CN104808189A - Millimeter-wave radar signal processing system and method - Google Patents
Millimeter-wave radar signal processing system and method Download PDFInfo
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- CN104808189A CN104808189A CN201510222303.2A CN201510222303A CN104808189A CN 104808189 A CN104808189 A CN 104808189A CN 201510222303 A CN201510222303 A CN 201510222303A CN 104808189 A CN104808189 A CN 104808189A
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention relates to a millimeter-wave radar signal processing system and method. The millimeter-wave radar signal processing system comprises an DSP (digital signal processor) minimum system, a DSP is connected with a DAC (digital-analog converter) frequency modulation signal generating circuit, an intermediate frequency processing circuit, a communication circuit, an LED visual alarming circuit and a BUZZER audio alarming circuit, an ADC (analog-digital converter) is disposed in a DSP control unit, the DAC frequency modulation signal generating circuit is controlled through cooperation among the DSP processor, a multichannel serial communication interface disposed inside the DSP processor and a DMA control module, and the DAC frequency modulation signal generating circuit comprises a low-accuracy DAC and a filtering and amplifying circuit connected with the low-accuracy DAC. The millimeter-wave radar signal processing system is low in cost, high in integration level and simple in realization mode.
Description
Technical field
The invention belongs to millimetre-wave radar technical field, be specifically related to a kind of MMW RADAR SIGNAL USING disposal system and method.
Background technology
Vehicle safety is more and more subject to the attention of consumers in general, the effect that active safety technologies plays in vehicle safety is more and more outstanding, it can effectively be prevented accident generation, and millimetre-wave radar technology is widely used in vehicle-periphery detection, especially Continuous Wave with frequency modulation millimetre-wave radar, can detect the distance of static and moving target, speed and orientation, thus obtains vehicle-periphery information, realize vehicle front collision avoidance, the detection of blind area, rear, the technology such as lane change is auxiliary.
The system architecture that the millimetre-wave radar system that current Ge great producer develops adopts is different, especially back end signal processing section, and adopt FPGA, add external high-precision adc and high precision DAC, system cost is high, and design is complicated.
Summary of the invention
Technical matters to be solved by this invention is high for the cost of existing MMW RADAR SIGNAL USING disposal system existence, and the deficiency of system complex, propose a kind of MMW RADAR SIGNAL USING disposal system scheme, cost is low, integrated level is high, implementation is simple.
Technical scheme of the present invention is: a kind of MMW RADAR SIGNAL USING disposal system, this system comprises DSP minimum system, the dsp processor of described DSP minimum system produces circuit, processing circuitry of intermediate frequency, telecommunication circuit, LED visual alarm circuit and BUZZER hummer sound sensation warning circuit respectively and is connected with DAC FM signal, described DSP control module is built-in with ADC analog to digital converter.The control that described DAC FM signal produces circuit coordinates DMA control module to control by dsp processor and built-in multi-channel serial communication interface.Described DAC FM signal produces the digital to analog converter DAC that circuit comprises low precision, the filter amplification circuit be connected with the digital to analog converter DAC of low precision.Described DSP control module is controlled by the DAC digital to analog converter of multichannel buffer serial communication interface to 12, produces triangular modulation signal, amplifies the FM signal that process obtains high linearity after filtering.Described DSP minimum system also comprises OSC clock circuit, JTAG debug circuit, FLASH, SRAM memory circuit.Described SRAM memory circuit coordinates the DMA control module of DSP minimum system to realize fifo fifo impact damper.Described processing circuitry of intermediate frequency processes the four tunnel intermediate-freuqncy signals that radar front end returns, filter amplifying processing is carried out through LNA operational amplifier, and enlargement factor is set through digital regulation resistance, then through RC filter process, enter the ADC module of DSP minimum system.
A kind of MMW RADAR SIGNAL USING disposal route, the method comprises the following steps: step one, system carry out initialization; Step 2, system carry out fault self-checking, if system has fault, then carry out fault alarm, are reported to the police by LED visual alarm circuit and BUZZER hummer sound sensation warning circuit; After step 3, fault self-checking pass through, filtering process is carried out to the radar intermediate frequency signal gathered and obtains filtered intermediate-freuqncy signal and echo average wave peak amplitude; The echo average wave peak amplitude that step 4, basis obtain judges whether saturated, if saturated, and adjustment intermediate frequency enlargement factor; The target data of detection is exported by CAN by step 5, CAN.The algorithm that the filtered intermediate-freuqncy signal of described step 3 kind performs comprises FFT conversion, false-alarm detection algorithm, multiple target tracking algorithm, Kalman filtering algorithm, angle scintillations pre-correcting algorithm.
