CN105319546A - Multi-target radar and adopted digital signal processing method thereof - Google Patents
Multi-target radar and adopted digital signal processing method thereof Download PDFInfo
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Abstract
The present invention belongs to the field of road vehicle information detection, especially relates to a multi-target radar and an adopted digital signal processing method thereof. The multi-target radar comprises a data storage, processing and control module, a modulation control module, a voltage-controlled oscillator, a mixer, an amplification filter demodulation module, a digit/model conversion module, a transmitting antenna and a receiving antenna. The signal transmission port of the data storage, processing and control module is connected with signal transmission ports of the modulation control module and the amplification filter demodulation module; the signal transmission port of the modulation control module is connected with the transmitting antenna through the voltage-controlled oscillator; the signal transmission port of the voltage-controlled oscillator is connected with the signal transmission port of the amplification filter demodulation module through the mixer; the signal transmission port of the amplification filter demodulation module is connected with the signal transmission port of the data storage, processing and control module through the digit/model conversion module; and the receiving antenna is connected with the signal transmission port of the mixer. According to the invention, the object location is accurate, and a plurality of lanes is monitored at the same time.
Description
Technical field
The invention belongs to road vehicle infomation detection field, the digital signal processing method particularly relating to a kind of multiple goal radar and adopt.
Background technology
In recent years, along with the fast development of national economy, particularly national policy is to the support of China Automobile Industry, automobile is possessed sharply to be increased, but Transportation Infrastructure Construction does not catch up with, and aggravates imbalance between supply and demand further, the traffic congestion caused thus, the rising of traffic hazard, the deterioration of traffic environment etc. are routine problem, have had a strong impact on the development in city.
Traffic block port is by hyundai electronics technological means, and a whole set of law enforcement evidence-obtaining system take the various traffic violations of vehicle on road, processed, also for providing robber to rob the information such as vehicle, fake license plate vehicle, hit-and-run vehicle for public security organ.Traffic block port mainly comprises and testing the speed and flip flop equipment, image capture device, transfers net system and terminal management system.Test the speed and flip flop equipment is existing bayonet socket key components, common technology means have ground induction coil, video and radar three kinds.
The traffic system that is detected as of traffic block port information of vehicles provides when vehicle travels, the speed of a motor vehicle, travel direction, the data such as vehicle commander, normal to ensure that traffic system is run.Traditional bayonet socket radar belongs to narrow beam and determines angle radar, relies on the positioning of beam vehicle of high directivity, and detect car speed, every radar can only monitor a track.Traditional bayonet socket radar, due to the restriction of its signal processing method, cannot distinguish multiple-object information, can only follow the tracks of a target at every turn.Traditional bayonet socket radar existence location is inaccurate, multilane road conditions need every bar track to install the problems such as a radar.
Summary of the invention
The present invention be intended to overcome existing traditional bayonet socket radar weak point and provide a kind of target localization accurately, the multiple goal radar in many tracks can be monitored simultaneously.
The digital signal processing method that the present invention also provides a kind of and above-mentioned radar supporting.
For solving the problems of the technologies described above, the present invention is achieved in that
A kind of multiple goal radar, it comprise data storage processing and control module, modulation control module, voltage controlled oscillator, frequency mixer, amplification filtering demodulation module, number mode convertion module, emitting antenna and receiving antenna; The signal transmission port of described data storage processing and control module connects with the signal transmission port of modulation control module and amplification filtering demodulation module respectively; The signal transmission port of described modulation control module connects with the signal transmission port of emitting antenna through voltage controlled oscillator; The signal transmission port of described voltage controlled oscillator connects through the signal transmission port of frequency mixer with amplification filtering demodulation module; The signal transmission port of described amplification filtering demodulation module through several mode convertion module connect with the signal transmission port of data storage processing and control module; The signal transmission port of described receiving antenna connects the signal transmission port of frequency mixer.
The digital signal processing method that above-mentioned multiple goal radar adopts, can implement successively as follows:
(1) a triangular modulation signal is inputted at the VCO input end of RF transmit-receive circuit;
(2) RF transmit-receive circuit launches modulated radiofrequency signal;
(3) radiofrequency signal of RF transmit-receive circuit receiving target vehicle reflection;
(4) Received signal strength LNA amplifies the vehicle reflected signal received;
(5) quadrature downconvert and down coversion circulator are by the signal received and the mixing that transmits, and obtain 0 intermediate frequency difference frequency signal;
(4) 0 intermediate frequency amplifiers amplify intermediate-freuqncy signal;
(5) signal after amplifying is sent to back-end digital signal processing circuit, after ADC and back end signal process, obtain target vehicle velocity, angle, range information.
