CN105824020B - The continuous wave Doppler radar sensor of subcarrier modulation and movement demodulation method - Google Patents
The continuous wave Doppler radar sensor of subcarrier modulation and movement demodulation method Download PDFInfo
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
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- 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
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
The invention discloses a kind of continuous wave Doppler radar sensor of subcarrier modulation and movement demodulation methods.Radio frequency transceiver chip is connect with control module, and clock distribution block is connect with control module and radio frequency transceiver chip, and radio frequency transceiver chip has transmitting and receives；Crystal oscillator generates two-way Low Frequency Sine Signals after clock distribution, control module digital demodulation is passed to all the way, radio frequency transceiver chip generates two-way sine continuous wave radio-frequency carrier signal, it is local oscillator all the way, another way is mixed generation subcarrier signal to detect with Low Frequency Sine Signals, and control module is passed to after echo lack sampling, and trigonometric function of negating after filtered mixing demodulation obtains phase information, and according to phase difference calculating distance and relative displacement, restore its movement locus.The present invention overcomes the intrinsic direct current offset of traditional zero-intermediate-frequency architecture receiver and flicker noises, and while keeping zero intermediate frequency reciver simple in structure, cheap, and the image frequency with traditional Low Medium Frequency framework receiver shortcoming inhibits.
Description
Technical field
The present invention relates to a kind of radar sensor and detection method, more particularly, to a kind of the continuous of subcarrier modulation
Wave doppler radar sensor and movement demodulation method.
Background technology
Subcarrier (subcarrier) is a kind of electrical communication signals carrier wave, it is one kind by analog baseband signal premodulated
Radio frequency electrical carrier wave.From frequency spectrum, it is carried in the upper end of another carrier wave or in the left and right sides of carrier wave, so as to two signals
There can be effect spread simultaneously.In receiving terminal, the subcarrier signal of double frequency-band demodulates respectively, and two frequency bands can be used in it is entirely different
Purposes.In communication, channel subcarrier can be used in radio paging, stock is sent, traffic control light is converted and lining
It holds in the palm in the various uses such as music.
In radar sensing and Aerospace Tracking ＆ Control, mostly measured radially using the double frequency velocity-measuring system of similar subcarrier signal
Speed.Such as spacecraft sends two frequencies into the radio signal of certain multiple relationship simultaneously, when spacecraft and ground are opposite
During movement, the signal of two frequency bands can all generate Doppler frequency shift, which is proportional to tracking telemetry and command station --- on spacecraft direction
Velocity component extracts two Doppler frequency shift amounts and make relevant treatment respectively, so that it may obtain target to tracking telemetry and command station relatively radially
Speed, and influence of the ionosphere to propagation velocity of electromagnetic wave can be eliminated, improve rate accuracy.
And at present there are mainly two types of continuous wave Doppler radar sensor frameworks：First, Direct-conversion structure, local oscillator
Signal is identical with the radio frequency signal frequency received, therefore directly obtains baseband signal after being mixed.The selection and amplification of channel are adjusted
It is whole to be carried out in base band.Image interference is not present in this structure, is conducive to single-chip integration.But there is straight for Direct-conversion structure
The problems such as flowing deviation, local-oscillator leakage and flicker noise.Second is that super-heterodyne architecture, needs to carry out down coversion twice.It is lower for the first time to become
Frequently, the intermediate-freuqncy signal of fixed frequency is generated.Then, intermediate-freuqncy signal removes neighbouring channel signals by if bandpas filter
It removes, then carries out second of down coversion and obtain required baseband signal.Due to there is multiple converter stages, DC deviation and local-oscillator leakage are asked
Topic does not interfere with the performance of receiver.But in order to which Image interference is inhibited to inhibit and selects channel, need the bandpass filtering of high q-factor
Device, they can only be realized outside transceiver, so as to increase cost and size.
Invention content
The present invention provides one to simplify doppler radar system, reduce system cost, raising system stability
The continuous wave Doppler radar sensor of kind subcarrier modulation and movement demodulation method, the movement that can be widely applied to closely are surveyed
The systems such as amount, ranging and range rate, tracing and positioning realize the non-contact measurement of the physical quantity under different occasions.
Therefore, the present invention is considered during subcarrier modulated applications to Doppler radar are sensed, with reference to traditional Doppler radar
The advantages of sensor structure, and obtain the distance and movable information of object under test with movement demodulation method.
