CN106443660A - Linear-frequency-modulated continuous-wave radar's multiple moving targets matching method - Google Patents
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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Abstract
The invention discloses a linear-frequency-modulated continuous-wave radar's multiple moving targets matching method, which comprises the following steps: 1) in a single frequency modulation period, subtracting the spectrum of the swept beat signal of the positive path and the spectrum of the sweep signal of the negative path for a cancelled spectrum; 2) determining the frequency spectrum peak value; 3) arbitrarily selecting the frequency spectrum peak values as pairs and viewing them as the differences of the beat signal frequencies of the positive path and the negative path of one target to obtain all available matching manners; 4) calculating the assumed velocity value of each target to be measured under all matching manners; 5) continuously repeating the steps 1 to 4, using the same matching manners to fit the assumed velocity values in different frequency modulation periods to obtain the fitting curve of time and the velocity; and 6) choosing the matching manner whose curve average gradient is the smallest and the average speed under this matching manner indicates the real speed of the targets. According to the invention, it is possible to enable a velocity measurement radar to maintain its interception characteristics while resolving the multi-target distance and speed measurement.
Description
Technical field
The present invention relates to Radar Technology field is and in particular to a kind of Modulation Continuous Wave Radar multiple mobile object match party
Method.
Background technology
Low intercepting and capturing（LPI）The definition of radar is：Radar while detecting unfriendly target, intercepted and captured by enemy by radar signal
The probability arriving is minimum.Linear frequency modulation（LFM）Radar signal has larger Timed automata, relatively low peak power and relatively because of it
Wide frequency band, is a kind of important low intercepting and capturing（LPI）Signal.
Authorization Notice No. be CN201410295153, the Chinese invention patent of entitled " low intercept and capture speed-measuring method and device "
Employ the linear frequency modulation continuous wave of triangular modulation it is proposed that offseting using the frequency spectrum of monocyclic positive and negative journey Beat Signal,
Remove the interference of static target, obtained the frequency of positive and negative journey Beat Signal, and then calculated speed and the distance of target.However,
Said method is only used for resolving distance and the speed of single moving target, if in the case of n target, using above
The bar number of the frequency spectrum of Beat Signal frequency domain figure of method gained has 2n bar, positive and negative beat letter in the case of not considering superposition
Number spectral line each n bar, such as the frequency spectrum weave in of Fig. 1, so, being paired into accurately ask of up/down frequency sweep section frequency spectrum
Much key issues of target velocity, if target spectrum can not accurately be mated, may lead to target velocity and away from
From false judgment.
It is CN201610157958 in Authorization Notice No., the patent of invention of entitled " a kind of multi-target Radar Detection method "
In, employ CW（Continuous wave）And FMCW（Continuous Wave with frequency modulation）The mode that triangular wave combines to solve frequency spectrum processing complicated it is difficult to
Obtain the problem of accurate match, the radar electromagnetic wave that this patent is passed through to reflect obtains receipt signal, by receipt signal and tune
Signal processed obtains intermediate-freuqncy signal after being mixed, and intermediate-freuqncy signal is carried out obtaining i/q signal after quadrature demodulation, i/q signal is entered
The target detection carrying out after row plural number FFT computing, the velocity information of each target that CW signal detection is gone out is believed with FMCW triangular wave
Number range information of each target detecting and velocity information are mated, and obtain the final range information of each target and speed
Information.But this waveform loses, because there being the presence of continuous wave, the low interception performance that Continuous Wave with frequency modulation has.
Content of the invention
The present invention proposes a kind of multiple mobile object carrying out based on low intercepting and capturing triangular modulation frequency modulated continuous wave radar
Method of completing the square, so that velocity radar is while solving multi-Goal Measure and test the speed, keeps the characteristic of low intercepting and capturing.
