KR20210156561A - Radar apparatus and method for measuring distance of target using the same - Google Patents

Abstract

Disclosed are a radar apparatus to measure a distance to a target by using phase difference information of transmission/reception radar signals, and a target distance measurement method using the same. According to the present invention, the target distance measurement method executed by the radar apparatus comprises the following steps of: determining a reference frequency and a first measurement frequency having a first frequency interval with the reference frequency on the basis of the maximum measurable distance of the radar apparatus; using a transmission/reception phase difference with respect to each of radar signals having the reference frequency and the first measurement frequency to calculation unit an initial target distance; determining a second measurement frequency having a second frequency interval greater than the first frequency interval with respect to the reference frequency; and using the transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency and the maximum measurable distance measurable through the reference frequency and the second measurement frequency to measure a final target distance. The radar apparatus uses radar signals collected as complex signals of different angles through a multiphase transformation structure consisting of a plurality of signal mixers and a signal distributor having a phase difference, thereby calculating a transmission/reception phase difference with increased accuracy.

Description

Radar device and target distance measurement method using the same

The present invention relates to a radar device and a method for measuring a target distance using the same, and more particularly, by varying the frequency of a transmission/reception radar signal according to a distance from a target in an interferometric radar operating based on a multi-phase transformation structure. It relates to a technology that can measure a precise distance even when using a narrow bandwidth.

The interferometer radar transmits/receives radar signals having the same two fixed frequencies for a predetermined time to confirm a phase difference, and may obtain a distance from the interferometer radar to a target by using the identified phase difference for each of the radar signals.

In such an interferometer radar, as the two fixed frequency intervals are wider, the accuracy of the distance measurement of the target may be increased. However, the interferometric radar has a disadvantage that the maximum measurable distance decreases as the two fixed frequency intervals are wide.

Accordingly, in recent years, there is a demand for a method capable of increasing the maximum measurable distance while increasing the distance measurement accuracy of the target by widening the frequency interval used in the interferometer radar.

The present invention may provide a method and apparatus for measuring a distance to a target using phase difference information of transmission/reception radar signals having different frequencies.

In addition, the present invention can provide a method and apparatus capable of more precise target distance measurement by obtaining high-accuracy phase difference information using a multi-phase transformation structure.

A method for measuring a target performed by a radar device according to an embodiment of the present invention includes: determining a reference frequency and a first measurement frequency having a first frequency interval with the reference frequency based on a maximum measurable distance of the radar device; calculating an initial distance of a target using a transmission/reception phase difference for each of the radar signals having the reference frequency and the first measurement frequency; determining a second measurement frequency having a second frequency interval greater than the first frequency interval with respect to the reference frequency; Measuring the final distance of the target using the transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency and the maximum measurable distance measurable through the reference frequency and the second measurement frequency, , the radar device may calculate the transmission/reception phase difference with improved accuracy by using radar signals collected as complex signals of different angles through a multi-phase transformation structure composed of a plurality of signal mixers and a signal divider having a phase difference.

The second frequency interval may correspond to an integer multiple of the first frequency interval.

The step of measuring the final distance of the target includes a first distance determined through a transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency, and a maximum measurable distance according to the reference frequency and the second measurement frequency. A second distance corresponding to an integer multiple may be used.

For radar signals collected as complex signals of different angles through the multi-phase transformation structure, DC-offset and I/Q imbalance may be corrected through the least-squares-based circle fitting method and Gram-Schmidt normalization method.

The radar device may calculate a transmission/reception phase difference with improved accuracy by averaging a plurality of transmission/reception phase differences with respect to a radar signal collected as a complex signal of different angles for which the DC-offset and I/Q imbalance are corrected.

The method may further include displaying the final distance of the target on a display when a distance measurement error with respect to the final distance of the target is equal to or less than a preset distance measurement error.

determining a third measurement frequency having a third frequency interval greater than the second frequency interval with respect to the reference frequency when the distance measurement error with respect to the final distance of the target exceeds a preset distance measurement error; and updating the final distance of the target using the transmission/reception phase difference for each of the radar signals having the reference frequency and the third measurement frequency and the maximum measurable distance that can be measured through the reference frequency and the third measurement frequency. may include

A method for measuring a target performed by a radar device according to an embodiment of the present invention includes a reference frequency having a first frequency interval and a first measurement frequency based on the maximum distance of a specific area to be measured with respect to the radar device. determining; determining a second measurement frequency having a second frequency interval greater than a first frequency interval with respect to the reference frequency based on the minimum distance of the specific region with respect to the radar device; calculating a first measurement distance of the target by using a transmission/reception phase difference with respect to each of the radar signals having the reference frequency and the first measurement frequency; When the calculated first measurement distance of the target is greater than or equal to the minimum distance of the specific region, calculating the second measurement distance of the target using the transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency step; and when the calculated second measurement distance of the target is less than or equal to a difference between a maximum distance and a minimum distance of the specific area, identifying the target as being within the specific area, wherein the radar device includes a plurality of signal mixers It is possible to calculate the transmit/receive phase difference with improved accuracy by using radar signals collected as complex signals of different angles through a multi-phase transformation structure composed of a signal splitter having a phase difference with .

The second frequency interval may correspond to an integer multiple of the first frequency interval.

When the target is identified as being within the specific area, the final distance of the target is displayed on the display using the second measuring distance of the target and the maximum measurable distance measurable through the reference frequency and the second measuring frequency It may further include the step of

The displaying of the final distance of the target on the display may be performed by summing the second measurement distance of the target and a distance corresponding to an integer multiple of the maximum measurable distance measurable through the reference frequency and the second measurement frequency.