The technical solution adopted by the present invention is：
First, a kind of continuous wave Doppler radar sensor of subcarrier modulation：
Including radio frequency transceiver chip, control module and clock generation module, clock generation module includes clock distribution mould
Block and crystal oscillator, radio frequency transceiver chip are connect through analog-digital converter with control module, one output terminal of clock distribution block and control
Molding block connects, another output terminal of clock distribution block is connect through low frequency bandpass filter with radio frequency transceiver chip；Radio frequency
The transmitting terminal of transceiver chip connects transmitting antenna through power amplifier, and the receiving terminal of radio frequency transceiver chip is filtered successively
Device, low-noise amplifier connection reception antenna.
The radio frequency transceiver integrated chip has phaselocked loop and frequency mixer.
The Low Frequency Sine Signals that the crystal oscillator generates are divided into two-way through clock distribution block：It is transmitted to radio-frequency receiving-transmitting all the way
To generate subcarrier signal, another way is transmitted to control module and carries out digital demodulation movement piece；Radio frequency transceiver chip generates
Two-way is the same as the sinusoidal continuous wave radio-frequency carrier signal of frequency same-phase：It is generated after the Low Frequency Sine Signals mixing generated all the way with crystal oscillator
Then subcarrier signal exports after power amplifier amplifies, to target acquisition；Another way is used for chip interior as local oscillator
Carry out down coversion demodulation；Radio frequency transceiver chip receives echo-signal is turned after low noise amplification, demodulation by filter by modulus again
Swap-in row lack sampling is simultaneously transferred to control module.
Control module adjusts the power of transmitting and receiving module signal, and control A/D converter acquisition signal is carried for pair
The double frequency-band of wave signal respectively carries the characteristics of object under test difference doppler information, in the control module with demodulation method
Object distance and relative displacement are calculated according to the phasometer of two frequency bands, last real-time display or to be transferred to PC etc. other
Terminal.
The demodulation method includes filtering out the direct current biasing and flicker noise of baseband signal, to dual band signal respectively into
Row phase extraction obtains the doppler information of object of which movement so as to obtain object space and restore its movement locus.
The sinusoidal continuous wave radio-frequency carrier signal and Low Frequency Sine Signals is mixed with frequency and phase phase add mode.
The described crystal oscillator with radiofrequency signal mixing has source crystal oscillator using sine wave of the frequency far below carrier frequency, preferably
Ground uses the sine wave for being less than one of percent frequency carrier frequency to have source crystal oscillator.
The A/D converter uses the sample frequency far below nyquist frequency to carry out lack sampling.
2nd, a kind of movement demodulation method of the continuous wave of subcarrier modulation, including step in detail below：
Low Frequency Sine Signals are generated by crystal oscillator, two-way is divided into after clock distribution, are transmitted to radio frequency transceiver chip all the way
To generate subcarrier signal, another way is transmitted to control module and carries out digital demodulation；It is same that radio frequency transceiver chip generates two-way
The sinusoidal continuous wave radio-frequency carrier signal of frequency same-phase carries out down coversion demodulation as local oscillator for chip interior all the way, another
Subcarrier signal is generated after the Low Frequency Sine Signals mixing that road is generated with crystal oscillator, then exports and carries out after power amplifier amplifies
Target acquisition, radio frequency transceiver chip are received after target reflection echo signal successively after low noise amplification, demodulation by filter, are carried out
Lack sampling is transferred to control module again.
Control module receives the echo-signal after Low Frequency Sine Signals and lack sampling, first in numeric field to through digital-to-analogue conversion
Echo-signal afterwards carries out succinct low-pass filtering, filters out direct current biasing and flicker noise, and then it is mixed to carry out number for two signals
Frequency demodulates so that the signal frequency after mixing is zero frequency, and convenient for subsequent processing, trigonometric function method of then negating obtains
The phase information of object under test finally according to the phase difference between the echo-signal after Low Frequency Sine Signals and lack sampling, passes through
Formula calculates distance and the relative displacement of object under test, restores its movement locus, completes detection and movement demodulation.