Modulation Continuous Wave Radar multiple mobile object matching process of the present invention, comprises the following steps：
In the single frequency modulation cycle of step 1. linear frequency modulation continuous triangle ripple, frequency sweep beat in the trace of each target to be measured is believed
Number frequency spectrum and frequency sweep Beat Signal spectral substraction under negative journey, frequency spectrum after being offseted；
Step 2. rules out each trace spectrum peak of frequency spectrum after offseting respectively using CFAR judgementWith
Negative journey spectrum peak, subscript 1,2 ... adopts in positive and negative Cheng Jun for distinguishing different peak values, wherein CFAR
Made decisions with same journey information, so-called same journey refers to be trace or negative journey；
Step 3., to the spectrum peak ruling out, arbitrarily selects a trace spectrum peak and a negative journey spectrum peak to match simultaneously
It is considered as the positive and negative path difference beat frequency of same target, using permutation and combination, obtain all of matching way；For there being N number of mesh to be measured
Mark, should have N！Plant matching way, under each matching way, comprise N number of positive and negative Cheng Pin being assumed to be and belonging to same target to be measured
Spectrum peak pair；
Step 4., under every kind of matching way, using being assumed to be the positive and negative journey spectrum peak pair belonging to same target to be measured, is counted
Calculate under all matching ways, hypothesis velocity amplitude in this frequency modulation cycle for each target to be measured；
Step 5. is directed to the different frequency modulation cycles of multiple linear frequency modulation continuous triangle ripples, continuously repeats step 1 to step 4, obtains
Hypothesis velocity amplitude in this frequency modulation cycle for each target to be measured under all matching ways；With obtain under identical matching way
The hypothesis velocity amplitude in each different frequency modulation cycle is fitted, and obtains the when m- velocity fitting curve of each target；
The step 6. minimum matching way A of m- velocity fitting curve G-bar, this match party when selecting in all matching ways
Under formula, average speed within multiple frequency modulation cycles for each target is the true velocity of this target, in step 6, described averagely oblique
Rate be under this matching way each target when m- velocity fitting slope of curve absolute value meansigma methodss.
Preferably, in described step 4 and 5, also include using being assumed to be the positive and negative journey frequency spectrum belonging to same target to be measured
Peak value pair, calculates under all matching ways, hypothesis distance value in this frequency modulation cycle for each target to be measured；
Also include step 7：Hypothesis distance value in the different frequency modulation cycles obtained under the matching way A that will determine in step 6 enters
Row matching, simulates time-distance graph, using the true velocity value obtaining in slope value and the step 6 of time-distance graph
It is compared judgement, whether the result is correct.
Further, described compare to determine for：Whether slope value and true velocity value existRange of error in, be then
Checking is correct, otherwise incorrect.
Further, the formula of computed range value R is：, wherein c is the light velocity, is chirp rate,f b + 、f b - Represent positive and negative journey spectrum peak respectively.
Specifically, the method adjudicating positive and negative journey spectrum peak in described step 2 is CFAR decision method.
Specifically, in described step 4, the formula of calculating speed value V is：, wherein λ is Continuous Wave with frequency modulation
Wavelength,f b + 、f b - Represent positive and negative journey spectrum peak respectively.
Preferably, the multiple difference frequency modulation cycles in described step 5 are the frequency modulation cycle continuous in time.
The present invention is advantageous in that：Under multi-target condition, the positive and negative journey Beat Signal in multiple frequency modulation cycles is existed
Frequency domain is carried out offseting by the cycle and obtains offseting frequency spectrum, obtains all of matching way using permutation and combination, is calculated every kind of
The speed data of formula formula.Speed data linear fit to multiple frequency modulation cycles, the minimum coupling of selection target G-bar
Mode obtains target true velocity.The present invention also can by when the m- concordance apart from matching verification judge mate correct
Property, solve the problems, such as that symmetric triangular linear frequency modulation continuous wave multiple target frequency spectrum mates and keeps low intercepting and capturing characteristic.
Brief description
The positive and negative path difference that Fig. 1 is given under multiple target conditions claps the schematic diagram of signal frequency domain；
Fig. 2 gives a kind of specific embodiment of Modulation Continuous Wave Radar multiple mobile object matching process of the present invention
Flow chart.
One kind that Fig. 3 gives Modulation Continuous Wave Radar multiple mobile object matching process of the present invention is embodied as
The step block diagram of mode；
Fig. 4 is the spectrogram of the trace Beat Signal of three targets of one specific embodiment of the present invention；
Fig. 5 is the spectrogram of the negative journey Beat Signal of three targets of one specific embodiment of the present invention；
Fig. 6 be one specific embodiment of the present invention positive and negative journey frequency spectrum offset after schematic diagram, in figure A, B, C be three targets
Trace Beat Signal, 1,2,3 be three targets negative journey Beat Signal；
Fig. 7 is the velocity fitting curve of the first matching way in description specific embodiment；
Fig. 8 is the velocity fitting curve of second matching way in description specific embodiment；
Fig. 9 is the velocity fitting curve of the third matching way in description specific embodiment；
Figure 10 is the velocity fitting curve of the 4th kind of matching way in description specific embodiment；
Figure 11 is the velocity fitting curve of the 5th kind of matching way in description specific embodiment；
Figure 12 is the velocity fitting curve of the 6th kind of matching way in description specific embodiment；
The abscissa of Fig. 7 to Figure 12 is the time, and vertical coordinate is speed；Unit is identical.