For radar signals collected as complex signals of different angles through the multi-phase transformation structure, DC-offset and I/Q imbalance may be corrected through the least-squares-based circle fitting method and Gram-Schmidt normalization method.

The radar device may calculate a transmission/reception phase difference with improved accuracy by averaging a plurality of transmission/reception phase differences with respect to a radar signal collected as a complex signal of different angles for which the DC-offset and I/Q imbalance are corrected.

If the calculated second measurement distance of the target is greater than or equal to the difference between the maximum distance and the minimum distance of the specific area, identifying that the target does not exist within the specific area and displaying a warning alarm on the display may be further included. have.

A radar apparatus according to an embodiment of the present invention includes: a signal source generating unit for generating a radar signal having a variable frequency; a transceiver for transmitting and receiving the generated radar signal; and a signal processing unit measuring a distance of a target using a radar signal transmitted and received through the transceiver, wherein the signal processing unit includes a reference frequency and an interval between the reference frequency and the first frequency based on the maximum measurable distance of the radar device determines a first measurement frequency having A second measurement frequency having a second frequency interval is determined, and a transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency and the maximum measurable distance measurable through the reference frequency and the second measurement frequency are determined The final distance of the target is measured by using the transceiver, and the transceiver may output the radar signals collected as complex signals of different angles through a multi-phase conversion structure including a plurality of signal mixers and a signal splitter having a phase difference.

The signal processing unit calculates DC-offset and I/Q imbalance through the least-squares method-based circle fitting method and Gram-Schmidt normalization method for radar signals collected as complex signals of different angles through the multi-phase transformation structure. can be corrected

The signal processing unit may calculate a transmission/reception phase difference with improved accuracy by averaging a plurality of transmission/reception phase differences with respect to a radar signal collected as a complex signal of different angles for which the DC-offset and I/Q imbalance are corrected.

A radar apparatus according to an embodiment of the present invention includes: a signal source generating unit for generating a radar signal having a variable frequency; a transceiver for transmitting and receiving the generated radar signal; and a signal processing unit measuring a distance of a target using a radar signal transmitted and received through the transceiver, wherein the signal processing unit is based on a first frequency based on a maximum distance of a specific area to be measured with respect to the radar device. A reference frequency and a first measurement frequency having an interval are determined, and a second measurement frequency having a second frequency interval greater than the first frequency interval with respect to the reference frequency is determined based on the minimum distance of the specific area with respect to the radar device. and calculating a first measurement distance of the target using the transmission/reception phase difference for each of the radar signals having the reference frequency and the first measurement frequency, and the calculated first measurement distance of the target is the minimum of the specific area If the distance is greater than or equal to the distance, the second measurement distance of the target is calculated by using the transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency, and the calculated second measurement distance of the target is equal to that of the specific area. When the difference between the maximum distance and the minimum distance is less than the difference, the target is identified as being within the specific area, and the transceiver unit uses a multi-phase conversion structure composed of a plurality of signal mixers and a signal splitter having a phase difference to form a complex signal of different angles. The collected radar signals can be output.

When it is identified that the target exists within the specific area, the signal processing unit uses the second measurement distance of the target and the maximum measurable distance that can be measured through the reference frequency and the second measurement frequency to the final distance of the target can be displayed on the display.

The signal processing unit calculates DC-offset and I/Q imbalance through the least-squares method-based circle fitting method and Gram-Schmidt normalization method for radar signals collected as complex signals of different angles through the multi-phase transformation structure. A transmission/reception phase difference with improved accuracy may be calculated by averaging a plurality of transmission/reception phase differences with respect to a radar signal collected as a complex signal of different angles for which the DC-offset and I/Q imbalance are corrected.

According to the present invention, a distance to a target can be measured using phase difference information of transmission/reception radar signals having different frequencies.

In addition, according to the present invention, a more precise target distance measurement may be possible by obtaining high-accuracy phase difference information using a multi-phase transformation structure.

In addition, the present invention can improve the accuracy of measuring the distance of a target located at a long distance while using a narrow frequency bandwidth by using radar signals having different frequency intervals through frequency variability.

1 is a diagram showing the structure of a radar device according to an embodiment of the present invention.
2 is a detailed diagram illustrating the structure of a radar device according to an embodiment of the present invention.
3 is a diagram illustrating a decrease in phase measurement accuracy due to DC-offset according to an embodiment of the present invention.
4 is a diagram illustrating a decrease in phase measurement accuracy due to complex signal imbalance according to an embodiment of the present invention.
5 is a diagram illustrating DC-offset and I/Q imbalance correction using a multi-phase transformation structure according to an embodiment of the present invention.
6 is a diagram illustrating an improvement in phase difference calculation accuracy using a multi-phase transformation structure according to an embodiment of the present invention.
7 is a diagram illustrating a conceptual diagram of a method for measuring a target distance using a radar device according to an embodiment of the present invention.
8 is a diagram illustrating a first example of a method for measuring a target distance using a high-precision radar apparatus according to an embodiment of the present invention.
9 is a flowchart illustrating a first example of a method for measuring a target distance using a high-precision radar apparatus according to an embodiment of the present invention.
10 is a diagram illustrating a second example of a method for measuring a target distance using a high-precision radar apparatus according to an embodiment of the present invention.
11 is a flowchart illustrating a second example of a method for measuring a target distance using a high-precision radar apparatus according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram showing the structure of a radar device according to an embodiment of the present invention.