The phase information that the trigonometric function method of negating obtains object under test is specifically represented by the following formula：
φ1(t)=(4 π d0+x(t))/λhigh+2k1π
φ2(t)=(4 π d0+x(t))/λlow+2k2π
Since trigonometric function is using 2 π as the period, and it is monodrome solution to negate obtained by trigonometric function, therefore in above two formula,
k1, k2Represent the compensation cycle number of first, second phase information, i.e. k1, k2For known integer and unequal, d0For target object
Initial position, x (t) be object under test movement displacement or other measured physical quantity variation, λhighAnd λlowRespectively frequency fLO
+f1And fLO-f1Double frequency electromagnetic wave corresponding to wavelength, fLOFor the frequency of sinusoidal continuous wave radio-frequency carrier signal, f1For low frequency
The frequency of sine wave crystal oscillation signal, φ1(t) and φ2(t) represent that frequency is f in the echo-signal received respectivelyLO+f1And fLO-
f1The respective phase information of double frequency electromagnetic wave.
The movement locus of the object under test calculates description by following formula and obtains：
The sinusoidal continuous wave radio-frequency carrier signal and Low Frequency Sine Signals is mixed with frequency and phase phase add mode.
The lack sampling uses the sample frequency far below nyquist frequency to carry out.
The characteristics of present invention respectively carries object under test difference doppler information for the double frequency-band of subcarrier signal, carries
The phase information of baseband signal is taken, object distance is calculated according to the phasometer of two frequency bands with demodulation method proposed by the present invention
And relative displacement.
The invention has the advantages that：
The present invention is modulated and is moved demodulating algorithm by subcarrier, theoretically overcomes traditional zero-intermediate-frequency architecture receiver
Intrinsic direct current offset and flicker noise, while keeping zero intermediate frequency reciver simple in structure, cheap, and with tradition
The image frequency of Low Medium Frequency framework receiver shortcoming inhibits function.
The systems such as motion measurement, ranging and range rate, tracing and positioning closely are the composite can be widely applied to, realize different fields
The non-contact measurement of physical quantity under closing.
Description of the drawings
Fig. 1 is the structure diagram of hardware system of the present invention.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in Figure 1, the present invention includes radio frequency transceiver chip, control module and clock generation module, clock generates mould
Block includes clock distribution block and crystal oscillator, and radio frequency transceiver chip is connect through analog-digital converter with control module, clock distribution mould
One output terminal of block is connect with control module, another output terminal of clock distribution block is through low frequency bandpass filter and radio-frequency receiving-transmitting
Movement piece connects；The transmitting terminal of radio frequency transceiver chip connects transmitting antenna through power amplifier, and radio frequency transceiver chip connects
Filtered device, low-noise amplifier connection reception antenna, radio frequency transceiver integrated chip have phaselocked loop and frequency mixer to receiving end successively.
Radio frequency transceiver chip generates sinusoidal continuous wave radiofrequency signal of the two-way with frequency same-phase, is generated all the way with crystal oscillator
Low Frequency Sine Signals generate subcarrier signal after portion is mixed in the chip, are exported after power amplifier amplifies, and are visited to target
It surveys；Another way sine continuous wave radiofrequency signal is as local oscillator.After radio frequency transceiver chip receives echo-signal, put through low noise
Greatly, lack sampling is carried out by A/D converter after demodulation by filter, is transferred to control module.Control module adjusts transmitting and receives
The power of module by signal, and A/D converter is controlled to acquire signal, object under test distance and relative displacement is calculated in processing,
Last real-time display is transferred to other terminals such as PC.
In specific implementation, control module may include signal processing and serial communication unit, control module and transceiver chip
Connection, control export continuous subcarrier signal, and being converted to simulation through A/D converter after the echo-signal down coversion received believes
It number is transmitted by serial communication unit.
A/D converter uses the A/D converter far below Nyquist sampling frequency.
The present invention is based on subcarrier modulation and movement demodulation method, as needed in a frequency domain simultaneously to dual band signal into
Row demodulation and filtering are not needed to as conventional superheterodyne structure will using down-conversion technique and high-speed high-performance analog/digital conversion technology
Radiofrequency signal is converted into digital signal, has simplified RF front-end circuit, and the stability of system is improved while cost-effective.
The embodiment of the present invention is as follows：
As shown in Figure 1, in embodiment with one kind be applied to 802.11a/g frequency ranges (covering 2.4GHz to 2.5GHz and
4.9GHz is to 5.875GHz full band ranges) the doppler radar sensor based on subcarrier modulation for, introduce hardware knot
Structure and movement demodulation method.Embodiment utilizes the circuit system, can be to ohject displacement or life signal heartbeat to be measured and breathing
Etc. physical quantitys measure.All systems share a 6MHz sinusoidal clock to realize Phase synchronization in embodiment, and by controlling
Molding block realizes the generation and distribution of control signal.