Further, in step of the present invention (5), target vehicle velocity, angle, range information output to external unit by RS232 or RS485 module.
Further, in step of the present invention (5), the phase differential of basis signal I/Q passage judges target vehicle approaching, sails out of information.
Further, in step of the present invention (5), the signal phase difference according to two-way receiving antenna calculates the angle information of target vehicle.
Further, in step of the present invention (5), the Doppler shift according to Received signal strength calculates velocity information and the range information of target vehicle.
Further, in step of the present invention (5), according to radar and road surface angle and radar relative to the setting height(from bottom) information on road surface, carry out coordinate system conversion, calculate the XYZ coordinate of target vehicle at coordinate system.
Further, in step of the present invention (1), the signal madulation frequency of radiofrequency signal is 1KHz.
Further, in step of the present invention (7), the signal after amplification filtering is sent into DSP treating apparatus after AD conversion, and respectively FFT conversion is carried out to modulation signal rising edge and negative edge sampled data, obtain FFT signal spectrum peak value, calculate difference frequency signal frequency f
diff_upand f
diff_down, the range information and instantaneous velocity information that obtain target vehicle can be analyzed; Wherein, distance R, the instantaneous velocity v of dynamic object vehicle and signal difference frequency f
diff_up, f
diff_downrelation meet:
In formula, C
0=the light velocity, △ f=signal madulation frequency range, T=signal madulation cycle.
Further, in step of the present invention (7), the signal phase difference of two-way receiving antenna is directly calculated by general the subtracting each other of FFT phase place, the relation of phase difference and target vehicle angle θ as the following formula:
D is the distance kept between two receiving antennas.
Compared with prior art, the present invention has following features:
(1) the invention solves the problem that traditional bayonet socket radar can only monitor a track, in radar beam coverage, a radar can monitor 3 tracks.
(2) the invention solves traditional bayonet socket radar and cannot distinguish multiple-object information, can only follow the tracks of the gap topic of a target, a radar can be followed the tracks of simultaneously be no more than 16 target vehicles at every turn.
(3) the invention solves traditional bayonet socket radar and there is the inaccurate problem in location, radar real-time follow-up target coordinates, trigger in the position be applicable to, triggering precision is not more than 1 meter.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the invention will be further described.Protection scope of the present invention is not only confined to the statement of following content.
Fig. 1 is schematic block circuit diagram of the present invention;
Fig. 2 is Transmit Receive Unit theory diagram of the present invention;
Fig. 3 is radio-frequency front-end receiving and transmitting signal waveform of the present invention;
Fig. 4 is send-receive signal frequency change schematic diagram;
Fig. 5 is angle measurement schematic diagram;
Fig. 6 is road scheme of installation of the present invention.
Embodiment
As shown in Figures 1 and 2, multiple goal radar, it comprise data storage processing and control module, modulation control module, voltage controlled oscillator, frequency mixer, amplification filtering demodulation module, number mode convertion module, emitting antenna and receiving antenna; The signal transmission port of described data storage processing and control module connects with the signal transmission port of modulation control module and amplification filtering demodulation module respectively; The signal transmission port of described modulation control module connects with the signal transmission port of emitting antenna through voltage controlled oscillator; The signal transmission port of described voltage controlled oscillator connects through the signal transmission port of frequency mixer with amplification filtering demodulation module; The signal transmission port of described amplification filtering demodulation module through several mode convertion module connect with the signal transmission port of data storage processing and control module; The signal transmission port of described receiving antenna connects the signal transmission port of frequency mixer.
Shown in Figure 2, the present invention includes front radio-frequency transmission circuit and back-end digital signal processing circuit; Described front radio-frequency transmission circuit comprises voltage controlled oscillator, two receipts microstrip antenna, Received signal strength LNA, quadrature downconvert and down coversion circulator, 0 intermediate frequency amplifier etc.; Described back-end digital signal processing circuit comprises power supply, signal processor (built-in floating-point signal processor, ADC, DAC etc.), communication interface circuit.
