CN106842182A - Multiple target based on symmetric triangular LFMCW radars tests the speed distance-finding method - Google Patents
Multiple target based on symmetric triangular LFMCW radars tests the speed distance-finding method Download PDFInfo
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- CN106842182A CN106842182A CN201610773300.2A CN201610773300A CN106842182A CN 106842182 A CN106842182 A CN 106842182A CN 201610773300 A CN201610773300 A CN 201610773300A CN 106842182 A CN106842182 A CN 106842182A
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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
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/345—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using triangular modulation
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Tested the speed distance-finding method the invention discloses the multiple target based on Symmetrical Triangular LFMCW Radar, the method radar emission modulation system is symmetric triangular linear frequency modulation continuous wave signal, transmission signal produces delayed echo-signal after target is run into, obtained after echo-signal and the local oscillation signal conjugate product of transmitting terminal, lower difference frequency signal, to upper, lower difference frequency signal carries out Fourier transformation, respectively to upper, the corresponding frequency in lower difference frequency signal spectral peak place carries out barycenter agglomeration process, set up cohesion frequency and range-rate corresponding relation, obtain the distance and speed of target.The present invention has frequency polarization higher to linear FM signal due to having used barycenter agglomeration process, the accuracy that target high tests the speed and finds range, while eliminate that multiple target causes to frequency spectrum influences each other, can be applied to testing the speed and finding range for multiple target.
Description
Technical field
The present invention relates to LFMCW Radar Signals processing technology field, more particularly to based on symmetric triangular
The multiple target of LFMCW radars tests the speed and distance-finding method.
Background technology
Linear frequency modulation continuous wave (abbreviation LFMCW) radar has range resolution ratio and range accuracy higher, using certain
Modulation system can simultaneously realize the measurement adjusted the distance with speed, and the radar than other constitutions in high accuracy close-in measurement has
There is obvious advantage, be mainly reflected in：Certainty of measurement is high；Noise bandwidth is small, and receiver sensitivity is high；Operating voltage is low, transmitting
Power is small；Circuit is simple, and size is small, lightweight, and cost is low.Because there is serious distance-speed coupling now in LFMCW signals
As generally realizing testing the speed and finding range using the symmetric triangular LFMCW radars of symmetric triangular ripple modulation.Its general principle is transmitting
Signal frequency is modulated according to triangular wave patterns, and transmission signal can produce delayed echo-signal, echo-signal after target is run into
Difference frequency signal is obtained with after the local oscillation signal conjugate product of transmitting terminal, Fourier transformation is carried out by upper and lower difference frequency signal, composed
There is corresponding relation apart from speed in the corresponding frequency in peak place and target, using this corresponding relation can obtain target away from
From and speed.At present, symmetric triangular LFMCW radars are widely used in the survey tested the speed with curb parking system of vehicle on highway
In speed and range finding.
Realize that the frequency modulation for testing the speed and finding range mainly by combined waveform of vehicle is continuous using symmetric triangular LFMCW radars
Ripple radar is realized, for example, the patent of invention of Hua Yu automotive systems limited companies application：A kind of CW with frequency modulation tests the speed
Distance-finding method (number of patent application：201610099252.3, publication number：The A of CN 105738889) and Xiamen University application invention
Patent：A kind of frequency modulated continuous wave radar measuring method (number of patent application based on combined waveform：201610073333.6, it is open
Number：CN 105549002 A).The former transmission signal form is：Include a time cycle within cycle launch time
It is the triangular wave of Ta, a time cycle is the sawtooth waveforms of Tc for the triangular wave of Tb and L time cycle.The transmission signal of the latter
Form is：Include that a time cycle is the simple signal of T1 within cycle launch time, a time cycle is Ta's
Triangular wave a, time cycle is the sawtooth waveforms of Tc for the triangular wave of Tb and L time cycle.The two be for realize compared with
High precision speed-measuring to multiple target and range finding under the conditions of low FFT points.Although the method can improve precision, the two is ignored
One important problem, the i.e. difference frequency signal within the triangular modulation cycle are still linear FM signal, if without frequency
Rate agglomeration process, inevitably results in and produces error to frequency point estimation, ultimately results in accuracy decline of testing the speed and find range, and only exists
Under the certain precondition of accurate sexual satisfaction, precision just can be further improved.In addition, above-mentioned two patents are primarily directed to monocular
Mark situation, but necessarily cause to be tested the speed under multiple target scene because multiple target can cause to influence each other to frequency spectrum in actual scene
With the inaccuracy of range finding.And the present invention can be solved the problems, such as above well.