Transceiver chip selects the single chip radio frequency transceiver chip Max2829 of Maxim, realizes needed for radio-frequency receiving-transmitting function
Radio-frequency signal source, receiver and frequency mixer for wanting etc. whole circuits, provide fully-integrated receiving channel, sendaisle, VCO,
Frequency synthesizer and base band/control interface, the significantly reduction of cost of implementation, and save space.Transmitting link is locked using PLL
The system clock frequency multiplication of 6MHz to 5.86G ± 6MHz is carried out subcarrier modulation by phase loop technique, this subcarrier signal is put through power
Big device transmitting.Power amplifier uses the AWL6951 chips of ANADIGICS companies, which is a double frequency-band InGaP HBT
Power amplifier, supports 2.4GHz and 5.8GHz two-bands, and footprints are small, it is only necessary to which two external capacitors, input and output are real
Existing 50 ohm of matchings, do not need to external matching, enormously simplify design.After receives link receives echo-signal, rf filtering
Device selects the BFCN-5750+ wave filter filtering clutters of Mini-Circuits companies, through low-noise amplifier HMC320 amplify into
Enter Max2829 chips and carry out down coversion demodulation, obtain the baseband signal of 6MHz, then the potteries of the SFSKA6M00CF through muRata companies
After porcelain wave filter, using Analog Device companies AD7357 A/D converters carry out lack sampling, sample frequency 90Hz,
Baseband bandwidth is 30Hz after sampling.
Control module uses the STM32 low speed micro-control units of ST Microelectronics, which believes radio frequency
Number power and the sample rate of A/D converter can carry out accurately and effectively controlling.
The step of generation of subcarrier signal and movement demodulation method, is expanded on further below for embodiment：Consider one
A initial phase is zero and low-frequency sine crystal oscillation signal cos (the 2 π f of amplitude normalization1T), wherein t is the time, and π is circumference
Rate, f1It is crystal oscillator frequency, t is the time.It is f using a frequencyLOThe radio-frequency carrier signal of amplitude normalization mixed with it
Frequently, the signal generated after mixing is subcarrier signal.The signal can be expressed as：
By above-mentioned (1) formula it is found that the signal can see that working frequency is respectively fLO+f1And fLO-f1Two-band sinusoidal signal fold
The subcarrier signal added.By the subcarrier signal from antenna emission detection target object, the attenuation of signal transmission is not considered
And amplification, according to Doppler's frequency principle receiver to echo-signal be represented by：
Wherein, d0 is the initial position of target object, and x (t) is the displacement of object of which movement or the change of other measured physical quantity
Change.λhighAnd λlowRespectively frequency fLO+f1And fLO-f1Electromagnetic wave corresponding to wavelength.A is interference signal at image frequency position
Amplitude (usual very little), the size of a represents the severity of Image interference, and a the big, and then Image interference is more serious.Noise tables
Show other various noises including flicker noise, c is the light velocity.
By above-mentioned (2) formula as it can be seen that the movable information x (t) of object is included in the phase of echo-signal, and exists simultaneously
Among the phase information of the subcarrier signal of two frequency ranges, i.e. [4 π d0+x(t)]/λhighWith [4 π d0+x(t)]/λlow.If make
With the information of a frequency range, f is such as usedLO+f1The phase information of frequency band, then in image interference frequency also be fLO-f1, it is and another
One frequency band is identical.Due to the amplitude (a i.e. in above formula) of image frequency frequency it is generally more much smaller than signal amplitude (1 percent with
Under), after amplifier amplifies, the image interference a*cos [2 π (f as small-signalLO-f1) t] be the equal of to be submerged in
It imitates in information, can be neglected in actually calculating, image interference has obtained effective inhibition in terms of this respect.
Frequency of use is fLOLocal oscillation signal carry out quadrature demodulation after obtain frequency as f1Baseband signal, in embodiment
f1For 6MHz, after carrying out lack sampling with the analog-digital converter of sample frequency 90Hz, the baseband signal difference of its I, Q two-way is obtained
For：
Wherein f2For 30Hz.
Finally according to the phase difference of two frequency bands, object distance and opposite position are calculated by the formula for moving demodulation method
It moves, restores its movement locus.
Next movement demodulation method is specifically introduced according to formula：First succinct low-pass filtering is carried out in numeric field to filter out
(3) in (4) two formulas noise (noise) part direct current biasing and flicker noise, i.e., subtracted noise section in (3) (4).