The digital signal processing method that above-mentioned multiple goal radar adopts, can implement successively as follows:
(1) a triangular modulation signal is inputted at the VCO input end of RF transmit-receive circuit;
(2) RF transmit-receive circuit launches modulated radiofrequency signal;
(3) radiofrequency signal of RF transmit-receive circuit receiving target vehicle reflection;
(4) Received signal strength LNA amplifies the vehicle reflected signal received;
(5) quadrature downconvert and down coversion circulator are by the signal received and the mixing that transmits, and obtain 0 intermediate frequency difference frequency signal;
(4) 0 intermediate frequency amplifiers amplify intermediate-freuqncy signal;
(5) signal after amplifying is sent to back-end digital signal processing circuit, after ADC and back end signal process, obtain target vehicle velocity, angle, range information.
In step of the present invention (5), target vehicle velocity, angle, range information output to external unit by RS232 or RS485 module.
In step of the present invention (5), the phase differential of basis signal I/Q passage judges target vehicle approaching, sails out of information.
In step of the present invention (5), the signal phase difference according to two-way receiving antenna calculates the angle information of target vehicle.
In step of the present invention (5), the Doppler shift according to Received signal strength calculates velocity information and the range information of target vehicle.
In step of the present invention (5), according to radar and road surface angle and radar relative to the setting height(from bottom) information on road surface, carry out coordinate system conversion, calculate the XYZ coordinate of target vehicle at coordinate system.
In step of the present invention (1), the signal madulation frequency of radiofrequency signal is 1KHz.
In step of the present invention (7), signal after amplification filtering is sent into DSP treating apparatus after AD conversion, and respectively FFT conversion is carried out to modulation signal rising edge and negative edge sampled data, obtain FFT signal spectrum peak value, calculate difference frequency signal frequency f
diff_upand f
diff_down, the range information and instantaneous velocity information that obtain target vehicle can be analyzed; Wherein, distance R, the instantaneous velocity v of dynamic object vehicle and signal difference frequency f
diff_up, f
diff_downrelation meet:
In formula, C
0=the light velocity, △ f=signal madulation frequency range, T=signal madulation cycle.
In step of the present invention (7), the signal phase difference of two-way receiving antenna is directly calculated by general the subtracting each other of FFT phase place, the relation of phase difference and target vehicle angle θ as the following formula:
D is the distance kept between two receiving antennas.
Concrete signal disposal route
(1) modulation signal is set
During speed, the Distance geometry angle information of the simultaneously detection of a target, modulation signal adopts triangular signal (see Fig. 3).Due to while life period late effect and doppler shift effect, therefore select a trigonometric function (there is uphill slope curve and descending grade curve) to meet now the complex nature of the problem.
Modulating frequency: frequency modulating signal is maximum in theory can not more than 150kHz, and the signal madulation frequency of 1KHz selected by this multiple goal radar.
(2) Received signal strength process
Filtered signal is sent into DSP treating apparatus after AD conversion, and respectively FFT conversion is carried out to modulation signal rising edge (up) and negative edge (down) sampled data, obtain FFT signal spectrum peak value, calculate difference frequency signal frequency f
diff_up, f
diff_down(Fig. 4) range information obtaining target and instantaneous velocity information can, be analyzed.Wherein, dynamic object range information is superposed by Doppler effect and time delay effect and reflects.Distance R, the instantaneous velocity v of dynamic object and signal difference frequency f
diff_up, f
diff_downrelation as the following formula:
In formula, C
0=the light velocity, △ f=signal madulation frequency range, in the T=signal madulation cycle, for a selected modulation signal, above variable is all known quantity, directly can substitute into formula.Substitute into f again
diff_up, f
diff_downspeed v and distance R can be obtained.
Bayonet socket radar of the present invention adopts 12 structure received, and maintains a certain distance d between two receiving antennas, makes the two paths of signals received can produce phase differential Φ (Fig. 5) due to the difference of angle.In the signal processing, phase differential directly can be calculated by general the subtracting each other of FFT phase place, the relation of phase differential Φ and angle θ as the following formula:
The speed v of trying to achieve according to formula (1) (2) (3), distance R, angle θ, directly can draw the polar coordinates position of target, then via the polar angle coordinate conversion formula of standard, can obtain the XYZ coordinate of target.
X＝R×cosθ
Y＝R×sinθ
Because radar center normal and target travel direction are in same plane, therefore Building Z is designated as zero.