The content of the invention
Present invention aim at for above-mentioned the deficiencies in the prior art, it is proposed that one kind is based on symmetric triangular LFMCW radars
Multiple target test the speed distance-finding method, barycenter agglomerative algorithm is applied to symmetric triangular LFMCW radars, realizes multiple target by the method
It is accurate test the speed and find range, solve following problem：
(1) frequency spectrum to linear FM signal carries out barycenter agglomeration process, improves the accuracy of frequency positioning, Jin Erti
The accuracy that multiple target high tests the speed and finds range；
(2) eliminating multiple target can cause to influence each other to frequency spectrum, be easy to determine the speed and distance of multiple targets.
The technical solution adopted for the present invention to solve the technical problems is：Barycenter agglomerative algorithm of the invention is applied to symmetrically
Triangle LFMCW radars, including following technical scheme：
One frequency of radar emission of the present invention is the signal of symmetric triangular LFMCW, and transmission signal can be produced after target is run into
The delayed echo-signal of life, obtains difference frequency signal, by upper and lower after echo-signal and the local oscillation signal conjugate product of transmitting terminal
Difference frequency signal carries out Fourier transformation, and barycenter agglomeration process is carried out to the corresponding frequency in spectral peak place, by the frequency after agglomeration process
Point sets up the range-rate corresponding relation of frequency and target, finally using corresponding relation as the final frequency of spectral peak
Obtain the distance and speed of target.
Method flow：
The present invention proposes a kind of multiple target of symmetric triangular LFMCW radars and tests the speed and distance-finding method, and the method is included such as
Lower step：
Step 1：Radar emission modulation system is the signal of symmetric triangular LFMCW；
Step 2：The modulated signal of transmitting produces delayed echo-signal after target is run into；
Step 3：Upper and lower difference frequency signal is obtained after echo-signal and the local oscillation signal conjugate product of transmitting terminal；
Step 4：Fourier transformation is carried out to upper and lower difference frequency signal；
Step 5：For the spectrum signal after Fourier transformation, the corresponding frequency in spectral peak place is carried out at barycenter cohesion
Reason；
Step 6：Frequency after being condensed for barycenter, sets up frequency and range-rate corresponding relation, can obtain target
Distance and speed.
Radar emission modulation system described in above-mentioned steps 1 is the signal s of symmetric triangular LFMCWTT () is：
sT(t)=A cos [2 π fTt+φ0] (1)
WhereinIt is the frequency of transmission signal, f0It is the centre frequency of transmission signal, Δ f is transmitting frequency
The maximum frequency deviation of rate modulation, 2T is the transmission signal cycle, and t represents time, A and φ0It is the amplitude and random phase of transmission signal.
Delayed echo-signal s described in above-mentioned steps 2RT () is：
sR(t)=KrA cos[2πfR(t-τ)+φ0+θ0] (2)
Wherein,To receive echo frequency, τ=2R/c is reception echo time delay, R=R0-vt
It is target from the radial distance of radar, R0It is the initial distance of target, v is the radial velocity of target, and c is the light velocity, KrFor target is anti-
Coefficient is penetrated, θ relevant with propagation attenuation, target strength0For the additional phase shift that target reflection causes.
Difference frequency signal s described in above-mentioned steps 3bT () is：
Wherein, subscript H represents conjugate transposition, fb=fT-fRIt is difference frequency signal frequency, AbIt is the amplitude of difference frequency signal.To be poor
Frequency signal decomposition is upper difference frequency signalWith lower difference frequency signalFor：
The corresponding centre frequency of upper and lower difference frequency signal is respectively：
Analytical formula (6) and (7) find, the corresponding centre frequency of upper and lower difference frequency signal is the function on time t, therefore
Upper and lower difference frequency signal is still linear FM signal.In order to simplify treatment, designer can ignore the 3rd in formula (6) and (7)
Item, Section 4.In practice because linear FM signal causes video stretching, at the corresponding center frequency position of estimation spectral peak
Can there is larger error, it is impossible to ignore, therefore use centroid method agglomeration process.
Barycenter agglomeration process process described in above-mentioned steps 5 is as follows：If the frequency after the Fourier transformation of upper difference frequency signal
Spectrum signal isIf fk, k=1 ..., K areCorresponding frequency, wherein, K is upper difference frequency spectrum signalSpectral strength exceed thresholding ThThe number of corresponding frequency, ThIt is the first given thresholding, K frequency symbiosis is into L
Individual condensation center (corresponding to L target), L≤K.L-th frequency of condensation centerFor：
Wherein, H+L () is for l-th frequency points of condensation center.To fkNeed to meet when being condensedTBIt is the second thresholding for giving,Set initial value asWherein f1For first spectral strength is super
Cross thresholding ThCorresponding frequency,It is first frequency of needs cohesion of upper difference frequency signal.