Figure 13 be description specific embodiment in second matching way when m- apart from fitted figure.
The abscissa of Figure 13 is the time, and vertical coordinate is distance, and unit is respectively second and rice.
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described in further detail.
The present invention is based on triangular modulation frequency modulated continuous wave radar（Such as Chinese invention patent CN201410295153 institute
Disclosed triangular modulation frequency modulated continuous wave radar）The multiple mobile object detection method being carried out.There are multiple moving targets
And in the case of Background Clutter, obtain positive and negative path difference in the single frequency modulation cycle first and clap signal cancellation frequency spectrum, using arrangement
Combination obtains all of matching method, draws the target velocity of each possible matching method of this frequency modulation cycle.Then multiple
In the different frequency modulation cycles, obtain some groups of speed datas using same method, by under every kind of for each cycle identical match mode
The speed data linear fit obtaining, takes the minimum matching way of average slope to be correct matching method, thus solving target speed
Degree.
Modulation Continuous Wave Radar multiple mobile object matching process of the present invention, comprises the following steps：
In the single frequency modulation cycle of step 1. linear frequency modulation continuous triangle ripple, frequency sweep beat in the trace of each target to be measured is believed
Number frequency spectrum and frequency sweep Beat Signal spectral substraction under negative journey, frequency spectrum after being offseted；
Using offseting mode, can effectively exclude the impact of background clutter.
Step 2. rules out each trace spectrum peak of frequency spectrum after offseting respectivelyWith negative journey frequency spectrum
Peak value, subscript 1,2 ... is for distinguishing different peak values；
Decision method typically utilizes CFAR（Constant False-Alarm Rate, constant false alarm rate detects）Method is judged respectively
Individual positive and negative spectrum peak, CFAR is made decisions using same journey information in positive and negative Cheng Jun, and so-called same journey refers to be trace or negative journey.
Step 3., to the spectrum peak ruling out, arbitrarily selects a trace spectrum peak to join with a negative journey spectrum peak
To and be considered as the positive and negative path difference beat frequency of same target, using permutation and combination, obtain all of matching way；For N number of to be measured
Target, should have N！Plant matching way, under each matching way, comprise N number of positive and negative journey being assumed to be and belonging to same target to be measured
Spectrum peak pair.For example for 3 targets to be measured, then there are 6 kinds of matching ways.
Step 4. calculates under every kind of matching way, using being assumed to be the positive and negative journey spectral peak belonging to same target to be measured
Value is right, calculates under all matching ways, hypothesis velocity amplitude in this frequency modulation cycle for each target to be measured；
In step 4, it is possible to use formula calculating speed value, the formula of calculating speed value V is：
------（1）
Wherein λ is Continuous Wave with frequency modulation wavelength,f b + 、f b - Represent positive and negative journey spectrum peak respectively.
Step 5. is directed to the different frequency modulation cycles of multiple linear frequency modulation continuous triangle ripples, continuously repeats step 1 to step 4,
Obtain hypothesis velocity amplitude in this frequency modulation cycle for each target to be measured under all matching ways；To obtain under identical matching way
To the hypothesis velocity amplitude in each different frequency modulation cycle be fitted, obtain the when m- velocity fitting curve of each target.
In step 5, because triangular wave is shorter for each cycle time, in musec order, it is spaced some cycles of negligible amounts
When target velocity change can ignore.It is desirable that continuously continual continuously multiple frequency modulation cycle measures on access time,
To obtain optimum measurement effect.
Step 6. m- velocity fitting curve G-bar minimum matching way A when selecting in all matching ways, this
Under formula formula, average speed within multiple frequency modulation cycles for each target is the true velocity of this target, in step 6, described flat
All slope be under this matching way each target when m- velocity fitting slope of curve absolute value meansigma methodss.
Upper frequency sweep Beat Signal in the case of many frequency modulation cycle, corresponding to each frequency modulation cycle
Frequency and the frequency of lower frequency sweep Beat Signal be respectively：
(3)
(4)
(5)
(6)
(7)
WhereinWithIt is target instantaneous distance,WithIt is target initial distance,WithIt is the instantaneous velocity of target, under
Mark 1,2 represents upper and lower frequency sweep Beat Signal frequency spectrum respectively；C is the light velocity, is chirp rate, t express time, and λ is that frequency modulation is continuous
Ripple wavelength.