Referring to FIG. 1 , the radar device 100 of the present invention is shown in FIG. 1 , the radar device 100 of the present invention includes a signal source controller 110 , a signal source generator 120 , and a transceiver 130 . and a signal processing unit 140 . Specifically, the signal source control unit 110 may transmit a control signal for generating a plurality of radar signals having different frequencies according to a predetermined period to the signal source generation unit 120 . The signal source generator 120 may generate a plurality of radar signals having different frequencies by controlling the voltage-controlled oscillator according to the control signal transmitted from the signal source controller 110 .

In this case, when the signal source control unit 110 wants to detect a distant target, the signal source control unit 110 transmits a control signal for narrowing the frequency interval between the plurality of radar signals to the signal source generation unit 120 to measure the maximum of the radar device 100 . possible distance can be increased. Contrary to this, when a high-accuracy distance detection to a target is required, the signal source control unit 110 transmits a control signal for widening a frequency interval between a plurality of radar signals to the signal source generating unit 120 to control the radar device 100 . The distance resolution can be improved.

Meanwhile, the signal source control unit 110 generates a control signal for controlling the generation frequency of the voltage-controlled oscillator by adjusting a divider or a counter of an additionally configured phase-locked loop (PLL). You may.

The transceiver 130 may include a transmitter that transmits a plurality of radar signals using different frequencies generated by the signal source generator 120 and a receiver that receives the radar signals reflected by the target. At this time, the transceiver 130 may be configured in various structures. For example, as shown in FIG. 1 , a monostatic structure in which a transmitting end and a receiving end are combined, or a bistatic structure in which a transmitting end and a receiving end are separated from each other. can have

Finally, the signal processing unit 140 may measure the distance of the target based on the radar signals received through the receiving end, and at the same time transmit the measured distance information of the target to the signal source control unit 110 by transmitting the signal source control unit 110 . ) can contribute to generating a control signal.

The radar device 100 of the present invention may be an interferometric radar. In the case of a conventional interferometer radar, by transmitting radar signals having two fixed frequencies, a transmission/reception phase difference with respect to each radar signal may be checked, and a distance to a target may be measured using the confirmed transmission/reception phase difference. In the case of such an interferometer radar, as the two fixed frequency intervals are wider, the target distance measurement accuracy may increase. However, as the fixed frequency intervals are wider, the maximum measurable distance is reduced.

The radar apparatus 100 of the present invention provides a method for measuring a distance of a target through an interferometer radar, but measures the distance of a target located at a long distance while having high distance measurement accuracy through radar signals having a variable frequency rather than a fixed frequency. can provide a way to

2 is a detailed diagram illustrating the structure of a radar device according to an embodiment of the present invention.

The radar apparatus 100 of the present invention is an interferometric radar capable of acquiring distance information of a target by using a transmission/reception phase difference of radar signals corresponding to at least two or more frequencies. Therefore, it may be an important problem to more accurately measure the transmission/reception phase difference of radar signals in order to acquire precise distance information of the target.

Referring to FIG. 2 , in order to solve this problem, in the radar apparatus 100 of the present invention, the receiving end of the transceiver 130 may be formed in a multi-phase conversion structure. As an example, the multi-phase conversion structure of the receiving end may be composed of a plurality of signal mixers and signal dividers having different phase differences.

For example, the multi-phase conversion structure distributes the local oscillation reference signal output from the transmitter or the radar signal received from the receiver by using a passive element that distributes radar signals with different phase differences, such as a balun and a directional coupler, and divides them into a plurality of mixers. It can be configured in the form of input to .

As another example, the multi-phase conversion structure may be configured in a form using a signal element having no signal phase difference such as a power divider and a phase converter, and a form using a differential signal operating element such as a differential oscillator and a differential amplifier.

As described above, the radar signal received through the multi-phase conversion structure of the receiving end may be converted into a complex signal having different angles on a complex plane and transmitted to the signal processing unit 140 . At this time, the complex signals transmitted to the signal processing unit 140 are caused by various causes such as a local leakage signal (LO leakage), a local reradiation (LO reradiation), and a strong in-band interferer as shown in FIG. DC-offset may be generated. Due to the DC-offset, it is difficult for the signal processing unit 140 to measure the phase of the radar signals, so that the accuracy of the phase measurement may be reduced.

In addition, a plurality of signals transmitted to the signal processing unit 140 may cause a plurality of signal imbalances due to hardware imperfections as shown in FIG. 4 . Due to such complex signal imbalance, it is difficult for the signal processing unit 140 to measure the phase of the radar signals, so that the phase measurement accuracy may be reduced.

The signal processing unit 140 calculates the DC-offset and complex signal imbalance generated in the complex signals of different angles received through such a multi-phase transformation structure as shown in FIG. By correcting it through a signal processing algorithm such as a normalization technique, it is possible to reduce a phase measurement error for radar signals.

Thereafter, the signal processing unit 140 may calculate the transmission/reception phase difference of the radar signal more accurately by using a plurality of transmission/reception phase differences of the radar signal corresponding to one frequency through the multi-phase transformation structure as shown in FIG. 6 . For example, the signal processing unit 140 may improve the calculation accuracy of the transmission/reception phase difference of the radar signal by using an average of a plurality of transmission/reception phase differences identified through the multi-phase transformation structure.

7 is a diagram illustrating a conceptual diagram of a method for measuring a target distance using a radar device according to an embodiment of the present invention.

씩 반복되는 특성에 따라 하기의 식 1과 같이 결정될 수 있다.Referring to FIG. 7 , the radar apparatus 100 of the present invention may determine a reference frequency and a first measurement frequency having an arbitrary first frequency interval from the maximum measurable distance of a search area to be detected. At this time, the maximum measurable distance is

It can be determined as shown in Equation 1 below according to the repeated characteristics.

