CN102866398B - Method and system for performing moving-target identification by using frequency-modulated continuous-wave radar - Google Patents
Method and system for performing moving-target identification by using frequency-modulated continuous-wave radar Download PDFInfo
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Abstract
The invention discloses a method and a system for performing moving-target identification by using a frequency-modulated continuous-wave radar. The method comprises the following steps of: acquiring difference frequency and modulation signals according to a radar signal at the current moment; acquiring distance information according to the difference frequency signal, wherein the distance information comprises a plurality of distance points and an amplitude value corresponding to each distance point; acquiring a Doppler frequency at the current moment according to the modulation signal; judging whether a moving target exists according to the Doppler frequency at the current moment; averagely processing background data to acquire background distance information; acquiring modified distance information by comparing the distance information at the current moment and the background distance information at the current moment; acquiring a moving target identification result by comparing the modified distance information and a threshold; and updating the background data by virtue of the distance information at the current moment when the moving target does not exist. According to the method and the system, the probability of mistaken reports can be reduced, and the accuracy of target identification is effectively improved.
Description
Technical field
The present invention relates to a kind of method and system of utilizing radar to carry out target identification, particularly utilize frequency modulated continuous wave radar to carry out the method and system of moving-target identification.
Background technology
Compare with traditional pulsed radar, Continuous Wave with frequency modulation (FMCW:Frequency Modulation Continuous Wave) radar has the advantages such as low emissive power, low intercepting and capturing, small solid, high range resolution, large time-bandwidth product, high sensitivity and high resistance active jamming capability, in engineering, is widely used.Frequency modulated continuous wave radar basic functional principle is by consecutive periods ground modulate emission signal frequency, and analyzes the signal frequency of x time and the time of reception, thereby draws relative distance and the speed of measured target.
In order to survey the dynamic object in defence area, radar emission signal can adopt the triangle frequency sweeping of time domain neutral line, as shown in Figure 1.Here △ f is minimum and maximum value poor of sweep frequency, T
mit is the time of scanning.
There is the delay of 2R/c time with transmitting in the object reflected signal that radar receives, as shown in Figure 2.Wherein R is the relative distance of radar emission position and testee, and c is the light velocity in vacuum, and dotted line represents is object receive frequency corresponding to radar when static.
F
bbe called beat frequency, it is equal to stationary body is transmitted and received to the poor of frequency.According to simple triangle relation, can obtain:
For a dynamic object, when observer moves to wave source with the relative velocity of v, the frequency that the frequency of the signal that his received wavelength is λ is sent with respect to wave source has the frequency of a v/ λ quantity, i.e. Doppler frequency.Concerning radar, this effect has occurred twice in the two-way process of signal.Therefore total Doppler frequency can be expressed as:
The difference that transmits and receives frequency to dynamic object can be expressed as:
△f
1＝f
b-f
d (3)
△f
2＝f
b+f
d (4)
△ f
1with △ f
2be intermediate-freuqncy signal, they are in side circuit, to need the result that obtains by radar detection.By simple fortran, can obtain:
(5) formula is brought into formula (1) and is done the formula that proper transformation can obtain distance R:
(6) formula is brought into formula (2) and is done the formula that proper transformation can obtain relative velocity v:
Along with technical progress and device cost reduce gradually, fmcw radar is progressively applied to civil area, prison security protection supervision, the supervision of depopulated zone, airport, factory position warehouse supervision etc. can realize by FMCW signal radar, and carry out defence area scope setting by distance measurement function.In civil area, monitor how place is not quiet dummy section, monitor in district and may comprise wall, cable, the fixed objects such as steel mesh, form complicated region to be detected, existing solution be by start the period environment learning carry out background foundation, by real-time ambient conditions feedback, compare to determine whether to exist target with the background of having set up, this method is not conscientiously considered and is transmitted and received the fluctuation of power and the fluctuating of background, practice shows to set up fixing background environment and cannot truly reflect target travel situation, and because background fluctuation causes false alarm rate higher.That is to say, the radar system of learning to set up fixed background by start is applicable to relatively stable and simple testing environment, if still use fixed background as a reference under complex environment, there is relatively big difference in the background when factors such as the fluctuating of background, multipath reflection, environmental energy stack can make to detect background information constantly and just set up, causes false, fails to report, reports by mistake.
Summary of the invention
Technical matters to be solved by this invention provides a kind of method and system of utilizing frequency modulated continuous wave radar to carry out moving-target identification under the complex situations such as background fluctuation, can reduce the probability of misrepresenting deliberately, and effectively improves the correctness of target identification.
