＝V tanθ δ ，
σ＝V tanθ σ ；
the coordinate inversion calculation formula of the real target is as follows:
further, the method adopts a simplified method when used for imaging a long-distance target, and comprises the following steps:
if R = ∞ is selected, then phi is F =0, a simplified formula suitable for long range imaging is:
and calculating an image field by adopting the efficient parallel algorithm, and obtaining the target distribution condition in a wide visual angle range through one-time operation.
In addition, the invention also relates to the application of the method in the fields of MIMO radar detection, imaging identification and wireless communication.
In a second aspect, the present invention further provides an MIMO radar imaging system, where the imaging system executes an operation instruction formed by the above MIMO radar imaging method, and the imaging system includes the following operation modules:
1) The receiving and transmitting antenna array module is used for transmitting a radio frequency detection signal, and the receiving antenna is used for receiving a target echo signal;
2) The array signal synthesis module is used for processing the echo signals received by the receiving antenna and synthesizing virtual aperture array signals;
3) The imaging signal processing module is used for imaging the synthesized virtual aperture array signal by adopting a rapid imaging method based on a lens imaging principle;
4) And the display and control system module is used for synchronizing and controlling the whole radar system, displaying the imaging detection result and providing a human-computer interaction interface.
In conclusion, the MIMO radar imaging method has the following advantages:
1) The imaging effect is improved
In the phase compensation method, the target slant distance R is used for replacing the object distance parameter U, and compared with the object distance parameter U, the parameter R is easier to obtain and has better imaging effect.
2) Small computation, low hardware cost and high imaging speed
Compared with the traditional holographic active imaging algorithm, the phase compensation-IFFT algorithm framework is adopted, the FFT operation link with high requirement on hardware resources and low operation speed is removed, the operation amount is greatly reduced, and the operation speed is improved; compared with the traditional digital beam synthesis technology, the algorithm greatly reduces the requirement on hardware computing resources, reduces the cost and improves the operation speed.
3) Can be suitable for imaging different application scenes of far, middle and near
In the invention, when imaging at a long distance, the phase compensation is negligible, and at the moment, the IFFT operation is performed, so that the imaging of a long-distance target can be realized, the imaging effect is the same as the digital beam synthesis effect, when imaging at a short distance, the phase compensation effect is obvious, and the imaging effect is similar to the holographic imaging effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, it is obvious that the following drawings are only some embodiments described in the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a system flow diagram of the imaging method of the present invention.
Fig. 2 is an algorithm block diagram of the imaging method of the present invention.
Fig. 3 is a schematic view of the imaging result of the imaging method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail and completely with reference to the following embodiments and accompanying drawings. It is to be understood that the embodiments described are merely illustrative of some, but not all, of the present invention and that the invention may be embodied or carried out in various other specific forms, and that various modifications and changes in the details of the specification may be made without departing from the spirit of the invention.
Also, it should be understood that the scope of the invention is not limited to the particular embodiments described below; it is also to be understood that the terminology used in the examples herein is for the purpose of describing particular embodiments only, and is not intended to limit the scope of the present invention.
Example 1: a MIMO radar imaging method (refer to figure 1), the method includes using MIMO technology to process the echo signal received by the receiving antenna, synthesize the virtual aperture array signal; adopting a rapid imaging method to perform imaging processing on the synthesized virtual aperture array signal and obtain an imaging detection result; the fast imaging method is based on a lens imaging principle, combines an electromagnetic field theory, obtains image field distribution corresponding to a target by weighting amplitude and phase of a unit signal according to a target signal received by an antenna array and adopting an efficient parallel algorithm, and comprises the following specific algorithms:
wherein: j is an imaginary unit, e is an Euler constant,
in order to be the image field distribution,
for the target signal received by the array unit, A mn Is a weighting coefficient for the array element amplitude,
in order to focus the phase weighting factors,
for scanning the phase weighting coefficients, M is the number of array elements in the x-direction, and N is the number of array elements in the y-direction, (x) m ，y n ) Is the coordinate of the array unit, (delta, sigma) is the coordinate of the image point, V is the image distance, i.e. the distance from the image plane to the array plane, m, n are the serial numbers of the array unit in the x direction and the y direction respectively,
in wavenumber, λ is the wavelength, and the symbol Σ represents the summation operation.
Specifically, the MIMO radar imaging method of the present invention includes the following steps (see fig. 2):
the method comprises the following steps: carrying out amplitude weighting on the array unit signals to reduce side lobe levels;
methods of amplitude weighting include, but are not limited to, uniform distribution, cosine weighting, hamming window, taylor distribution, chebyshev distribution, and hybrid weighting methods.