<Equation 1>

는 빛의 속도를 의미하고,

는 각각 기준 주파수 및 제1 측정 주파수를 나타낸다.here,

is the speed of light,

denotes a reference frequency and a first measurement frequency, respectively.

The radar apparatus 100 may transmit each radar signal toward the search area based on the determined reference frequency and the first measurement frequency, and may receive a radar signal reflected by a target existing in the search area. In addition, the radar device 100 may identify a transmission/reception phase difference using each received radar signal.

Thereafter, the radar device 100 may acquire the primary distance information of the target by using the reference frequency and the first measurement frequency and the transmission/reception phase difference identified in the radar signal for these frequencies. Specifically, the primary distance information of the target may be obtainable through Equation 2 below.

<Equation 2>

은 기준 주파수를 가지는 레이더 신호의 송수신 위상차를 나타내고,

는 제1 측정 주파수를 가지는 레이더 신호의 송수신 위상차를 나타낼 수 있다.At this time,

denotes a phase difference between transmission and reception of a radar signal having a reference frequency,

may represent the transmission/reception phase difference of the radar signal having the first measurement frequency.

라고 하면, 거리 측정 오차는 하기의 식 3과 같이 표현될 수 있다.At this time, the transmission/reception phase difference of the radar signal used to measure the primary distance information of the target exhibits a characteristic that changes around a constant value due to a phase measurement error caused by the system performance of the radar apparatus 100, and, thus, the distance measurement Errors may occur. Phase measurement error

, the distance measurement error can be expressed as Equation 3 below.

<Equation 3>

을 측정하였을 때, 측정된 거리

의 양의 방향으로 최대 거리 오차를

로 정의하고, 측정된 거리

의 음의 방향으로 최대 거리 오차를

으로 정의할 수 있다.Therefore, the primary distance information of the target is

When measuring , the measured distance

The maximum distance error in the positive direction of

is defined as, and the measured distance

The maximum distance error in the negative direction of

can be defined as

This distance measurement error is usually irrelevant or has very low correlation with the operating frequency of the radar device 100 , and may be due to signal processing accuracy of the radar device 100 .

The radar apparatus 100 may determine a second measurement frequency having a second frequency interval greater than the first frequency interval with respect to the reference frequency in order to measure a distance to a distant target while improving the target distance measurement accuracy. In this case, in determining the second measurement frequency, the radar apparatus 100 may determine the second measurement frequency according to the required distance measurement accuracy in consideration of the distance measurement error according to the primary distance information.

For example, the radar apparatus 100 may determine the second measurement frequency such that the second frequency interval corresponding to the reference frequency and the second measurement frequency is an integer multiple of the reference frequency and the first frequency interval corresponding to the first measurement frequency. .

Thereafter, the radar apparatus 100 may identify the transmission/reception phase difference by transmitting the radar signal having the determined second measurement frequency toward the search area and receiving the radar signal reflected by the target existing in the search area.

를 이용함으로서 하기의 식 4와 같이 타겟의 2차 거리 정보를 획득할 수 있다.Finally, the radar device 100 includes the reference frequency and the second measurement frequency, the transmission/reception phase difference identified in the radar signal for these frequencies, and the maximum measurable distance that can be measured through the reference frequency and the second measurement frequency.

By using , secondary distance information of the target can be obtained as in Equation 4 below.

<Equation 4>

은 제2 측정 주파수를 가지는 레이더 신호의 송수신 위상차를 나타낼 수 있다. 또한,

는

과

를 가장 가깝게 만족하는 양의 정수 값을 가지거나

를 만족하는 양의 정수 값을 가질 수 있다. here

may represent the transmission/reception phase difference of the radar signal having the second measurement frequency. Also,

Is

class

has a positive integer value that most closely satisfies

It can have a positive integer value that satisfies .

As such, the radar device 100 measures the distance of a target located at a long distance through the distance measurement method as in Equation 4, as well as increases the frequency interval of transmitted and received radar signals, thereby providing a method of improving the accuracy of measuring the distance of the target. can do.

8 is a diagram illustrating a first example of a method for measuring a target distance using a high-precision radar apparatus according to an embodiment of the present invention.

에 기초하여 임의의 제1 주파수 간격에 대응하는 기준 주파수(

및 제1 측정 주파수(

를 결정할 수 있다. 레이더 장치(100)는 결정된 기준 주파수 및 제1 측정 주파수를 가지는 레이더 신호를 탐색 영역을 향해 송수신하여 각각의 주파수를 가지는 레이더 신호들 각각에 대한 송수신 위상차(

)를 식별할 수 있다.Referring to FIG. 8 , the radar device 100 has a maximum measurable distance (

A reference frequency corresponding to an arbitrary first frequency interval (

and a first measurement frequency (

can be decided The radar device 100 transmits/receives a radar signal having the determined reference frequency and the first measurement frequency toward the search area, and transmits/receives a phase difference (

) can be identified.

)를 획득할 수 있다. 이때, 레이더 장치(100)를 통해 획득 가능한 타겟의 1차 거리 정보는 레이더 장치(100)의 시스템 성능에 의한 위상 측정 오차로 인해 발생되는 거리 측정 오차로 인해

의 값을 가질 수 있다.Thereafter, the radar device 100 receives the target's primary distance information (

) can be obtained. In this case, the primary distance information of the target obtainable through the radar device 100 is due to a distance measurement error generated due to a phase measurement error caused by the system performance of the radar device 100 .

can have a value of

Accordingly, it may be difficult to precisely measure the distance of the target in the reference frequency corresponding to the first frequency interval and the primary distance information of the target determined through the first measurement frequency due to a distance measurement error.