The present invention includes following technical scheme:
Utilize frequency modulated continuous wave radar to carry out moving-target and know a method for distinguishing, comprise the steps:
(1) according to the radar signal of current time, obtain difference frequency and modulation signal; According to difference frequency signal, obtain range information, described range information comprises a plurality of range points and the corresponding amplitude of each range points; According to modulation signal, obtain the Doppler frequency of current time;
(2) according to the Doppler frequency of current time, judge whether to exist moving target;
When there is moving target, background data is averaged to process and obtain background range information, utilize range information and the background range information of current time to compare the revised range information of acquisition, revised range information and thresholding are compared to acquisition moving-target recognition result; Then return to step (1) and carry out next identification constantly;
When not there is not moving target, utilize the range information of current time to upgrade background data; Then return to step (1) and carry out next identification constantly.
Described background data comprises a plurality of range informations during without moving target.
Definite method of described thresholding is as follows: background data is carried out to variance and calculate the variance that obtains each range points, according to the variance of this each range points, obtain described thresholding.
Described background data is stored in storer.
The process of upgrading background data is as follows: the distance current time of storing in the range information replacement storer with current time is the range information in the moment farthest.
According to the Doppler frequency of current time, judge whether to exist the method for moving target as follows: when Doppler frequency is zero, not have moving target, when Doppler frequency is non-vanishing, have moving target.
Utilize range information and the background range information of current time are divided by or subtract each other the revised range information of acquisition.
When revised range information is greater than thresholding, report to the police.
A system of utilizing frequency modulated continuous wave radar to carry out moving-target identification, comprises the radio-frequency antenna with mixing function, pretreatment unit, collecting unit, digital signal processing unit, background foundation and updating block, moving-target recognition unit and alarm unit;
Pretreatment unit comprises the frequency mixer of two passage inputs, can complete the mixing transmitting with echoed signal;
The signal of collecting part after to mixing carries out analog to digital conversion and digital signal acquiring;
Digital signal processing unit goes out velocity information and the range information of current time according to the calculated signals after gathering, described velocity information and Doppler frequency are linear; Described range information comprises a plurality of range points and the corresponding amplitude of each range points; According to the difference of velocity information, range information is distributed to background and sets up updating block or moving-target recognition unit; When velocity information is zero, range information is sent to background and sets up updating block; When velocity information is non-vanishing, the range information of acquisition is sent to moving-target recognition unit;
Moving-target recognition unit receives the range information obtaining, and sets up and updating block background extraction data from background; Moving-target recognition unit averages to process to background data and obtains background range information; Utilize the range information and the background range information that obtain to compare the revised range information of acquisition, revised range information and thresholding are compared to acquisition moving-target recognition result; When revised range information is greater than thresholding, output alarm signal is to alarm unit;
Background foundation and updating block comprise the storer of a fixed size, for storing background data; When velocity information is zero, background is set up updating block and is used the range information obtaining to upgrade background data.
Described moving-target recognition unit carries out variance to background data and calculates the variance that obtains each range points, according to the variance of this each range points, obtains described thresholding.
The present invention compared with prior art tool has the following advantages:
(1) the present invention sets up by dynamic background, and the ambient conditions before real-time reflection target invasion, can reduce the probability of misrepresenting deliberately, and effectively improves the correctness of target identification.
(2) the present invention sets up by dynamic background, removed the process that needs start to learn several minutes in conventional security protection radar from, use method of the present invention in 1-2s, can come into effect target detection after radar start, simplified switching on and shutting down operating process, improved the operation usefulness that radar is installed.
Accompanying drawing explanation
The relationship between frequency and time schematic diagram of Fig. 1 triangular modulation signal;
The principle schematic of Fig. 2 Continuous Wave with frequency modulation signal ranging and range rate;
Fig. 3 is of the present invention utilizes the system that frequency modulated continuous wave radar carries out moving-target identification to form schematic diagram;
Fig. 4 method flow diagram that utilizes frequency modulated continuous wave radar to carry out moving-target identification of the present invention;
The possibility schematic diagram of Fig. 5 a kind of multipath reflection back echo of the present invention;
Fig. 6 is of the present invention has or not the range information under target conditions to compare schematic diagram;
Fig. 7 thresholding trend of the present invention schematic diagram.
