CN106154238B - A kind of automobile collision avoidance radar analogue echoes test macro and test method - Google Patents
A kind of automobile collision avoidance radar analogue echoes test macro and test method Download PDFInfo
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- CN106154238B CN106154238B CN201610696446.1A CN201610696446A CN106154238B CN 106154238 B CN106154238 B CN 106154238B CN 201610696446 A CN201610696446 A CN 201610696446A CN 106154238 B CN106154238 B CN 106154238B
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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
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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Abstract
The invention discloses a kind of automobile collision avoidance radar analogue echoes test macro and test methods, which includes: receiving antenna, receive the transmitting signal of Anticollision Radar；Power amplifier, input terminal connect receiving antenna, for amplifying transmitting signal；Power distribution module is connected with power amplifier；Tranmitting frequency test module, power edge test module and the analogue echoes generation module being connected respectively with power distribution module output end are connected, wherein the analogue echoes generation module is for generating radar echo simulation signal；Transmitting antenna is connected with analogue echoes generation module output end, for radar echo simulation signal to be returned to Anticollision Radar.The present invention can satisfy radar echo simulation and performance test, have flexible allocative abilities, complex data processing capacity, real-time echo generative capacity.
Description
Technical field
The present invention relates to automobile collision avoidance radar analogue echoes measuring technology, in particular to a kind of automobile collision avoidance radar echo mould
Quasi- test macro and test method.
Background technique
Automobile collision avoidance radar is set safely necessary to reduce the important sensor and pilotless automobile of driving accident
It is one of standby, but comprehensive measuring technology to its performance quickly, succinct is still within starting level.Vehicle factor is installing anticollision thunder additional
It is very urgent to the demand of Radar Measurement System during reaching, however, according to open source literature, there is no complete sets at present
Anticollision Radar analogue echoes and test macro.
Application publication number is that the patent of CN104793208A discloses a kind of anti-interference automobile collision preventing with multi-targets recognition
Radar detecting method mainly passes through radar signal strength setting apparatus setting signal strength range, the control of detections of radar processor
Radar transmitter emits radar signal, then signal strength set by echo-signal and setting apparatus is compared, according to Amplitude Ratio
Relatively result detects whether to shield launcher signal to realize, can not test radar completely.Application publication number
A kind of radar test set and car radar pitch angle test method are disclosed for the patent of CN103661128A, including bracket,
Horizontal slide rail, upright slide rail, driving device, test body etc., the invention radar test set are only used for bowing for test reversing radar
The elevation angle, it is not comprehensive to the performance test of radar system.Authorization Notice No., which discloses one kind for the patent of CN103797378B, to be made
With the calibration method of the car radar of phased array, the example of the invention includes the benefit of Electronic Calibration to phase shifter, mechanical deflection
It repays.
Summary of the invention
The object of the present invention is to provide a kind of automobile collision avoidance radar analogue echoes test macro and test methods, meet radar
Analogue echoes and performance test have flexible allocative abilities, complex data processing capacity, real-time echo generative capacity.
In order to achieve the goal above, the present invention is achieved by the following technical solutions:
A kind of automobile collision avoidance radar analogue echoes test macro, its main feature is that, which includes:
Receiving antenna receives the transmitting signal of Anticollision Radar；
Power amplifier, input terminal connect receiving antenna, for amplifying transmitting signal；
Power distribution module is connected with power amplifier；
Tranmitting frequency test module, power edge test module and the echo being connected respectively with power distribution module output end
It simulates generation module to be connected, wherein the analogue echoes generation module is for generating radar echo simulation signal；
Transmitting antenna is connected with analogue echoes generation module output end, for returning to radar echo simulation signal
Anticollision Radar.
The power edge test module is for amplitude detection test and the test of exomonental edge characteristics.
The radar echo simulation signal is formed by stacking by target echo and land clutter.