)를 결정할 수 있다. 그리고 레이더 장치(100)는 기준 주파수 및 제2 측정 주파수를 가지는 레이더 신호들 각각에 대한 송수신 위상차(

) 및 기준 주파수 및 제2 측정 주파수를 통해 측정 가능한 최대 측정 가능 거리를 이용하여 식 4를 통해 타겟의 2차 거리 정보(

)를 계산할 있다. In order to solve this problem, the radar device 100 has a second measurement frequency (

) can be determined. And the radar device 100 transmits/receives phase difference (

) and the maximum measurable distance measurable through the reference frequency and the second measuring frequency,

) can be calculated.

의 값을 가질 수 있다.In this case, since the secondary distance information of the target is calculated using the reference frequency and the second measurement frequency having a second frequency interval greater than the first frequency interval, distance measurement accuracy may be improved compared to the primary distance information. In other words, the secondary distance information has improved distance measurement accuracy than the primary distance information, so due to the reduced distance measurement error,

can have a value of

That is, the radar device 100 of the present invention measures the distance of a target located at a long distance by varying the frequency of the radar signal used in the interferometer radar, and increases the frequency interval of the transmitted and received radar signals, thereby measuring the accuracy of the distance of the target. can improve

9 is a flowchart illustrating a first example of a method for measuring a target distance using a high-precision radar apparatus according to an embodiment of the present invention.

In operation 910 , the radar device 100 may determine a reference frequency and a first measurement frequency corresponding to the first frequency interval based on the maximum measurable distance of the radar device.

의 값을 가질 수 있다.In operation 920, the radar apparatus 100 may calculate the primary distance of the target by using the transmission/reception phase difference for each of the radar signals having the reference frequency and the first measurement frequency. In this case, the primary distance information of the target obtainable through the radar device 100 is due to a distance measurement error generated due to a phase measurement error caused by the system performance of the radar device 100 .

can have a value of

In operation 930 , the radar apparatus 100 may determine a second measurement frequency having a second frequency interval greater than the first frequency interval based on the reference frequency based on the calculated primary distance of the target. For example, the radar apparatus 100 may determine the second measurement frequency according to a second frequency interval corresponding to an integer multiple of the first frequency interval.

의 값을 가질 수 있다.In step 940, the radar device 100 uses the maximum measurable distance measurable through the transmission/reception phase difference and the reference frequency and the second measurement frequency for each of the radar signals having the reference frequency and the second measurement frequency, The second distance can be calculated. In this case, since the secondary distance of the target is calculated using the reference frequency and the second measurement frequency having a second frequency interval greater than the first frequency interval, distance measurement accuracy may be improved compared to the primary distance information. In other words, the secondary distance has improved distance measurement accuracy than the primary distance information, so due to the reduced ranging error,

can have a value of

이하인지의 여부를 판단할 수 있다. 즉, 레이더 장치(100)는 미리 설정된 거리 측정 오차(

가

인지의 여부를 판단할 수 있다.In step 950 , the radar device 100 determines that the distance measurement error of the calculated secondary distance is a preset distance measurement error (

It can be determined whether or not That is, the radar device 100 has a preset distance measurement error (

go

It is possible to determine whether or not

가

인 경우, 레이더 장치(100)는 제2 측정 주파수를 통해 계산된 2차 거리 결과를 디스플레이에 표시할 수 있다.If the preset distance measurement error (

go

In the case of , the radar device 100 may display the result of the secondary distance calculated through the second measurement frequency on the display.

가

이 아닌 경우, 레이더 장치(100)는 단계(930)으로 돌아가 제2 측정 주파수를 다시 선택하여 2차 거리를 재계산할 수 있다.Otherwise, if the preset distance measurement error (

go

If not, the radar device 100 may return to step 930 to re-calculate the second distance by selecting the second measurement frequency again.

10 is a diagram illustrating a second example of a method for measuring a target distance using a high-precision radar apparatus according to an embodiment of the present invention.

Referring to FIG. 10 , the radar apparatus 100 of the present invention may perform a range gating technique for designating a range in order to identify a target existing within a specific area. That is, the range gating technique may refer to a technique of displaying the identified target on the display when a target is identified within a specific area, and displaying a warning alarm on the display when not identified.

으로 정하고, 결정된 특정 영역의 최대 거리에 기초하여 제1 측정 주파수(

)를 결정할 수 있다. 이때, 특정 영역의 최대 거리는 기준 주파수(

)와 제1 측정 주파수(

)를 이용한 하기의 식 5를 통해 결정될 수 있다.To this end, the radar device 100 determines the maximum distance of a specific area based on the radar device 100 .

, and based on the determined maximum distance of the specific area, the first measurement frequency (

) can be determined. At this time, the maximum distance of a specific area is the reference frequency (

) and the first measurement frequency (

) can be determined through Equation 5 below.

<Equation 5>

은 기준 주파수와 제1 측정 주파수를 이용하여 최대로 측정 가능한 거리를 의미할 수 있다.in other words,

may mean a maximum measurable distance using the reference frequency and the first measurement frequency.

로 정하고, 결정된 특정 영역의 최소 거리에 기초하여 제2 측정 주파수(

)를 결정할 수 있다. 이때, 특정 영역의 최소 거리는 기준 주파수(

)와 제2 측정 주파수(

)를 이용한 하기의 식 6을 통해 결정될 수 있다.And the radar device 100 determines the minimum distance of a specific area based on the radar device 100 .

, and based on the determined minimum distance of the specific area, the second measurement frequency (

) can be determined. At this time, the minimum distance of a specific area is the reference frequency (

) and the second measurement frequency (

) can be determined through Equation 6 below.

<Equation 6>

은 기준 주파수와 제2 측정 주파수를 이용하여 최대로 측정 가능한 거리를 의미할 수 있다.in other words,

may mean a maximum measurable distance using the reference frequency and the second measurement frequency.