Embodiment
As shown in Figure 3, the system of utilizing frequency modulated continuous wave radar to carry out moving-target identification of the present invention comprises the radio-frequency antenna with mixing function, pretreatment unit, collecting unit, digital signal processing unit, background foundation and updating block, moving-target recognition unit and alarm unit; Pretreatment unit comprises the frequency mixer of two passage inputs, can complete the mixing transmitting with echoed signal; The signal of collecting part after to mixing carries out analog to digital conversion and digital signal acquiring.Digital signal processing unit goes out velocity information and the range information of current time according to the calculated signals after gathering, described velocity information and Doppler frequency are linear; Described range information comprises a plurality of range points and the corresponding amplitude of each range points; According to the difference of velocity information, range information is distributed to background and sets up updating block or moving-target recognition unit; When velocity information is zero, range information is sent to background and sets up updating block; When velocity information is non-vanishing, the range information of acquisition is sent to moving-target recognition unit.Moving-target recognition unit receives the range information obtaining, and sets up and updating block background extraction data from background; Moving-target recognition unit is processed and is obtained background range information background data; Utilize the range information and the background range information that obtain to compare the revised range information of acquisition, revised range information and thresholding are compared to acquisition moving-target recognition result; When revised range information is greater than thresholding, output alarm signal is to alarm unit.Background foundation and updating block comprise the storer of a fixed size, for storing background data; When velocity information is zero, background is set up updating block and is used the range information obtaining to upgrade background data.
Further, described moving-target recognition unit carries out variance to background data and calculates the variance that obtains each range points, according to the variance of this each range points, obtains described thresholding.
The function of collecting unit, digital signal processing unit, background foundation and updating block, moving-target recognition unit can realize by DSP.
Continuous Wave with frequency modulation is the time dependent continuous wave signal of a kind of signal frequency, conventionally there is a modulation signal to limit the form of its frequency change, the modulation signal of Continuous Wave with frequency modulation is used triangular modulation signal or saw wave modulator signal more, in the present invention, be the measurement of target velocity, the triangular wave of choice for use 100Hz is as modulation signal.Pretreatment unit comprises a frequency mixer, two input signals of this frequency mixer are respectively to transmit and the echoed signal of antenna reception, the output of frequency mixer is the difference frequency result transmitting with echoed signal, and the output of frequency mixer simultaneously also can comprise triangular modulation signal.Digital signal processing unit comprises Hi-pass filter and low-pass filter.Hi-pass filter by digital signal processing unit can filtering modulation signal to obtain difference frequency information, this difference frequency information can reflect and transmits and electromagnetic wave hits the mark and the difference on the frequency that produces because of time delays between the echoed signal that forms, the time-domain signal of this difference frequency result is carried out to Fourier transform, in transformation results, frequency values result corresponding to maximal value is difference frequency frequency values, FMCW range measurement principle shows that difference frequency frequency values is linear with distance, use this frequency can calculate the range information of target, as shown in Figure 6.Low-pass filter by digital signal processing unit can obtain triangular modulation signal, select suitable sample frequency to obtain after the modulation signal of a complete cycle, can obtain Doppler frequency by the rising edge of triangular wave and the frequency of negative edge, according to the measuring principle of FMCW signal, can obtain the velocity information in this moment.
According to system investigative range and Nyquist low pass sampling thheorem, can determine the sampling rate of native system, according to systemic resolution, require to select Fast Fourier Transform (FFT) to count, consider that processing is consuming time, system requirements are selected and the calculation process ability of system, select suitable acquisition process timeslice, to reach the object of real-time processing.
As shown in Figure 4, utilize frequency modulated continuous wave radar to carry out moving-target and know method for distinguishing, comprise the steps:
(1) set up background
After radar measurement system start, continuous acquisition multiframe radar signal, obtains a plurality of range informations during without moving target, i.e. background data according to this radar signal; Background data is stored in to storer.
(2) gather radar signal acquisition difference frequency and the modulation signal of current time; According to difference frequency signal, obtain range information, described range information comprises a plurality of range points and the corresponding amplitude of each range points (as shown in Figure 6); According to modulation signal, obtain the Doppler frequency of current time; Also can obtain according to Doppler frequency the velocity information of current time;
(3) according to the velocity information of current time or Doppler frequency, judge whether to exist moving target;
When velocity information is greater than zero, thinks and may have moving target; First background extraction data, background data is averaged to process and obtain background range information, utilize range information and the background range information of current time are divided by or subtract each other the revised range information of acquisition, revised range information and thresholding are compared to acquisition moving-target recognition result; Then proceed to step (2) and carry out next collection constantly;
When velocity information is zero, carry out context update; With the range information of current time, replace storer middle distance current time range information farthest; Then proceed to step (2) and carry out next collection constantly.
For example select 10 frame range informations data as a setting, in processing procedure, open up the storer of one section of fixed size, and be divided into 10 groups according to range information data length, the data of this 10 frame are stored in respectively in the group that is numbered 1～10 according to time sequencing, wherein be numbered the range information stored in 1 group for apart from current time frame data farthest, storage pointer now refers to 1 group of numbering.When not having moving target to carry out context update, this range information covers storage pointer group pointed, and makes to store pointer and add 1; On carrying out, once repeat said process during context update; When storage pointed group number 10, and need to store pointer and add at 1 o'clock, storage pointer is set to and points to the group that is numbered 1.