The present invention judges that by matched curve slope the principle of correct matching way is：If represent is same mesh
Mark, thenIf represent is different target,.Therefore, if a certain matching way is correct matching way, this
When, calculatedA correct velocity amplitude, due to each frequency modulation cycle time extremely short it is considered that tested
In each frequency modulation cycle of amount, velocity amplitude is approximately a constant, and the velocity fitting slope of curve that multiple fitting of constant obtain is close to 0；
If a certain matching way is incorrect matching way, at this moment, velocity amplitude that each cycle is calculated is all and the time
Relevant, last velocity fitting curve generally has certain slope.
After method according to step 1 is to 6 obtains target velocity, it is possible to use time-distance graph is verified.
In described step 4 and 5, can also be using being assumed to be the positive and negative journey spectrum peak belonging to same target to be measured
Right, calculate under all matching ways, hypothesis distance value in this frequency modulation cycle for each target to be measured；
After step 6, also include step 7：In the different frequency modulation cycles obtained under the matching way A that will determine in step 6
Assume that distance value is fitted, simulate time-distance graph, obtain using in slope value and the step 6 of time-distance graph
True velocity value be compared judgement, whether the result correct.
Compare to determine can be by obtain when m- compare with true velocity value apart from slope value, whether the two error existsRange of error in, be then verify correct, otherwise incorrect.
In step 4, the computing formula of value R of adjusting the distance can be：
------（2）
Wherein c is the light velocity, is chirp rate,f b + 、f b - Represent positive and negative journey spectrum peak respectively.
Fig. 3 is the flow chart element of the method specific embodiment of linear frequency modulation continuous wave multiple target coupling of the present invention
Figure.The Beat Signal of the transmission signal obtaining and echo-signal is carried out A/D conversion, obtains frequency modulation cycle positive half way Beat Signal
With negative half way Beat Signal two paths of signals, the two-way obtaining Beat Signal is carried out FFT（Fast fourier transform）Conversion obtains
The frequency spectrum of positive and negative half way Beat Signal, is offseted with positive half way Beat Signal frequency spectrum and negative half way Beat Signal frequency spectrum, after offseting
Spectrogram obtains frequency measurement using CFAR process, true followed by positive and negative journey signal spectrum
Recognize all of coupling combination, speed and range formula, i.e. formula are utilized to all of coupling combination（1）And formula（2）Obtain every
The velocity amplitude of individual target and distance value, the speed data obtaining and range data are carried out linear fit, select velocity fitting bent
One group of line G-bar minimum is candidate correct matching way A.
Verification mode is that the hypothesis distance value in the different frequency modulation cycles obtained under matching way A is fitted, matching
Go out time-distance graph, be compared using the true velocity value obtaining in slope value and the step 6 of time-distance graph, two
Whether person's error existsRange of error in, be then verify correct, otherwise incorrect.
One specific embodiment of the present invention given below：
Assume in the case of having three moving targets, the speed of target one and distance respectively 30m/s and 20m, target two
Speed and distance respectively 50m/s and 20m, the speed of target three and distance respectively 40m/s and 15m are first by step 1, raw
The symmetric triangular linear frequency modulation continuous wave becoming, the carrier wave initial frequency of its positive and negative journey transmission signal is set to 34GHz, transmission signal
Bandwidth be set to 1GHz, the frequency modulation cycle be 10ms, by Beat Signal is carried out A/D conversion respectively obtain transmission signal and echo
The positive and negative journey Beat Signal of signal, aligns journey Beat Signal respectively and negative journey Beat Signal carries out the FFT that sample rate is 400KHz
Conversion obtains the frequency spectrum of two Beat Signals as shown in Figure 4 and Figure 5, deducts negative journey Beat Signal with the frequency spectrum of trace Beat Signal
Frequency spectrum offseted after spectrogram, such as Fig. 6.