Z＝0
Hereto, position and the velocity information of target are all calculated, and are sent to external unit by RS232 and RS485 bus, carry out image forensics process.The related content of image forensics process is not included among this patent.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a multiple goal radar, is characterized in that, comprises data storage processing and control module, modulation control module, voltage controlled oscillator, frequency mixer, amplification filtering demodulation module, number mode convertion module, emitting antenna and receiving antenna; The signal transmission port of described data storage processing and control module connects with the signal transmission port of modulation control module and amplification filtering demodulation module respectively; The signal transmission port of described modulation control module connects with the signal transmission port of emitting antenna through voltage controlled oscillator; The signal transmission port of described voltage controlled oscillator connects through the signal transmission port of frequency mixer with amplification filtering demodulation module; The signal transmission port of described amplification filtering demodulation module through several mode convertion module connect with the signal transmission port of data storage processing and control module; The signal transmission port of described receiving antenna connects the signal transmission port of frequency mixer.
2. piece according to claim 1 digital signal processing method that adopts of multiple goal radar, is characterized in that: implement successively as follows:
(1) a triangular modulation signal is inputted at the VCO input end of RF transmit-receive circuit;
(2) RF transmit-receive circuit launches modulated radiofrequency signal;
(3) radiofrequency signal of RF transmit-receive circuit receiving target vehicle reflection;
(4) Received signal strength LNA amplifies the vehicle reflected signal received;
(5) quadrature downconvert and down coversion circulator are by the signal received and the mixing that transmits, and obtain 0 intermediate frequency difference frequency signal;
(6) 0 intermediate frequency amplifiers amplify intermediate-freuqncy signal;
(7) signal after amplifying is sent to back-end digital signal processing circuit, after ADC and back end signal process, obtain target vehicle velocity, angle, range information.
3. the digital signal processing method of multiple goal radar employing according to claim 2, is characterized in that: in described step (7), target vehicle velocity, angle, range information output to external unit by RS232 or RS485 module.
4. the digital signal processing method of multiple goal radar employing according to claim 3, is characterized in that: in described step (7), and the phase differential of basis signal I/Q passage judges target vehicle approaching, sails out of information.
5. the digital signal processing method of multiple goal radar employing according to claim 4, is characterized in that: in described step (7), and the signal phase difference according to two-way receiving antenna calculates the angle information of target vehicle.
6. the digital signal processing method of multiple goal radar employing according to claim 5, is characterized in that: in described step (7), and the Doppler shift according to Received signal strength calculates velocity information and the range information of target vehicle.
7. the digital signal processing method of multiple goal radar employing according to claim 6, it is characterized in that: in described step (7), according to radar and road surface angle and the radar setting height(from bottom) information relative to road surface, carry out coordinate system conversion, calculate the XYZ coordinate of target vehicle at coordinate system.
8. the digital signal processing method of multiple goal radar employing according to claim 7, it is characterized in that: in described step (1), the signal madulation frequency of radiofrequency signal is 1KHz.
9. the digital signal processing method of multiple goal radar employing according to claim 8, it is characterized in that: in described step (7), signal after amplification filtering is sent into DSP treating apparatus after AD conversion, and respectively FFT conversion is carried out to modulation signal rising edge and negative edge sampled data, obtain FFT signal spectrum peak value, calculate difference frequency signal frequency f
diff_upand f
diff_down, the range information and instantaneous velocity information that obtain target vehicle can be analyzed; Wherein, distance R, the instantaneous velocity v of dynamic object vehicle and signal difference frequency f
diff_up, f
diff_downrelation meet:
In formula, C
0=the light velocity, △ f=signal madulation frequency range, T=signal madulation cycle.
10. the digital signal processing method of multiple goal radar employing according to claim 5, it is characterized in that: in described step (7), the signal phase difference of two-way receiving antenna is directly calculated by general the subtracting each other of FFT phase place, the relation of phase difference and target vehicle angle θ as the following formula:
D is the distance kept between two receiving antennas.