Step two: carrying out scanning phase weighting on the array unit signals to adjust the central visual angle direction of the imaging system;
the phase calculation formula of the scanning phase weighting is as follows:
wherein: m and n are respectively the serial numbers of the array unit in the x direction and the y direction;
the phase difference between the adjacent cells of the array in the x direction and the y direction respectively has the following calculation formula:
wherein: k is the wave number; delta of x 、Δ y Array unit intervals in the x direction and the y direction respectively; theta.theta. ζ 、θ ξ The x and y scanning angle coordinates when the central visual angle direction points to the source coordinates (zeta, xi) are respectively calculated as follows:
wherein: u is the object distance, i.e., the distance from the plane of the target to the plane of the array.
Step three: carrying out automatic focusing phase weighting on the array unit signals to realize imaging focusing;
wherein, the focus phase calculation formula of the automatic focus phase weighting is as follows:
wherein: r is the target slope distance, (x) m ,y n ) Are the coordinates of the array elements.
Step four: performing rapid imaging processing on the array unit signals by adopting an efficient parallel algorithm;
the efficient parallel algorithm comprises two-dimensional or three-dimensional FFT, IFFT, non-uniform FFT and sparse FFT, and the calculation formula is as follows:
wherein:
is like, symbol
Represents an efficient parallel algorithm function and is,
is a target scattered field received by the array unit, A is an array unit amplitude weighting coefficient, phi F For focusing the phase weighting coefficients, [ phi ] S Is a scanning phase weighting coefficient, j is an imaginary number unit, and e is an Euler constant;
ω corresponding to the image field calculation result δ 、ω σ The value range is as follows: omega δ ∈[0,2π]、ω σ ∈[0,2π]After fftshift operation, the value of ω is calculated δ 、ω σ The value range is transformed into: omega δ ∈[-π,π]、ω σ ∈[-π,π]The image at this time is an image conforming to the actual distribution:
step five: resolving an image field coordinate, and performing coordinate inversion on the image field to obtain the position of a real target;
for the IFFT type efficient parallel algorithm, the calculation formula of the angular coordinate of the image field scanning is as follows:
for the FFT-like efficient parallel algorithm, the calculation formula of the image field scanning angle coordinate is as follows:
the rectangular coordinate calculation formula of the image is as follows:
δ＝V tanθ δ ，
σ＝V tanθ σ ；
the coordinate inversion calculation formula of the real target is as follows:
example 2: effect verification test of the present imaging method (method in example 1)
The test conditions are as follows: the working frequency of the MIMO system is 30GHz, the transmitting and receiving of 16 are 64, the target is two metal spheres which are 1m away from the transmitting and receiving array, one sphere is in the direction of the normal line of the array, and the other sphere is 0.36m away from the normal line. By processing the MIMO signal, the synthesized virtual aperture array has a size of 32 × 32, and the imaging processing is performed by adopting the algorithm of the invention, and the imaging result is shown in figure 3.
Example 3: MIMO thunderAn imaging method for remote target imaging, comprising: if R = ∞ is selected, then phi is F =0, simplified formula for teleimaging:
(symbol)
and representing an efficient parallel algorithm function, calculating an image field by adopting the efficient parallel algorithm, and obtaining the target distribution condition in a wide visual angle range through one-time operation.
Example 4: an MIMO radar imaging system, which executes an operation instruction formed by the above MIMO radar imaging method (embodiment 1 method), includes the following operation modules:
1) The receiving and transmitting antenna array module is used for transmitting a radio frequency detection signal, and the receiving antenna is used for receiving a target echo signal;
2) The array signal synthesis module is used for carrying out signal processing on the echo signals received by the receiving antenna and synthesizing virtual aperture array signals;
3) The imaging signal processing module is used for imaging the synthesized virtual aperture array signal by adopting a rapid imaging method based on a lens imaging principle;
4) And the display and control system module is used for synchronizing and controlling the whole radar system, displaying the imaging detection result and providing a human-computer interaction interface.