Setting the spectrum signal after the Fourier transformation of difference frequency signal isIf fkk, kk=1 ..., KK isCorresponding frequency, wherein, KK is lower difference frequency spectrum signalSpectral strength exceed thresholding ThIt is corresponding
Frequency number, ThBe the first given thresholding, KK frequency symbiosis into L condensation center (i.e. corresponding L target), L≤
KK.L-th frequency of condensation centerFor：
Wherein, H-L () is for l-th frequency points of condensation center.To fkkNeed to meet when being condensedTBIt is the second thresholding for giving,Set initial value as It is first need of lower difference frequency signal
The frequency to be condensed.
Frequency described in above-mentioned steps 6 is with range-rate corresponding relation：
Wherein, R0,lIt is the initial distance of l-th target for estimating, vlIt is the initial speed of l-th target for estimating
Degree,It is time sampling frequency, λ is the wavelength of transmission signal.
Beneficial effect：
(1) present invention has frequency polarization higher to linear FM signal due to having used barycenter agglomeration process, high
The accuracy that target tests the speed and finds range；
(2) this invention removes influencing each other that multiple target is caused to frequency spectrum, testing the speed and finding range for multiple target is can be applied to,
More conformed to actual environment.
Brief description of the drawings
Fig. 1 is signal processing flow figure involved in the present invention.
Fig. 2 is barycenter agglomerative algorithm flow chart of the invention.
Fig. 3 is experimental result picture of the invention.
Specific embodiment
The invention is described in further detail with reference to Figure of description.
As shown in figure 1, emission signal frequency is modulated according to triangular wave patterns, transmission signal can produce stagnant after target is run into
Echo-signal afterwards, difference frequency signal is obtained after echo-signal and the local oscillation signal conjugate product of transmitting terminal, and difference frequency signal is carried out
Data prediction, upper difference frequency signal is separated with lower difference frequency signal, carries out Fourier transformation to upper and lower difference frequency signal respectively, right
The corresponding frequency in spectral peak place carries out barycenter agglomeration process, obtains the frequency after upper and lower difference frequency signal barycenter cohesion, in foundation,
The corresponding relation between speed of lower difference frequency signal frequency and target, using this corresponding relation obtain target distance and
Speed.
Radar emission modulation system is the signal s of symmetric triangular LFMCWTT () is：
sT(t)=A cos [2 π fTt+φ0] (12)
Wherein,It is the frequency of transmission signal, f0It is the centre frequency of transmission signal, Δ f is transmitting frequency
The maximum frequency deviation of rate modulation, 2T is the transmission signal cycle, and t represents time, A and φ0It is the amplitude and random phase of transmission signal.
Transmission signal can produce delayed echo-signal, delayed echo-signal s after target is run intoRT () is：
sR(t)=KrA cos[2πfR(t-τ)+φ0+θ0] (13)
Wherein,To receive echo frequency, τ=2R/c is reception echo time delay, R=R0-vt
It is target from the radial distance of radar, R0It is the initial distance of target, v is the radial velocity of target, and c is the light velocity, KrFor target is anti-
Coefficient is penetrated, θ relevant with propagation attenuation, target strength0For the additional phase shift that target reflection causes.
The difference frequency signal s obtained after the local oscillation signal conjugate product of echo-signal and transmitting terminalbT () is：
Wherein, subscript H represents conjugate transposition, fb=fT-fRIt is difference frequency signal frequency, AbIt is the amplitude of difference frequency signal.To be poor
Frequency signal is decomposed into upper difference frequency signal and lower difference frequency signal according to the positive and negative of frequency, wherein：Upper difference frequency signal is negative frequency part, under
Beat Signal is positive frequency part, upper difference frequency signal
Lower difference frequency signal
Wherein,It is the corresponding frequency of upper difference frequency signal；It is the corresponding frequency of lower difference frequency signal.By above-mentioned each parameter
Substitution can be obtained
Above formula shows, difference frequency signalWithIt is still linear FM signal, its frequency modulation rate isWithThe corresponding centre frequency of upper and lower difference frequency signal is respectively：
Under many circumstances, in formula (19) and (20) Section 3, Section 4 can be ignored.In practice, due to line
Property FM signal cause video stretching, can there is larger error when the corresponding center frequency position of spectral peak is estimated, it is impossible to quilt
Ignore, therefore use barycenter agglomeration process.
Assuming that corresponding frequency is after l-th target centroid agglomeration processWith(specific solution procedure such as Fig. 2 institutes
Show), then frequency is with the range-rate corresponding relation of target：
Wherein, R0,lIt is the initial distance of l-th target for estimating, vlIt is the initial speed of l-th target for estimating
Degree,It is time sampling frequency, λ is the wavelength of transmission signal, and l=1,2 ..., L have L target.