By step 2, as shown in fig. 6, obtaining target number using CFAR judgement to be 3, and the frequency spectrum of trace Beat Signal
Label is respectively A, B, C, and the frequency spectrum label of negative journey Beat Signal is respectively 1,2,3；By step 3, for three moving targets, right
The spectrogram positive and negative journey spectral line that offsets obtaining carries out permutation and combination, can have following 6 kinds of matching ways as shown in table 1：
Table 1
By step 4, now formula can be utilized to each matching way（1）Respectively obtain three mesh in the frequency modulation cycle
Target speed；By step 5, every kind of three targets of matching way all can be calculated in the Continuous Wave with frequency modulation ensuing cycle
Speed.
In the present embodiment, take 15 continuous frequency modulation cycle repeat steps 1 to 4, the speed data that will obtain in 15 cycles
Carry out the change curve that linear fit obtains continuous cycles speed.The multicycle speed change curves that six kinds of matching ways obtain are divided
Not as shown in Fig. 7 to Figure 12.The meansigma methodss that each matching way is asked with target slopes absolute value can obtain the first coupling
The G-bar of mode rate curve is 0.7840, and the G-bar of second matching way rate curve is the 0.0064, the 3rd
The G-bar planting matching way rate curve is 0.7824, and the G-bar of the 4th kind of matching way rate curve is
0.3844, the G-bar of the 5th kind of matching way rate curve is 0.6065, the 6th kind of matching way rate curve average
Slope is 0.7824；By step 6, select a kind of minimum matching way of G-bar to be candidate correct matching way A, that is, select
Middle second matching way, show that the average speed of three moving targets in second matching way is respectively 39.4071m/s,
49.2302m/s, 29.5555m/s.
By step 7, draw second matching way when m- apart from fitted figure as shown in figure 13, each curve
The speed being this target representated by slope, respectively 39.88m/s, 50.14m/s, 30.08m/s, with step 6 gained speed
Error be respectively 0.4729,0.9098,0.5245,Range of error in, it is thus determined that this matching way is correct
's.
Disclosed in this invention the method for embodiment description or the step of algorithm can directly use hardware, computing device
Software module, or the combination of the two is implementing.Software module can be placed in random access memory (RAM), internal memory, read-only storage
Device (ROM), electrically programmable ROM, electrically erasable ROM, depositor, hard disk, moveable magnetic disc, CD-ROM or technology neck
In known any other form of storage medium in domain.
Previously described each preferred embodiment for the present invention, if the preferred implementation in each preferred embodiment
It is not substantially contradictory or premised on a certain preferred implementation, each preferred implementation can any stack combinations
Use, the design parameter in described embodiment and embodiment merely to clearly state inventor invention proof procedure, and
It is not used to limit the scope of patent protection of the present invention, the scope of patent protection of the present invention is still defined by its claims, all
It is to change with the equivalent structure that description and the accompanying drawing content of the present invention are made, should be included in the protection model of the present invention in the same manner
In enclosing.
Claims (7)
1. a kind of Modulation Continuous Wave Radar multiple mobile object matching process is it is characterised in that comprise the following steps：
In the single frequency modulation cycle of step 1. linear frequency modulation continuous triangle ripple, frequency sweep beat in the trace of each target to be measured is believed
Number frequency spectrum and frequency sweep Beat Signal spectral substraction under negative journey, frequency spectrum after being offseted；
Step 2. rules out each trace spectrum peak of frequency spectrum after offseting respectivelyWith negative journey spectrum peak, subscript 1,2 ... is for distinguishing different peak values；
Step 3., to the spectrum peak ruling out, arbitrarily selects a trace spectrum peak and a negative journey spectrum peak to match simultaneously
It is considered as the positive and negative path difference beat frequency of same target, using permutation and combination, obtain all of matching way；For N number of target to be measured,
Should there is N！Plant matching way, under each matching way, comprise N number of positive and negative journey spectral peak being assumed to be and belonging to same target to be measured
Value is right；
Step 4., under every kind of matching way, using being assumed to be the positive and negative journey spectrum peak pair belonging to same target to be measured, is counted
Calculate under all matching ways, hypothesis velocity amplitude in this frequency modulation cycle for each target to be measured；
Step 5. is directed to the different frequency modulation cycles of multiple linear frequency modulation continuous triangle ripples, continuously repeats step 1 to step 4, obtains
Hypothesis velocity amplitude in this frequency modulation cycle for each target to be measured under all matching ways；With obtain under identical matching way
The hypothesis velocity amplitude in each different frequency modulation cycle is fitted, and obtains the when m- velocity fitting curve of each target；
The step 6. minimum matching way A of m- velocity fitting curve G-bar, this match party when selecting in all matching ways
Under formula, average speed within multiple frequency modulation cycles for each target is the true velocity of this target, in step 6, described averagely oblique
Rate be under this matching way each target when m- velocity fitting slope of curve absolute value meansigma methodss.