)를 획득할 수 있다. 이때, 획득된 타겟의 1차 거리 정보는 특정 영역의 최대 거리인

과 최소 거리인

의 사이 값을 가질 수 있다.At this time, the radar device 100 uses the phase difference between the radar signal having the reference frequency and the radar signal having the first measurement frequency to obtain the first distance information (

) can be obtained. At this time, the obtained primary distance information of the target is the maximum distance of the specific area.

and the minimum distance

It can have a value between .

)를 계산할 수 있다.Then, the radar device 100 uses the phase difference between the radar signal having the reference frequency and the radar signal having the second measurement frequency to obtain secondary distance information (

) can be calculated.

<Equation 7>

이면, 레이더 장치(100)는 타겟이 특정 영역 내에 존재하는 것을 판단할 수 있다. 이와는 달리 계산된 타겟의 2차 거리 정보에서

이면, 레이더 장치(100)는 타겟이 특정 영역 밖으로 이동한 것으로 판단할 수 있다.At this time, in the calculated secondary distance information of the target,

In this case, the radar apparatus 100 may determine that the target exists in a specific area. On the contrary, in the calculated secondary distance information of the target,

In this case, the radar apparatus 100 may determine that the target has moved out of a specific area.

의 크기로부터 레인지 게이팅 특성을 획득할 수 있으며, 1차 거리 정보(

)를 통해 구한 값보다 정밀하게 측정 가능할 수 있다. That is, the radar device 100 is the secondary distance information of the target.

The range gating characteristic can be obtained from the size of

), it may be possible to measure more precisely than the value obtained through

11 is a flowchart illustrating a second example of a method for measuring a target distance using a high-precision radar apparatus according to an embodiment of the present invention.

In operation 1110, the radar apparatus 100 may set a specific area in which a target is to be measured.

), 제1 측정 주파수(

) 및 제2 측정 주파수(

)를 결정할 수 있다. 구체적을 레이더 장치(100)는 특정 영역의 최대 거리를

으로 정하고, 결정된 특정 영역의 최대 거리에 기초하여 기준 주파수 및 제1 측정 주파수를 결정할 수 있다. 그리고 레이더 장치(100)는 특정 영역의 최소 거리를

로 정하고, 결정된 특정 영역의 최소 거리에 기초하여 제2 측정 주파수를 결정할 수 있다. 다시 말하자면,

은 기준 주파수와 제1 측정 주파수를 이용하여 최대로 측정 가능한 거리를 의미할 수 있고,

은 기준 주파수와 제2 측정 주파수를 이용하여 최대로 측정 가능한 거리를 의미할 수 있다.In step 1120, the radar device 100 based on a specific area reference frequency (

), the first measurement frequency (

) and the second measurement frequency (

) can be determined. Specifically, the radar device 100 determines the maximum distance of a specific area.

, and the reference frequency and the first measurement frequency may be determined based on the determined maximum distance of the specific region. And the radar device 100 determines the minimum distance of a specific area.

, and the second measurement frequency may be determined based on the determined minimum distance of the specific region. In other words,

may mean a maximum measurable distance using the reference frequency and the first measurement frequency,

may mean a maximum measurable distance using the reference frequency and the second measurement frequency.

)를 계산할 수 있다. 이때, 획득된 타겟의 1차 거리 정보는 특정 영역의 최대 거리인

과 최소 거리인

의 사이 값을 가질 수 있다.In step 1130, the radar apparatus 100 uses the transmission/reception phase difference for each of the radar signals having the reference frequency and the first measurement frequency to the first distance of the target

) can be calculated. At this time, the obtained primary distance information of the target is the maximum distance of the specific area.

and the minimum distance

It can have a value between .

)를 계산할 수 있다. In step 1140, the radar device 100 uses the transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency to the secondary distance (

) can be calculated.

보다 큰지 여부를 판단할 수 있다. 만약 타겟의 1차 거리 정보가 특정 영역의 최소 거리인

보다 작으면, 레이더 장치(100)는 타겟이 특정 영역 밖으로 이동한 것으로 판단하고, 단계(1130)으로 돌아갈 수 있다.In step 1150, the radar device 100 determines that the target's primary distance information is the minimum distance of a specific area.

It can be determined whether it is greater or not. If the primary distance information of the target is the minimum distance of a specific area,

If less than, the radar apparatus 100 may determine that the target has moved out of the specific area, and return to step 1130 .

보다 크면, 레이더 장치(100)는 단계(1160)에서, 타겟의 2차 거리 정보 중

가 특정 영역의 최소 거리(

) 이상이면서 최대 거리(

) 이하인지, 즉

)의 여부를 판단할 수 있다.Otherwise, if the primary distance information of the target is the minimum distance of a specific area,

If greater than, the radar device 100 in step 1160, of the secondary distance information of the target

is the minimum distance of a specific area (

) and the maximum distance (

) or less, i.e.

) can be determined.

)이라면, 레이더 장치(100)는 타겟이 특정 영역 내에 존재하는 것으로 판단하고, 타겟의 2차 거리 정보를 디스플레이 상에 표시할 수 있다. 또는 레이더 장치(100)는

)이 아니라면 타겟이 특정 영역 밖에 존재하는 것으로 판단하고, 단계(1130)으로 돌아갈 수 있다.if

), the radar apparatus 100 may determine that the target exists within a specific area, and may display secondary distance information of the target on the display. Or the radar device 100 is

), it is determined that the target exists outside the specific area, and the process may return to step 1130 .