Native system adopt 12 DAC digital to analog converters to add LNA and adjustable potentiometer realize high linearity triangular wave FM signal needed for millimetre-wave radar front end, DAC is controlled by DSP.First by LNA, filter amplifying processing is carried out to the 4 tunnel intermediate-freuqncy signals that front end returns, adopt digital regulation resistance to be implemented to control the enlargement factor of amplifying circuit by DSP by SPI interface simultaneously, thus meet amplification demand that is nearest and maximum distance intermediate-freuqncy signal, prevent intermediate-freuqncy signal proximity detection echoed signal supersaturation and improve long-range detection echo signal intensity.The ADC that intermediate-freuqncy signal enters DSP built-in after RC filtering circuit realizes analog to digital conversion, adopts SRAM simultaneously and coordinates the DMA of DSP inside to realize the buffering of digital signal after analog to digital conversion.
The present invention program compared with prior art tool has the following advantages: the present invention adopt the DAC of low precision to add filter amplification circuit replaces the FM signal that the schemes such as high-precision DAC and PLL phaselocked loop realize high linearity, cost is low, simplicity of design.The control of DAC coordinates DMA to control by DSP and built-in multi-channel serial communication interface, does not need the MCU additionally increased needed for DAC.The ADC that analog to digital converter uses DSP built-in, does not need additionally to increase ADC.The FPGA that system adopts traditional dsp system SRAM to coordinate the current most of system of the DMA control module of DSP inside replacement to adopt or dual port RAM realize fifo buffer.The above advantage of this system and innovative point not only reduce system cost, and reduce system complexity.
Accompanying drawing explanation
Fig. 1 is system global structure block diagram;
Fig. 2 is system signal process and control flow chart.
Embodiment
For making those skilled in the art understand technical scheme of the present invention better, below in conjunction with the drawings and specific embodiments, a kind of MMW RADAR SIGNAL USING disposal system of the present invention is described in further detail.
A kind of MMW RADAR SIGNAL USING disposal system comprises DSP minimum system, DAC FM signal produces circuit, processing circuitry of intermediate frequency, the CAN telecommunication circuit for communicating with car load, LED visual alarm circuit, BUZZER hummer sound sensation warning circuit, as shown in Figure 1.
DSP minimum system comprises OSC clock circuit, JTAG debug circuit, FLASH, SRAM memory circuit.
DSP is controlled by the low precision DAC digital to analog converter of multichannel buffer serial communication interface MCBSPB control circuit to 12, produces triangular modulation signal and amplify FM signal that process obtains high linearity after filtering to act on radar front end and produce radio frequency FM signal.
I1, Q1, I2, Q2 that processing circuitry of intermediate frequency returns radar front end tetra-tunnel intermediate-freuqncy signal, filter amplifying processing is carried out through LNA operational amplifier, enlargement factor is set through digital regulation resistance simultaneously, then through RC filter process, enter the ADC module of DSP inside, the digital signal after conversion is transferred in SRAM through DAC.First DSP carries out filtering process to the digital signal stored in sram, obtains digital intermediate frequency signal and the echoed signal average peak amplitude of filtering clutter.
Digital intermediate frequency signal, through FFT Fast Fourier Transform (FFT), transforms from the time domain to frequency domain, obtains the echo frequency of intermediate-freuqncy signal.
The radar front end mode of operation that native system is corresponding is Continuous Wave with frequency modulation pattern, can survey relative distance, relative velocity and relative azimuth angle.Echo frequency comprises two parts, and a part is the frequency difference f because frequency modulation and time delay cause
delay, a part is the Doppler shift f that target travel causes in addition
dopp.
Distance computing formula is as follows:
C
0=3*10
8m/s is the light velocity, f
0for radar front end transmission center frequency values equals 24.125GHz, f is modulation frequency, f
wfor modulating bandwidth can get 100MHz, 250MHz.F
wwhen determining, distance accuracy is primarily of f
delaydetermine with f, affect f
delaymainly contain two indices, one is triangle arm frequency f, and modulation frequency is higher, then distance accuracy is higher; Another one is the triangular wave linearity, and the linearity is higher, then distance accuracy is higher.According to above formula, native system adopts the DAC of 12 to coordinate LNA filter amplification circuit to produce dullness and the triangle FM signal of high linearity, and cost is low, practical.