A kind of automobile collision avoidance radar analogue echoes test method, its main feature is that, this method comprises the following steps:
S1, receiving antenna receive the transmitting signal of Anticollision Radar；
S2, power amplifier amplification transmitting signal；
S3, power distribution module distribution transmit signals to tranmitting frequency test module, power edge test module and echo
Simulate generation module；
S4, analogue echoes generation module generate radar echo simulation signal；
Radar echo simulation signal is returned to Anticollision Radar by S5, transmitting antenna.
The step S4 specifically includes:
S4.1, analogue echoes generation module generate target echo；
S4.2, establishes the TRANSFER MODEL of land clutter, and obtains land clutter；
S4.3, is superimposed target echo and land clutter obtains radar echo simulation signal.
The step S4.2 specifically includes:
S4.2.1 establishes the target transfer function of land clutter scattering point, the target transfer function of the scattering point are as follows:
Wherein, R is the oblique distance calculated according to the position of antenna phase center and the position of scattering point, and G is antenna gain, γ
Indicate that the complex scattering coefficients of point target, c are the light velocity, A is the echo amplitude of scattering point, and λ indicates transmitting signal wavelength, f0Indicate hair
Signal frequency is penetrated, k is frequency modulation rate,For baseband transmission signal, * indicates convolution；
S4.2.2 calculates the distance of each scattering point, according to distance locating for the determining phase of echo of distance and the scattering point
Door；
S4.2.3 is added up to obtain the impulse response function of land clutter to the target information in same range gate, and
Obtain the echo model of land clutter.
The impulse response function of the land clutter are as follows:
In formula (2): M is the number for falling into the range gate scattering point, Ak、RkAnd tkIt respectively indicates in the range gate and dissipates for k-th
Amplitude, distance and the delay of exit point echo, TsFor the sampling period of system function.
The echo model of the land clutter be the convolution of formula 1 and formula 2 i.e.: sr(t)=sr(t,R)*h(t)。
Compared with prior art, the present invention having the advantage that
The present invention meets radar echo simulation and performance test, have flexible allocative abilities, complex data processing capacity,
Real-time echo generative capacity.
Detailed description of the invention
Fig. 1 is a kind of system block diagram of automobile collision avoidance radar analogue echoes test macro of the present invention；
Fig. 2 is the three-dimensional scenic of radar and the building of ground scatter point.
Specific embodiment
The present invention is further elaborated by the way that a preferable specific embodiment is described in detail below in conjunction with attached drawing.
As shown in Figure 1, a kind of automobile collision avoidance radar analogue echoes test macro, which includes: receiving antenna 1 connects
Receive the transmitting signal of Anticollision Radar；Power amplifier 2, input terminal connect receiving antenna 1, for amplifying transmitting signal；Power
Distribution module 3 is connected with power amplifier 2；The tranmitting frequency test module being connected respectively with 3 output end of power distribution module
4, power edge test module 5 is connected with analogue echoes generation module 6, wherein the analogue echoes generation module 6 is for giving birth to
At radar echo simulation signal；Transmitting antenna 7 is connected with 6 output end of analogue echoes generation module, is used for radar return mould
Quasi- signal returns to Anticollision Radar.
Above-mentioned tranmitting frequency test module is used for the test of tranmitting frequency, the linearity, period including modulating frequency, miscellaneous
It dissipates.
Above-mentioned power edge test module (rises for amplitude detection test and the test of exomonental edge characteristics
Edge, failing edge).
After amplification, filtering, progress down-converted is mixed with baseband analog echo to be superimposed analogue echoes generation module again
Phase modulated signal, then up-conversion to transmitting frequency range is sent to power attenuator, and last feed-in transmitting antenna returns to tested radar.
Above-mentioned radar echo simulation signal is formed by stacking by target echo and land clutter.
It, can root after system has determined the relevant parameter of object module and the work of tested radar according to user demand
According to the generation of certain algorithm simulation echo.The generation process of radar return is considered as being superimposed ground on the basis of target echo
Clutter.Land clutter is modulated process of the earth scene to echo.So the generation of echo can be carried out in two steps, i.e., target is returned
Wave generates and land clutter generates.Since target echo is fixed, so the process of modeling, which is mainly reflected in, transmits letter to ground
Several modelings.