2. Modulation Continuous Wave Radar multiple mobile object matching process as claimed in claim 1 is it is characterised in that described step
In rapid 4 and 5, also include, using being assumed to be the positive and negative journey spectrum peak pair belonging to same target to be measured, calculating all couplings
Under mode, hypothesis distance value in this frequency modulation cycle for each target to be measured；
Also include step 7：Hypothesis distance value in the different frequency modulation cycles obtained under the matching way A that will determine in step 6 enters
Row matching, simulates time-distance graph, using the true velocity value obtaining in slope value and the step 6 of time-distance graph
It is compared judgement, whether the result is correct.
3. Modulation Continuous Wave Radar multiple mobile object matching process as claimed in claim 2 is it is characterised in that described ratio
Relatively it is judged to：Whether slope value and true velocity value existRange of error in, be then verify correct, otherwise incorrect.
4. Modulation Continuous Wave Radar multiple mobile object matching process as claimed in claim 2 it is characterised in that calculate away from
Formula from value R is：, wherein c is the light velocity, is chirp rate,f b + 、f b - Represent positive and negative journey respectively
Spectrum peak.
5. Modulation Continuous Wave Radar multiple mobile object matching process as claimed in claim 1 is it is characterised in that described step
The method adjudicating positive and negative journey spectrum peak in rapid 2 is CFAR decision method, and CFAR is carried out using same journey information in positive and negative Cheng Jun
Judgement, so-called same journey refers to be trace or negative journey.
6. Modulation Continuous Wave Radar multiple mobile object matching process as claimed in claim 1 is it is characterised in that described step
In rapid 4, the formula of calculating speed value V is：, wherein λ is Continuous Wave with frequency modulation wavelength,f b + 、f b - Represent respectively
Positive and negative journey spectrum peak.
7. Modulation Continuous Wave Radar multiple mobile object matching process as claimed in claim 1 is it is characterised in that described step
Multiple difference frequency modulation cycles in rapid 5 are the frequency modulation cycle continuous in time.
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| CN107271982A (en) * | 2017-07-31 | 2017-10-20 | 广东工业大学 | A kind of object detection method and device based on millimeter wave |
| CN107783130A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Pilotless automobile complex environment collision avoidance system signal processing method based on combined waveform |
| CN108693524A (en) * | 2017-12-06 | 2018-10-23 | 深圳大学 | Multiple mobile object matching process based on Modulation Continuous Wave Radar and its system |
| CN111683028A (en) * | 2020-06-08 | 2020-09-18 | 电子科技大学 | Digital equal-amplitude cw signal demodulation method |
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| JP2011149898A (en) * | 2010-01-25 | 2011-08-04 | Toshiba Corp | Radar apparatus |
| CN104076352A (en) * | 2014-06-27 | 2014-10-01 | 电子科技大学 | Low-interception speed measurement method and radar device |
| CN105549001A (en) * | 2015-12-02 | 2016-05-04 | 大连楼兰科技股份有限公司 | Multi-target detection method of vehicle millimeter wave radar system |
| CN105549002A (en) * | 2016-02-02 | 2016-05-04 | 厦门大学 | Frequency modulation continuous wave radar measurement method based on hybrid waveform |
| CN105738889A (en) * | 2016-02-23 | 2016-07-06 | 华域汽车系统股份有限公司 | Frequency modulated continuous wave speed measurement and distance measurement method |
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| CN107783130A (en) * | 2016-08-25 | 2018-03-09 | 大连楼兰科技股份有限公司 | Pilotless automobile complex environment collision avoidance system signal processing method based on combined waveform |
| CN107783130B (en) * | 2016-08-25 | 2021-02-19 | 大连楼兰科技股份有限公司 | Signal processing method of unmanned vehicle complex environment anti-collision system based on combined waveform |
| CN107271982A (en) * | 2017-07-31 | 2017-10-20 | 广东工业大学 | A kind of object detection method and device based on millimeter wave |
| CN108693524A (en) * | 2017-12-06 | 2018-10-23 | 深圳大学 | Multiple mobile object matching process based on Modulation Continuous Wave Radar and its system |
| CN111683028A (en) * | 2020-06-08 | 2020-09-18 | 电子科技大学 | Digital equal-amplitude cw signal demodulation method |
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