Range resolution is then determined by modulating bandwidth, and computing formula is:
Speed computing formula is as follows:
Velocity resolution:
wherein f is modulation frequency, and modulation frequency is less, and velocity resolution is less, and rate accuracy is higher.F is to f
doppthere is impact, if f is too high, without Doppler shift, therefore cannot may test the speed within a modulation period.So native system is at lower modulation frequency, improve distance accuracy by the linearity improving FM signal.
Angle calculation formula:
wherein d is standoff distance between 2 receiving antennas, and Δ φ is the phase differential of the signal that two antennas receive simultaneously.And Δ φ can be obtained by phase comparing method I1, I2 or Q1, Q2 by Radar Algorithm.
Can determine that whether current echoed signal is saturated by echoed signal average peak amplitude, if echoed signal average peak amplitude is greater than 3V, then think saturated, by MCBSPA multichannel buffered serial port, digital regulation resistance is configured, reduce the enlargement factor of intermediate frequency amplifier circuit.If echoed signal average peak amplitude is less than 0.5V, then thinks and increase the enlargement factor of intermediate frequency amplifier circuit by weak output signal.
Radar front end module is configured by SPI interface by DSP, coordinates V simultaneously
tune coarsethe V that analog voltage signal and DAC produce
tune finesignal, completes tuning curve calibration.
First en is passed through
refthe LNA of enable signal shielding front-end module inside, cuts off receiving antenna loop, and carries out mixing generation I by the signal that built-in PLL produces as reception echoed signal
2or Q
2intermediate-freuqncy signal.Pass through V
tune fineand V
tune coarsenamely tuning range and corresponding fm waveform voltage range determine tuning curve to coordinate SPI interface to determine.
The radar front end module fm waveform voltage range that native system is corresponding is 0V ~ 3V.First DAC produces 1.5V analog voltage level signal V
f, export to radar front end, then V
tune coarsevoltage is increased gradually, until intermediate frequency echo I from 0V
2or Q
2output frequency is 0.Then V is kept
tune coarsemagnitude of voltage is constant.Now V
tune fineand V
tune coarsecorrespond to centre frequency.
Then by SPI interface, initial frequency is set, by DAC by V
tune finedescending adjustment (namely by 1.5V) is until intermediate frequency echo I
2or Q
2output frequency is 0.Now V
tune finecorresponding magnitude of voltage is the minimum value of linear tuning curve.
Equally, by SPI interface, termination frequency is set, by DAC by V
tune fineascending adjustment (namely by 1.5V) is until intermediate frequency echo I
2or Q
2output frequency is 0.Now V
tune finecorresponding magnitude of voltage is the maximal value of linear tuning curve.Determine maximum, minimum value just determines the maximin of Linear Triangular modulation waveform, produces delta modulation waveform V by the DAC cycle
tune fineact on radar front end and realize frequency modulation.
CAN is used for the target information that simultaneously can export in institute's search coverage that communicates with car load.
System software operational scheme as shown in Figure 2, system electrification is run and is first carried out each module initialization of system to comprise the initialization of ADC analog to digital conversion, DMA enable and interrupt opening, for the MCBSPB multichannel buffer serial communication interface of DAC configuration initialization and DMA is enable and interrupt opening, make to complete when not taking the cpu instruction cycle under DMA mechanism adc data signal by store in buffer zone to the periodic transfer and SRAM of SRAM for the periodic transfer of DAC configuration data to MCBSPB multichannel buffer district.The initialization of CAN.
After completing initialization, then carry out fault self-checking, if system has fault, then carry out fault alarm, carry out vision and sound sensation warning by LED and BUZZER.
If there is no fault, then filtering process is carried out to the radar intermediate frequency signal gathered and obtain filtered intermediate-freuqncy signal and echo average wave peak amplitude.
Filtered intermediate-freuqncy signal performs Radar Algorithm containing FFT conversion, false-alarm detection algorithm, multiple target tracking algorithm, Kalman filtering algorithm, angle scintillations pre-correcting algorithm etc.
Then judge whether saturated according to the echo average wave peak amplitude obtained, if saturated, adjustment intermediate frequency enlargement factor.Then run CAN the target data of detection is exported by CAN.May be interrupted to interrupt at any time in program operation process and enter terminal server, carry out relevant treatment.
Above exemplifying embodiment is example 1: a kind of signal processing system scheme proposed for typical Continuous Wave with frequency modulation millimetre-wave radar back end signal process.For the different application of radar system, coordinate the systems such as the radar front end of different antennae angle and different transmission power can realize the application of vehicle front collision avoidance radar, and backsight blind area detects, and lane change is auxiliary.