의 크기로부터 레인지 게이팅 특성을 획득할 수 있으며, 1차 거리 정보(

)를 통해 구한 값보다 정밀하게 타겟의 거리 정보를 측정할 수 있다.As described above, the radar device 100 of the present invention is based on the secondary distance information of the target.

The range gating characteristic can be obtained from the size of

), it is possible to measure the distance information of the target more precisely than the value obtained through .

Meanwhile, the method according to the present invention is written as a program that can be executed on a computer and can be implemented in various recording media such as magnetic storage media, optical reading media, and digital storage media.

Implementations of the various techniques described herein may be implemented in digital electronic circuitry, or in computer hardware, firmware, software, or combinations thereof. Implementations may be implemented for processing by, or controlling the operation of, a data processing device, eg, a programmable processor, computer, or number of computers, a computer program product, ie an information carrier, eg, a machine readable storage It may be embodied as a computer program tangibly embodied in an apparatus (computer readable medium) or a radio signal. A computer program, such as the computer program(s) described above, may be written in any form of programming language, including compiled or interpreted languages, as a standalone program or in a module, component, subroutine, or computing environment. It can be deployed in any form, including as other units suitable for use in A computer program may be deployed to be processed on one computer or multiple computers at one site or distributed across multiple sites and interconnected by a communications network.

Processors suitable for processing a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. In general, a processor will receive instructions and data from either read-only memory or random access memory or both. Elements of a computer may include at least one processor that executes instructions and one or more memory devices that store instructions and data. In general, a computer may include, receive data from, transmit data to, or both, one or more mass storage devices for storing data, for example magnetic, magneto-optical disks, or optical disks. may be combined to become Information carriers suitable for embodying computer program instructions and data are, for example, semiconductor memory devices, for example, magnetic media such as hard disks, floppy disks and magnetic tapes, Compact Disk Read Only Memory (CD-ROM). ), an optical recording medium such as a DVD (Digital Video Disk), a magneto-optical medium such as an optical disk, a ROM (Read Only Memory), and a RAM (RAM). , Random Access Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), and the like. Processors and memories may be supplemented by, or included in, special purpose logic circuitry.

In addition, the computer-readable medium may be any available medium that can be accessed by a computer, and may include both computer storage media and transmission media.

While this specification contains numerous specific implementation details, they should not be construed as limitations on the scope of any invention or claim, but rather as descriptions of features that may be specific to particular embodiments of particular inventions. should be understood Certain features that are described herein in the context of separate embodiments may be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment may also be implemented in multiple embodiments, either individually or in any suitable subcombination. Furthermore, although features operate in a particular combination and may be initially depicted as claimed as such, one or more features from a claimed combination may in some cases be excluded from the combination, the claimed combination being a sub-combination. or a variant of a sub-combination.

Likewise, although acts are depicted in the figures in a particular order, it should not be construed that all acts shown must be performed or that such acts must be performed in the specific order or sequential order shown to obtain desirable results. In certain cases, multitasking and parallel processing may be advantageous. Further, the separation of the various device components of the above-described embodiments should not be construed as requiring such separation in all embodiments, and the program components and devices described may generally be integrated together into a single software product or packaged into multiple software products. You have to understand that you can.

On the other hand, the embodiments of the present invention disclosed in the present specification and drawings are merely presented as specific examples to aid understanding, and are not intended to limit the scope of the present invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

100: radar device
110: signal source control unit
120: signal source generator
130: transceiver
140: signal processing unit

Claims (20)