The method that described a plurality of range informations is averaged to processing acquisition background range information is as follows: take 10 frame data as example, 10 frame data of storage are obtained to the mean value of every according to range points.
Definite method of described thresholding is as follows: background data is carried out to variance and calculate the variance that obtains each range points, according to the variance of this each range points, obtain described thresholding.Take 10 frame data as example, 10 frame data of storage are obtained to the variance yields of every according to range points, the variance yields of every and the threshold value of every are linear; Thus, can determine described thresholding according to the variance yields of every.
As shown in Figure 5, because security protection environment is comparatively complicated, in background, may comprise such as steel mesh, anti-creep net, trees, wall etc. has compared with the object of strong reflection ability, when target enters defence area, except target appearance point has backward energy enhancing, because of the impact such as multipath reflection, target be overlapping, the energy of some undefined positions also can increase.If this impact is obviously, there will be target range fuzzy, as shown in Figure 6, target appears at L2 position, but because multipath and stack cause L1 and the amplitude of L3 position and the amplitude of L2 to reach same magnitude, cannot distinguish target and clutter.
The variance that utilization calculates when there is no moving target can reflect the possibility of multipath and stack in environmental background, usings dynamic variance result as guidance, can accurately mark the trend of thresholding.When the range information data of current time and background range data compare, can do the method for removing by corresponding point carries out, use the data of current time divided by corresponding background range data, there is the division result that the position of target obtains can obviously be greater than other each points, if reach the same order of magnitude because multipath and stack cause the result of certain some division result and impact point position, the statistical variance of this point is also necessarily larger, for the large point of variance, its threshold value of differentiating division result needs corresponding raising, as shown in Figure 7, just reduced thus the probability misrepresented deliberately.
Because the FMCW signal process that tests the speed can be in time and without the situation that reflects target invasion of leaking.The processing procedure that the present invention detects for moving-target, use be the last background in driftlessness situation, what guarantee to use when target detection is the most real background, to improve detection effect.
The present invention compared with prior art, there is following difference: background process of establishing of the present invention has been used the background information in the effective time section of current detection before constantly, can be truly and the background while being reflected in driftlessness accurately, solved because background is set up the expired problem of environment fixing and that occur.The present invention be take Doppler frequency information as judgment basis, when the Doppler frequency information in environment is zero, upgrade background, and Doppler frequency information in environment is when non-vanishing, select temporarily to stop context update, while effectively having guaranteed object detection process, background is ageing.Impact for reducing to cause because of background fluctuation in testing process in the present invention, has been used the multiframe data of using while setting up background, and has calculated the variance of each range points, reflects the fluctuating trend of background, to instruct the setting of detection threshold by variance.
The present invention has stronger universality, although first verify and use at civilian safety-security area, but usable condition is not limited to this, for any model that needs abnormal conditions and regular situation to compare, the method for setting up dynamic background and using variance to carry out trend anticipation in the present invention can be used.
Claims (2)
1. utilize frequency modulated continuous wave radar to carry out moving-target and know a method for distinguishing, it is characterized in that, comprise the steps:
(1) according to the radar signal of current time, obtain difference frequency signal and modulation signal; The range information that obtains current time according to difference frequency signal, described range information comprises a plurality of range points and the corresponding amplitude of each range points; According to modulation signal, obtain the Doppler frequency of current time;
(2) according to the Doppler frequency of current time, judge whether to exist moving target;
When there is moving target, background data is averaged and process to obtain background range information, described background data comprises a plurality of range informations during without moving target; Described background data is stored in the storer of a fixed size; Utilize range information and the background range information of current time are divided by or subtract each other the revised range information of acquisition; Revised range information and thresholding are compared to acquisition moving-target recognition result; Background data is carried out to variance and calculate the variance that obtains each range points, according to the variance of this each range points, obtain described thresholding; When revised range information is greater than thresholding, report to the police; Then return to step (1) and carry out next identification constantly;
When not there is not moving target, utilize the range information of current time to upgrade background data, the process of upgrading background data is as follows: the distance current time of storing in the range information replacement storer with current time is the range information in the moment farthest; Then return to step (1) and carry out next identification constantly.
2. a kind of frequency modulated continuous wave radar that utilizes according to claim 1 carries out moving-target knowledge method for distinguishing, it is characterized in that, according to the Doppler frequency of current time, judge whether to exist the method for moving target as follows: when Doppler frequency is zero, there is not moving target, when Doppler frequency is non-vanishing, there is moving target.
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Effective date of registration: 20170224 Address after: 065500 Guan Industrial Park, Langfang, Hebei Patentee after: Rainbow UAV Technology Co., Ltd. Address before: 100074 Beijing, Fengtai District Yungang West Road, No. 17 Patentee before: China Aerospace Aerodynamic Technology Institute |