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Cited By (12)
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| CN106595572A (en) * | 2016-10-20 | 2017-04-26 | 北京理工大学 | Method and apparatus for measuring low-altitude flight height of aircrafts |
| CN107870328A (en) * | 2017-12-04 | 2018-04-03 | 广西脉吾科技有限责任公司 | A kind of multiple target traffic radar |
| CN108344998A (en) * | 2018-04-26 | 2018-07-31 | 吉林大学 | Vehicle-mounted multi-view mapping is away from speed measuring device and method |
| CN108415011A (en) * | 2018-02-08 | 2018-08-17 | 长安大学 | One kind realizing vehicle queue detection method based on multi-target tracking radar |
| CN109239668A (en) * | 2017-07-11 | 2019-01-18 | 恩智浦有限公司 | radar system |
| CN109254173A (en) * | 2018-10-26 | 2019-01-22 | 江苏省计量科学研究院 | Multiple target radar meter in-site modeling detection method and detection device |
| CN109283534A (en) * | 2018-09-18 | 2019-01-29 | 中国科学院沈阳自动化研究所 | A kind of crossing based on millimetre-wave radar and road auxiliary early warning system and method |
| CN109348414A (en) * | 2018-11-30 | 2019-02-15 | 中国联合网络通信集团有限公司 | The method and apparatus in lane where positioning vehicle |
| CN109633567A (en) * | 2018-12-24 | 2019-04-16 | 南京理工大学 | A kind of Radar Signal Processing System and method based on Python |
| CN109686112A (en) * | 2018-12-27 | 2019-04-26 | 航天信息股份有限公司 | A kind of moving vehicle real time speed measuring method and system based on vehicle electric mark |
| CN111145566A (en) * | 2019-12-19 | 2020-05-12 | 南京理工大学 | Intelligent traffic light system and control method |
| CN112419736A (en) * | 2020-10-30 | 2021-02-26 | 航天信息股份有限公司 | Real-time positioning method and system of moving vehicle based on electronic identification equipment |
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Cited By (17)
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| CN106595572A (en) * | 2016-10-20 | 2017-04-26 | 北京理工大学 | Method and apparatus for measuring low-altitude flight height of aircrafts |
| CN106595572B (en) * | 2016-10-20 | 2020-07-03 | 北京理工大学 | Method and device for measuring low-altitude flight height of aircraft |
| CN109239668A (en) * | 2017-07-11 | 2019-01-18 | 恩智浦有限公司 | radar system |
| CN107870328A (en) * | 2017-12-04 | 2018-04-03 | 广西脉吾科技有限责任公司 | A kind of multiple target traffic radar |
| CN108415011B (en) * | 2018-02-08 | 2021-09-28 | 长安大学 | Method for realizing vehicle queuing detection based on multi-target tracking radar |
| CN108415011A (en) * | 2018-02-08 | 2018-08-17 | 长安大学 | One kind realizing vehicle queue detection method based on multi-target tracking radar |
| CN108344998A (en) * | 2018-04-26 | 2018-07-31 | 吉林大学 | Vehicle-mounted multi-view mapping is away from speed measuring device and method |
| CN109283534A (en) * | 2018-09-18 | 2019-01-29 | 中国科学院沈阳自动化研究所 | A kind of crossing based on millimetre-wave radar and road auxiliary early warning system and method |
| CN109283534B (en) * | 2018-09-18 | 2020-04-21 | 中国科学院沈阳自动化研究所 | Intersection merging auxiliary early warning system and method based on millimeter wave radar |
| CN109254173A (en) * | 2018-10-26 | 2019-01-22 | 江苏省计量科学研究院 | Multiple target radar meter in-site modeling detection method and detection device |
| CN109348414A (en) * | 2018-11-30 | 2019-02-15 | 中国联合网络通信集团有限公司 | The method and apparatus in lane where positioning vehicle |
| CN109348414B (en) * | 2018-11-30 | 2021-03-12 | 中国联合网络通信集团有限公司 | Method and equipment for positioning lane where vehicle is located |
| CN109633567A (en) * | 2018-12-24 | 2019-04-16 | 南京理工大学 | A kind of Radar Signal Processing System and method based on Python |
| CN109686112A (en) * | 2018-12-27 | 2019-04-26 | 航天信息股份有限公司 | A kind of moving vehicle real time speed measuring method and system based on vehicle electric mark |
| CN111145566A (en) * | 2019-12-19 | 2020-05-12 | 南京理工大学 | Intelligent traffic light system and control method |
| CN111145566B (en) * | 2019-12-19 | 2022-04-01 | 南京理工大学 | Intelligent traffic light system and control method |
| CN112419736A (en) * | 2020-10-30 | 2021-02-26 | 航天信息股份有限公司 | Real-time positioning method and system of moving vehicle based on electronic identification equipment |
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Application publication date: 20160210 |