In the target measurement method performed by the radar device,
determining a reference frequency and a first measurement frequency having a first frequency interval from the reference frequency based on the maximum measurable distance of the radar device;
calculating an initial distance of a target using a transmission/reception phase difference for each of the radar signals having the reference frequency and the first measurement frequency;
determining a second measurement frequency having a second frequency interval greater than the first frequency interval with respect to the reference frequency;
Measuring the final distance of the target using the transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency and the maximum measurable distance measurable through the reference frequency and the second measurement frequency
including,
The radar device is
A target distance measuring method for calculating a transmission/reception phase difference with improved accuracy by using radar signals collected as complex signals of different angles through a multi-phase conversion structure composed of a plurality of signal mixers and a signal splitter having a phase difference. According to claim 1,
The second frequency interval is
A target distance measuring method corresponding to an integer multiple of the first frequency interval. According to claim 1,
Measuring the final distance of the target comprises:
A target using a first distance determined through transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency and a second distance corresponding to an integer multiple of the maximum measurable distance according to the reference frequency and the second measurement frequency How to measure distance. According to claim 1,
The radar signals collected as complex signals of different angles through the multi-phase transformation structure are,
A target distance measurement method in which DC-offset and I/Q imbalance are corrected through the least-squares-based circle fitting technique and Gram-Schmidt regularization technique. 5. The method of claim 4,
The radar device is
A target distance measuring method for calculating a transmission/reception phase difference with improved accuracy by averaging a plurality of transmission/reception phase differences with respect to a radar signal collected as a complex signal of different angles in which the DC-offset and I/Q imbalance are corrected. According to claim 1,
When the distance measurement error with respect to the final distance of the target is less than or equal to a preset distance measurement error, displaying the final distance of the target on a display;
A target distance measurement method further comprising a. According to claim 1,
determining a third measurement frequency having a third frequency interval greater than the second frequency interval with respect to the reference frequency when the distance measurement error with respect to the final distance of the target exceeds a preset distance measurement error; and
Updating the final distance of the target using the transmission/reception phase difference for each of the radar signals having the reference frequency and the third measurement frequency and the maximum measurable distance that can be measured through the reference frequency and the third measurement frequency
A target distance measurement method further comprising a. In the target measurement method performed by the radar device,
determining a reference frequency and a first measurement frequency having a first frequency interval based on a maximum distance of a specific area to be measured with respect to the radar device;
determining a second measurement frequency having a second frequency interval greater than a first frequency interval with respect to the reference frequency based on the minimum distance of the specific region with respect to the radar device;
calculating a first measurement distance of the target by using a transmission/reception phase difference with respect to each of the radar signals having the reference frequency and the first measurement frequency;
When the calculated first measurement distance of the target is greater than or equal to the minimum distance of the specific region, calculating the second measurement distance of the target using the transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency step; and
When the calculated second measurement distance of the target is less than or equal to a difference between the maximum distance and the minimum distance of the specific area, identifying the target as existing within the specific area
including,
The radar device is
A target distance measuring method for calculating a transmission/reception phase difference with improved accuracy by using radar signals collected as complex signals of different angles through a multi-phase conversion structure composed of a plurality of signal mixers and a signal splitter having a phase difference. 9. The method of claim 8,
The second frequency interval is
A target distance measuring method corresponding to an integer multiple of the first frequency interval. 9. The method of claim 8,
When the target is identified as being within the specific area, the final distance of the target is displayed on the display using the second measuring distance of the target and the maximum measurable distance measurable through the reference frequency and the second measuring frequency step to do
A target distance measurement method further comprising a. 11. The method of claim 10,
Displaying the final distance of the target on the display comprises:
A target distance measuring method performed by adding the second measuring distance of the target and a distance corresponding to an integer multiple of a maximum measurable distance measurable through the reference frequency and the second measuring frequency. 9. The method of claim 8,
The radar signals collected as complex signals of different angles through the multi-phase transformation structure are,
A target distance measurement method in which DC-offset and I/Q imbalance are corrected through the least-squares-based circle fitting technique and Gram-Schmidt regularization technique. 13. The method of claim 12,
The radar device is
A target distance measuring method for calculating a transmission/reception phase difference with improved accuracy by averaging a plurality of transmission/reception phase differences with respect to a radar signal collected as a complex signal of different angles in which the DC-offset and I/Q imbalance are corrected. 9. The method of claim 8,
When the calculated second measurement distance of the target is greater than or equal to the difference between the maximum distance and the minimum distance of the specific area, identifying that the target does not exist within the specific area and displaying a warning alarm on the display
A target distance measurement method further comprising a. In the radar device,
a signal source generator generating a radar signal of variable frequency;
a transceiver for transmitting and receiving the generated radar signal; and
A signal processing unit for measuring a distance of a target using a radar signal transmitted and received through the transceiver
including,
The signal processing unit,
Determine a reference frequency and a first measurement frequency having a first frequency interval with the reference frequency based on the maximum measurable distance of the radar device,
calculating the initial distance of the target by using the transmission/reception phase difference for each of the radar signals having the reference frequency and the first measurement frequency,
determining a second measurement frequency having a second frequency interval greater than the first frequency interval with respect to the reference frequency;
The final distance of the target is measured using the transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency and the maximum measurable distance that can be measured through the reference frequency and the second measurement frequency,
The transceiver unit,
A radar device for outputting radar signals collected as complex signals of different angles through a multi-phase transformation structure composed of a plurality of signal mixers and a signal distributor having a phase difference. 16. The method of claim 15,
The signal processing unit,
A radar device that corrects DC-offset and I/Q imbalance through the least-squares method-based circle fitting method and Gram-Schmidt regularization method for radar signals collected as complex signals of different angles through the multi-phase transformation structure . 17. The method of claim 16,
The signal processing unit,
A radar device for calculating a transmission/reception phase difference with improved accuracy by averaging a plurality of transmission/reception phase differences with respect to a radar signal collected as a complex signal of different angles in which the DC-offset and I/Q imbalance are corrected. In the radar device,
a signal source generator generating a radar signal of variable frequency;
a transceiver for transmitting and receiving the generated radar signal; and
A signal processor for measuring a distance of a target using a radar signal transmitted and received through the transceiver
including,
The signal processing unit,
determining a reference frequency and a first measurement frequency having a first frequency interval based on the maximum distance of a specific area to measure a target with respect to the radar device;
determining a second measurement frequency having a second frequency interval greater than a first frequency interval with respect to the reference frequency based on the minimum distance of the specific area with respect to the radar device,
calculating the first measurement distance of the target by using the transmission/reception phase difference for each of the radar signals having the reference frequency and the first measurement frequency;
When the calculated first measurement distance of the target is greater than or equal to the minimum distance of the specific region, the second measurement distance of the target is calculated using the transmission/reception phase difference for each of the radar signals having the reference frequency and the second measurement frequency, ,
When the calculated second measurement distance of the target is less than or equal to the difference between the maximum distance and the minimum distance of the specific area, it is identified that the target exists within the specific area,
The transceiver unit,
A radar device for outputting radar signals collected as complex signals of different angles through a multi-phase transformation structure composed of a plurality of signal mixers and a signal distributor having a phase difference. 19. The method of claim 18,
The signal processing unit,
When the target is identified as being within the specific area, the final distance of the target is displayed on the display using the second measuring distance of the target and the maximum measurable distance measurable through the reference frequency and the second measuring frequency radar device. 19. The method of claim 18,
The signal processing unit,
Correcting DC-offset and I/Q imbalance through least-squares method-based circle fitting method and Gram-Schmidt normalization method for radar signals collected as complex signals of different angles through the multi-phase transformation structure,
A radar device for calculating a transmission/reception phase difference with improved accuracy by averaging a plurality of transmission/reception phase differences with respect to a radar signal collected as a complex signal of different angles in which the DC-offset and I/Q imbalance are corrected.

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