Then the digital mixing by the progress of IQ two paths of signals again so that signal is moved to direct current frequency range, at this time image frequency
Interfere a*sin [2 the π (- f in such as Q roads2) t] direct current frequency range is moved on to, obtain effective inhibition.
Then, frequency is f in the echo-signal received with trigonometric function algorithm of negatingLO+f1And fLO-f1It is double
The respective phase information difference of frequency electromagnetic waves is as follows:
φ1(t)=(4 π d0+x(t))/λhigh+2k1π (5)
φ2(t)=(4 π d0+x(t))/λlow+2k2π (6)
Since trigonometric function is using 2 π as the period, and it is monodrome solution to negate obtained by trigonometric function, therefore in above two formula,
k1, k2Represent the compensation cycle number of first, second phase information, i.e., wherein k1, k2For known integer and unequal.At this time due to
d0、λhighAnd λlowIt is constant, thus the phase information (5) thus recovered and (6) obtain target object movement track can
It is described by following formula：
The Section 2 of formula (7) can bring certain fuzziness.According to k in mathematical theory1And k2Value it is different, object
Distance has unlimited positive integer value and these values are mutually with λhighλlow/2(λlow-λhigh) to be spaced, but only one of which value is
Actual value.After bringing wavelength analog value into the present embodiment, λ is divided between can obtaininghighλlow/2(λlow-λhigh)=12 meter, this
Every quite big for closer object motion measurement, therefore easily judge its actual distance.
Finally, the range of distance is set according to practical measuring environment, such as the practical target that measures is within 12 meters or 12
Rice is in the range of 24 meters, that is, be easy to get k1And k2Occurrence, therefore the distance (i.e. formula (7)) of object has unique real value.
It can be seen that the technology of the present invention significant effect protrudes, innovatively carrying out continuous wave with subcarrier modulation wirelessly surveys
Amount controls to adjust process using low speed A/D converter (ADC) and low speed arithmetic center, inhibits conventional superheterodyne structure image frequency
The problem of interference, and pass through direct current offset and the flicker noise shortcoming for moving that demodulation method overcomes Direct-conversion structure intrinsic,
And circuit structure is simplified, has reduced circuit cost, can especially realize the non-contact measurement of the physical quantity under different occasions.
Claims (9)
1. a kind of continuous wave Doppler radar sensor of subcarrier modulation, it is characterised in that：Including radio frequency transceiver chip, control
Molding block and clock generation module, clock generation module include clock distribution block and crystal oscillator, and radio frequency transceiver chip is through modulus
Converter is connect with control module, and one output terminal of clock distribution block is connect with control module, clock distribution block another
Output terminal is connect through low frequency bandpass filter with radio frequency transceiver chip；The transmitting terminal of radio frequency transceiver chip is through power amplifier
Transmitting antenna is connected, filtered device, low-noise amplifier connect reception antenna to the receiving terminal of radio frequency transceiver chip successively；
The Low Frequency Sine Signals that the crystal oscillator generates are divided into two-way through clock distribution block：It is transmitted to radio-frequency receiving-transmitting movement all the way
To generate subcarrier signal, another way is transmitted to control module and carries out digital demodulation piece；Radio frequency transceiver chip generates two-way
With the sinusoidal continuous wave radio-frequency carrier signal of frequency same-phase：Secondary carry is generated after the Low Frequency Sine Signals mixing generated all the way with crystal oscillator
Then wave signal exports after power amplifier amplifies, to target acquisition；Another way is carried out as local oscillator for chip interior
Down coversion demodulates；Radio frequency transceiver chip receives echo-signal, after low noise amplification, demodulation by filter again by analog-to-digital conversion into
Row lack sampling is simultaneously transferred to control module.
2. a kind of continuous wave Doppler radar sensor of subcarrier modulation according to claim 1, it is characterised in that：Institute
The radio frequency transceiver integrated chip stated has phaselocked loop and frequency mixer.
3. a kind of continuous wave Doppler radar sensor of subcarrier modulation according to claim 1, it is characterised in that：Institute
The crystal oscillator being mixed with radiofrequency signal stated has source crystal oscillator using sine wave of the frequency far below carrier frequency.
4. a kind of continuous wave Doppler radar sensor of subcarrier modulation according to claim 1, it is characterised in that：Institute
The analog-digital converter stated uses the sample frequency far below nyquist frequency to carry out lack sampling.