A kind of automobile collision avoidance radar analogue echoes test method, this method comprise the following steps:
S1, receiving antenna receive the transmitting signal of Anticollision Radar；
S2, power amplifier amplification transmitting signal；
S3, power distribution module distribution transmit signals to tranmitting frequency test module, power edge test module and echo
Simulate generation module；
S4, analogue echoes generation module generate radar echo simulation signal；
Radar echo simulation signal is returned to Anticollision Radar by S5, transmitting antenna.
Above-mentioned step S4 specifically includes:
S4.1, analogue echoes generation module generate target echo；
S4.2, establishes the TRANSFER MODEL of land clutter, and obtains land clutter；
S4.3, is superimposed target echo and land clutter obtains radar echo simulation signal.
Above-mentioned step S4.2 specifically includes:
S4.2.1, in some moment t, the expression formula of the linear FM signal of radar emission be can be written as:
The linear FM signal can be denoted as by the signal that radar after the point target P reflection on ground receives:
Wherein, R is the oblique distance calculated according to the position of antenna phase center and the position of scattering point；G is antenna gain；γ
Indicate the complex scattering coefficients of point target；C is the light velocity, and establishes the target transfer function of land clutter scattering point, and λ indicates transmitting signal
Wavelength, f0Indicate emission signal frequency, k is frequency modulation rate, so there is the target transfer function of the scattering point are as follows:
A is the echo amplitude of scattering point,For baseband transmission signal, * indicates convolution；
S4.2.2 calculates the distance of each scattering point, according to distance locating for the determining phase of echo of distance and the scattering point
Door；
S4.2.3 is added up to obtain the impulse response function of land clutter to the target information in same range gate, and
Obtain the echo model of land clutter.
Under actual conditions, ground illumination bands are by many scattering point target configurations, the superposition of the echo of these scattering point targets
The echo of as entire scene.Orientation in the formula of echo is apart from discrete variable xnIndicated with continuous variable x':
The as spatial domain expression-form of echo.γ (x, r) indicates the multiple scattering of ground orientation x and distance to the position r
Coefficient, Δ R are range resolution, and k is that above formula is rewritten as following form for convenience's sake by frequency modulation rate:
Wherein g (x'-x, r'-r, r) is the impulse response function of the earth system:
In radar platform motion process, since interfering between subelement each in resolution cell causes entirely to scatter
The fluctuating of the equivalent multiple scattering function of unit.For being uniformly distributed target, each scattering point is statistical iteration, is limited by center pole
Reason is it is found that largely the real and imaginary parts of the complex scattering coefficients of the obtained entire resolution cell of superposition of scattering point are mutually solely again
Vertical zero-mean gaussian stochastic variable.Therefore the complex scattering coefficients of entire resolution cell are a narrowband multiple Gauss process, envelope
Rayleigh distributed, phase obey being uniformly distributed on [- π, π].After introducing this statistics description, so that it may generate in the picture
WEN Yi_duo effect.
Scattering point distance needs to be calculated according to radar with three-dimensional scenic constructed by ground scatter point, is illustrated in fig. 2 shown below.
If height of the radar away from ground is H0, radar floor projection point at a distance from beam center scattering point to interval
For x0, y is divided between orientation0, then (m is line number to target point (m, n), and n is row number, and definition rule is as shown in Figure, and (0,0) is right
Answer the scattering point at wave beam ground irradiation center) on highly for 0, then the distance of this point and radar is,
In formula: δx、δyRespectively ground scatter point in distance to the resolved intervals with orientation, m, n be scattering point row,
Row number.
Target echo system function is a series of superposition (such as following formula) of impulse response functions, these impulse functions have not
With delay, amplitude and phase, effect be exactly radar emission signal is postponed, the modulation of amplitude and phase.In distance
In time domain impulse coherent method, approximate processing will be carried out to the delay of scattering point according to the sampling period of target echo system function.
The impulse response function of above-mentioned land clutter are as follows:
In formula (2): M is the number for falling into the range gate scattering point, Ak、RkAnd tkIt respectively indicates in the range gate and dissipates for k-th
Amplitude, distance and the delay of exit point echo, TsFor the sampling period of system function.