The embodiments of the present invention are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, replacement, or the like that comes within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (3)
1. A MIMO radar imaging method is characterized in that the method comprises the steps of processing echo signals received by a receiving antenna by using MIMO technology, and synthesizing a virtual aperture array signal; adopting a rapid imaging method to perform imaging processing on the synthesized virtual aperture array signal and obtain an imaging detection result; the fast imaging method is based on a lens imaging principle, combines an electromagnetic field theory, and obtains image field distribution corresponding to a target by weighting amplitude and phase of a unit signal according to a target signal received by an antenna array and adopting an efficient parallel algorithm, wherein the specific algorithm is as follows:
wherein: j is an imaginary unit, e is an Euler constant,
in order to be the image field distribution,
for the target signal received by the array unit, A mn Is a weighting coefficient for the array element amplitude,
in order to focus the phase weighting coefficients,
for scanning the phase weighting coefficients, M is the number of array elements in the x-direction, and N is the number of array elements in the y-direction, (x) m ，y n ) Is the coordinate of the array unit, (delta, sigma) is the coordinate of the image point, V is the image distance, i.e. the distance from the image plane to the array plane, m, n are the serial numbers of the array unit in the x direction and the y direction respectively,
is the wave number, lambda is the wavelength, and the symbol Σ represents the summation operation;
the rapid imaging method comprises the following steps:
the method comprises the following steps: amplitude weighting the virtual aperture array signal to reduce side lobe levels;
step two: carrying out scanning phase weighting on the virtual aperture array signal so as to adjust the central visual angle direction of the imaging system;
step three: carrying out automatic focusing phase weighting on the virtual aperture array signal to realize imaging focusing;
step four: performing rapid imaging processing on the virtual aperture array signal by adopting an efficient parallel algorithm;
step five: resolving an image field coordinate, and performing coordinate inversion on the image field to obtain the position of a real target;
the amplitude weighting method in the first step comprises a uniform distribution method, a cosine weighting method, a Hamming window method, a Taylor distribution method, a Chebyshev distribution method and a mixed weighting method;
in the second step, the scanning phase weighting adjusts the central view angle direction of the imaging system, and the phase calculation formula of the scanning phase weighting is as follows:
wherein: m and n are respectively the serial numbers of the array unit in the x direction and the y direction;
the phase difference between the adjacent cells of the array in the x direction and the y direction respectively has the following calculation formula:
wherein: k is the wave number; delta x 、Δ y Array unit intervals in the x direction and the y direction respectively; theta ζ 、θ ξ The x-direction and y-direction scanning angle coordinates when the central visual angle direction points to the source coordinates (zeta ) are respectively calculated by the following formulas:
wherein: u is the object distance, namely the distance from the plane of the target to the plane of the array;
and in the third step, carrying out automatic focusing phase weighting on the virtual aperture array signal to realize imaging focusing, wherein:
the autofocus phase weighted focus phase calculation formula is:
wherein: r is the target slope distance, (x) m ,y n ) Is the coordinates of the array element;
the fourth step comprises: performing rapid imaging processing on the signals after the amplitude and the phase of the array unit are weighted by adopting an efficient parallel algorithm; the efficient parallel algorithm comprises two-dimensional or three-dimensional FFT, IFFT, non-uniform FFT and sparse FFT, and the calculation formula is as follows:
wherein:
is like, symbol
Represents an efficient parallel algorithm function and is,
is a target scattered field received by the array unit, A is an array unit amplitude weighting coefficient, phi F For focusing the phase weighting coefficients, [ phi ] S Is a scanning phase weighting coefficient, j is an imaginary number unit, and e is an Euler constant;
ω corresponding to the image field calculation result δ 、ω σ The value range is as follows: omega δ ∈[0,2π]、ω σ ∈[0,2π]After fftshift operation, the value of ω is calculated δ 、ω σ The value range is transformed into: omega δ ∈[-π,π]、ω σ ∈[-π,π]The image at this time is an image conforming to the actual distribution:
the fifth step comprises: carrying out coordinate calculation on an image field obtained by the efficient parallel algorithm, and carrying out coordinate inversion on the image field to obtain the position of a real target; wherein:
for the efficient parallel algorithm of the IFFT class, the calculation formula of the angular coordinate of the image field scanning is as follows:
for the FFT-like efficient parallel algorithm, the calculation formula of the image field scanning angle coordinate is as follows:
the rectangular coordinate calculation formula of the image is as follows:
δ＝Vtanθ δ ，
σ＝Vtanθ σ ；
the coordinate inversion calculation formula of the real target is as follows:
the imaging method adopts a simplified method when used for imaging a long-distance target, and comprises the following steps:
if R = ∞ is selected, then phi is F =0, simplified formula for teleimaging:
and calculating an image field by adopting an efficient parallel algorithm, and obtaining the target distribution condition in a wide visual angle range through one-time operation.
2. Use of the method of claim 1 in the fields of MIMO radar detection, imaging identification and wireless communication.
3. A MIMO radar imaging system, wherein the imaging system executes the operating instructions formed by the MIMO radar imaging method of claim 1, and wherein the imaging system comprises the following operating modules:
1) The receiving and transmitting antenna array module is used for transmitting a radio frequency detection signal, and the receiving antenna is used for receiving a target echo signal;
2) The array signal synthesis module is used for processing the echo signals received by the receiving antenna and synthesizing virtual aperture array signals;
3) The imaging signal processing module is used for imaging the synthesized virtual aperture array signal by adopting a rapid imaging method based on a lens imaging principle;
4) And the display and control system module is used for synchronizing and controlling the whole radar system, displaying the imaging detection result and providing a human-computer interaction interface.
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| "Downlink dual modes multiple user MIMO Cognitive radio system";Qun Pan等;《2010 2nd IEEE InternationalConference on Network Infrastructure and Digital Content》;20101231;21-25 * |
| "Near field MIMO array imaging algorithm based on spherical wave decomposition";Rongqiang Zhu 等;《2016 CIE International Conference on Radar (RADAR)》;20161231;1-4 * |
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