5. a kind of movement demodulation method of the continuous wave of subcarrier modulation, it is characterised in that including step in detail below：By crystal oscillator
Low Frequency Sine Signals are generated, two-way is divided into after clock distribution, is transmitted to radio frequency transceiver chip all the way to generate subcarrier
Signal, another way are transmitted to control module and carry out digital demodulation；
Radio frequency transceiver chip generates two-way with the sinusoidal continuous wave radio-frequency carrier signal of frequency same-phase, is used for all the way as local oscillator
Chip interior carries out down coversion demodulation, generates subcarrier signal after the Low Frequency Sine Signals mixing that another way is generated with crystal oscillator, so
It is exported after amplifying by power amplifier and carries out target acquisition, after radio frequency transceiver chip reception target reflection echo signal successively
After low noise amplification, demodulation by filter, carry out lack sampling and be transferred to control module again；
Control module receives the echo-signal after Low Frequency Sine Signals and lack sampling, first in numeric field to returning after analog-to-digital conversion
Wave signal carries out succinct low-pass filtering, filters out direct current biasing and flicker noise, and then two signals carry out digital mixing demodulation,
So that the signal frequency after mixing is reduced to zero-frequency, trigonometric function of then negating to the signal obtains the phase information of object under test,
The distance and phase of object under test are finally calculated according to the phasometer between the echo-signal after Low Frequency Sine Signals and lack sampling
To displacement, restore its movement locus, complete detection and movement demodulation.
6. a kind of movement demodulation method of the continuous wave of subcarrier modulation according to claim 5, it is characterised in that：It uses
The phase information that trigonometric function method of negating obtains object under test is specifically represented by the following formula：
φ1(t)=(4 π d0+x(t))/λhigh+2k1π
φ2(t)=(4 π d0+x(t))/λlow+2k2π
Wherein, k1, k2The compensation cycle number of first, second phase information, k are represented respectively1, k2For known integer and unequal, d0
For the initial position of target object, x (t) is the displacement of object under test movement or the variation of other measured physical quantity, λhighAnd λlow
Respectively frequency fLO+f1And fLO-f1Double frequency electromagnetic wave corresponding to wavelength, fLOFrequency for sinusoidal continuous wave radio-frequency carrier signal
Rate, f1For the frequency of low-frequency sine crystal oscillation signal, φ1(t) and φ2(t) frequency is f in the echo-signal being respectively receivedLO+
f1And fLO-f1The respective phase information of double frequency electromagnetic wave.
7. a kind of movement demodulation method of the continuous wave of subcarrier modulation according to claim 5, it is characterised in that：It is described
The movement locus of object under test calculates description by following formula and obtains：
Wherein, φ1(t) and φ2(t) represent that frequency is f in the echo-signal received respectivelyLO+f1And fLO-f1Double frequency electromagnetism
The respective phase information of wave.
8. a kind of movement demodulation method of the continuous wave of subcarrier modulation according to claim 5, it is characterised in that：It is described
Sinusoidal continuous wave radio-frequency carrier signal and Low Frequency Sine Signals be mixed with frequency and phase phase add mode.
9. a kind of movement demodulation method of the continuous wave of subcarrier modulation according to claim 5, it is characterised in that：It is described
Lack sampling use far below nyquist frequency sample frequency carry out.
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| US10677889B2 (en) * | 2017-09-04 | 2020-06-09 | Richwave Technology Corp. | Signal processing system and signal processing method for object detection or data transmission |
| CN108363043A (en) * | 2018-01-26 | 2018-08-03 | 浙江大学 | Continuous wave Doppler radar sensor and multiple mobile object detection method are placed in distribution |
| JP6587199B1 (en) * | 2018-07-03 | 2019-10-09 | パナソニックＩｐマネジメント株式会社 | Estimation apparatus and estimation method |
| CN110907898B (en) * | 2018-09-18 | 2023-07-14 | 天津大学青岛海洋技术研究院 | Doppler radar circuit structure for inhibiting direct current bias by using radio frequency switch |
| CN110231613B (en) * | 2018-10-17 | 2023-04-25 | 厦门锐越微电子技术有限公司 | Radar ranging device and method |
| CN111585598B (en) * | 2019-01-30 | 2022-02-11 | 南充鑫源通讯技术有限公司 | Microwave sensor and data communication method thereof |
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