Be understandable that, the illustrative embodiments that above embodiment is only used to principle of the present invention is described and adopts, but the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.
Claims (9)
1. a MMW RADAR SIGNAL USING disposal system, it is characterized in that: this system comprises DSP minimum system, the dsp processor of described DSP minimum system produces circuit, processing circuitry of intermediate frequency, telecommunication circuit, LED visual alarm circuit and BUZZER hummer sound sensation warning circuit respectively and is connected with DAC FM signal, described DSP control module is built-in with ADC analog to digital converter.
2. MMW RADAR SIGNAL USING disposal system according to claim 1, is characterized in that, the control that described DAC FM signal produces circuit coordinates DMA control module to control by dsp processor and built-in multi-channel serial communication interface.
3. MMW RADAR SIGNAL USING disposal system according to claim 1, is characterized in that, described DAC FM signal produces the digital to analog converter DAC that circuit comprises low precision, the filter amplification circuit be connected with the digital to analog converter DAC of low precision.
4. MMW RADAR SIGNAL USING disposal system according to claim 3, it is characterized in that, described DSP control module is controlled by the DAC digital to analog converter of multichannel buffer serial communication interface to 12, produce triangular modulation signal, amplify the FM signal that process obtains high linearity after filtering.
5. MMW RADAR SIGNAL USING disposal system according to claim 1, is characterized in that, described DSP minimum system also comprises OSC clock circuit, JTAG debug circuit, FLASH, SRAM memory circuit.
6. MMW RADAR SIGNAL USING disposal system according to claim 5, is characterized in that, described SRAM memory circuit coordinates the DMA control module of DSP minimum system to realize fifo fifo impact damper.
7. MMW RADAR SIGNAL USING disposal system according to claim 1, it is characterized in that, described processing circuitry of intermediate frequency processes the four tunnel intermediate-freuqncy signals that radar front end returns, filter amplifying processing is carried out through LNA operational amplifier, and enlargement factor is set through digital regulation resistance, then through RC filter process, the ADC module of DSP minimum system is entered.
8. a MMW RADAR SIGNAL USING disposal route, is characterized in that, the method comprises the following steps:
Step one, system carry out initialization;
Step 2, system carry out fault self-checking, if system has fault, then carry out fault alarm, are reported to the police by LED visual alarm circuit and BUZZER hummer sound sensation warning circuit;
After step 3, fault self-checking pass through, filtering process is carried out to the radar intermediate frequency signal gathered and obtains filtered intermediate-freuqncy signal and echo average wave peak amplitude;
The echo average wave peak amplitude that step 4, basis obtain judges whether saturated, if saturated, and adjustment intermediate frequency enlargement factor;
The target data of detection is exported by CAN by step 5, CAN.
9. MMW RADAR SIGNAL USING disposal route according to claim 8, it is characterized in that: the algorithm that the filtered intermediate-freuqncy signal of described step 3 kind performs comprises FFT conversion, false-alarm detection algorithm, multiple target tracking algorithm, Kalman filtering algorithm, angle scintillations pre-correcting algorithm.
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| CN104991253A (en) * | 2015-07-27 | 2015-10-21 | 芜湖市汽车产业技术研究院有限公司 | Wave radar system |
| CN105334515A (en) * | 2015-11-25 | 2016-02-17 | 袁帅 | Mirror reflection based radar for obstacle avoidance of unmanned aerial vehicles |
| CN105974936A (en) * | 2016-04-26 | 2016-09-28 | 北京博瑞空间科技发展有限公司 | Unmanned aerial vehicle obstacle avoidance system |
| CN107193230A (en) * | 2017-05-10 | 2017-09-22 | 合肥晟泰克汽车电子股份有限公司 | Car radar signal processing system and method |
| CN107783117A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Pilotless automobile anticollision MMW RADAR SIGNAL USING processing method |
| CN112261036A (en) * | 2020-10-20 | 2021-01-22 | 苏州矽典微智能科技有限公司 | Data transmission method and device |
| CN113534124A (en) * | 2021-09-15 | 2021-10-22 | 湖南纳雷科技有限公司 | Radar intermediate frequency signal adaptive control system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN113534124A (en) * | 2021-09-15 | 2021-10-22 | 湖南纳雷科技有限公司 | Radar intermediate frequency signal adaptive control system and method |
| CN113534124B (en) * | 2021-09-15 | 2021-12-28 | 湖南纳雷科技有限公司 | Radar intermediate frequency signal adaptive control system and method |
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Application publication date: 20150729 |