The echo model of above-mentioned land clutter be the convolution of formula 1 and formula 2 i.e.: sr(t)=sr(t,R)*h(t)。
In conclusion a kind of automobile collision avoidance radar analogue echoes test macro of the present invention and test method, meet radar and return
Wave simulation and performance test have flexible allocative abilities, complex data processing capacity, real-time echo generative capacity.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (3)
1. a kind of automobile collision avoidance radar analogue echoes test method, which is characterized in that this method comprises the following steps:
S1, receiving antenna receive the transmitting signal of Anticollision Radar；
S2, power amplifier amplification transmitting signal；
S3, power distribution module distribution transmit signals to tranmitting frequency test module, power edge test module and analogue echoes
Generation module；
S4, analogue echoes generation module generate radar echo simulation signal；
Radar echo simulation signal is returned to Anticollision Radar by S5, transmitting antenna；
The step S4 specifically includes:
S4.1, analogue echoes generation module generate target echo；
S4.2, establishes the TRANSFER MODEL of land clutter, and obtains land clutter；
S4.3, is superimposed target echo and land clutter obtains radar echo simulation signal；
The step S4.2 specifically includes:
S4.2.1 establishes the target transfer function of land clutter scattering point, the target transfer function of the scattering point are as follows:
Wherein, R is the oblique distance calculated according to the position of antenna phase center and the position of scattering point, and G is antenna gain, and γ is indicated
The complex scattering coefficients of point target, c are the light velocity, and A is the echo amplitude of scattering point, and λ indicates transmitting signal wavelength, f0Indicate transmitting letter
Number frequency, k are frequency modulation rate,For baseband transmission signal, * indicates convolution；
S4.2.2 calculates the distance of each scattering point, according to range gate locating for the determining phase of echo of distance and the scattering point；
S4.2.3 is added up to obtain the impulse response function of land clutter, and is obtained to the target information in same range gate
The echo model of land clutter.
2. automobile collision avoidance radar analogue echoes test method as described in claim 1, which is characterized in that the land clutter
Impulse response function are as follows:
In formula (2): M is the number for falling into the range gate scattering point, Ak、RkAnd tkRespectively indicate k-th of scattering point in the range gate
Amplitude, distance and the delay of echo, TsFor the sampling period of system function.
3. automobile collision avoidance radar analogue echoes test method as claimed in claim 2, which is characterized in that the land clutter
Echo model be the convolution of formula 1 and formula 2 i.e.: sr(t)=sr(t,R)*h(t)。
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| CN106970364B (en) * | 2017-05-11 | 2019-07-19 | 合肥工业大学 | A kind of trailer-mounted radar is in ring real-time simulation test macro and its method |
| CN107918123B (en) * | 2017-10-19 | 2021-04-02 | 上海无线电设备研究所 | Terahertz ISAR target micro-motion component separation and characteristic parameter estimation method |
| CN107807359A (en) * | 2017-11-24 | 2018-03-16 | 铁将军汽车电子股份有限公司 | The method of testing and system of car backing sensor |
| CN108008366B (en) * | 2017-12-01 | 2020-08-04 | 北京润科通用技术有限公司 | Radar target echo simulation method and system |
| CN110412378B (en) * | 2019-07-30 | 2021-08-24 | 北京经纬恒润科技股份有限公司 | Target object detection method and device |
| CN113687319B (en) * | 2021-08-17 | 2023-09-22 | 上海机电工程研究所 | Simulation method and system for equivalent signal-to-noise ratio of radar echo signal |
| CN117289235B (en) * | 2023-11-24 | 2024-01-30 | 成都凌亚科技有限公司 | Antenna radar multichannel signal acquisition processing equipment and method |
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| CN104698445B (en) * | 2015-03-30 | 2017-03-08 | 北京润科通用技术有限公司 | A kind of radar echo simulation method and radar echo signal simulator |
| CN105510890A (en) * | 2015-11-30 | 2016-04-20 | 北京润科通用技术有限公司 | Vehicle-used active anti-collision radar echo simulator |
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