The present invention first carries out barycenter cohesion, barycenter agglomeration process process and the upper difference frequency of lower difference frequency signal to upper difference frequency signal
Signal is similar to, and is not repeated.As shown in Fig. 2 upper difference frequency signal barycenter agglomeration process process is as follows：
Step 5.1, initializes the first thresholding Th=0.5, the second thresholding TB=200Hz；
Step 5.2, difference frequency spectrum signal in acquisitionSpectral strength exceed thresholding ThFrequency position fk, k=
1 ..., K, K are upper difference frequency spectrum signalSpectral strength exceed thresholding ThThe number of corresponding frequency
Step 5.3, initializes first frequency for needing cohesionf1It is first spectral strength of upper difference frequency signal
More than thresholding ThCorresponding frequency,Be frequency that upper difference frequency signal first needs cohesion, set sign of flag=[1,
0,…,0]K, representing that length is the vector of K, first element of the vector is 1, and remaining element is 0, initial chemoattractant molecule functionDenominator functionWhereinIt is the first spectral peak of upper difference frequency spectrum signal；
Step 5.4, judges next frequency fkFrom current cohesion frequencyDistance be
If formula (24) is set up, next frequency f is illustratedkRate belongs to current cohesion frequencyBy fkAgglomerate to current
FrequencyOtherwise, one new cohesion frequency of establishment, and update current cohesion frequency values, sign of flag, molecule function and divide
Generating function；
Step 5.5, the frequency of l-th condensation center of difference frequency spectrum signal in calculatingFor：
Wherein, H+L () is that L is the number of target, until all of K frequency for l-th frequency points of condensation center
Point is completed cohesion, and algorithm terminates；
According to same step 5.1-5.5, the frequency of l-th condensation center of lower difference frequency spectrum signalFor：
Wherein,It is the spectrum signal after the Fourier transformation of lower difference frequency signal, fkk, kk=1 ..., KK isCorresponding frequency, KK is lower difference frequency spectrum signalSpectral strength exceed thresholding ThCorresponding frequency
The number of point, H-L () is for l-th frequency points of condensation center.
Effect of the invention can further be verified by following experiment.If the centre frequency f of radar emission signal0=
24GHz, maximum frequency deviation Δ f=250MHz, transmission signal cycle 2T=12.8ms, sample frequency fm=78.125Hz, FFT count
NFFT=1024, radar is static, it is assumed that target number L=5, wherein target 1：Initial distance R0=20, initial velocity v=0, letter
Make an uproar than SNR=3, Target scatter section area RCS=0.1；Target 2：Initial distance R0=38, initial velocity v=15, signal to noise ratio
SNR=-2, Target scatter section area RCS=0.2；Target 3：Initial distance R0=52, initial velocity v=-2, signal to noise ratio snr
=-4, Target scatter section area RCS=0.1；Target 4：Initial distance R0=60, initial velocity v=0, signal to noise ratio snr=0, mesh
Mark scattering resonance state RCS=0.05；Target 5：Initial distance R0=100, initial velocity v=12, signal to noise ratio snr=- 5, target
Scattering resonance state RCS=0.1；In 10 cycles of emulation, simulation result is as shown in Figure 3.It is clear that the present invention can accurately estimate many
The speed and distance of target.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, should be understood that and the foregoing is only specific embodiment of the invention, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in guarantor of the invention
Within the scope of shield.
Claims (4)
1. a kind of multiple target based on symmetric triangular LFMCW radars tests the speed distance-finding method, it is characterised in that methods described is included such as
Lower step：
Step 1：Radar emission modulation system is the signal of symmetric triangular LFMCW；
Step 2：The modulated signal of transmitting produces delayed echo-signal after target is run into；
Step 3：Upper and lower difference frequency signal is obtained after echo-signal and the local oscillation signal conjugate product of transmitting terminal；
Step 4：Fourier transformation is carried out to upper and lower difference frequency signal；
Step 5：For the spectrum signal after Fourier transformation, barycenter agglomeration process is carried out to the corresponding frequency in spectral peak place；
Step 6：Frequency after being condensed for barycenter, sets up frequency and range-rate corresponding relation, obtain target distance and
Speed.
2. a kind of multiple target based on symmetric triangular LFMCW radars according to claim 1 tests the speed distance-finding method, its feature
It is that the step 5 includes：
Step 5.1, initializes the first thresholding Th=0.5, the second thresholding TB=200Hz；
Step 5.2, difference frequency spectrum signal in acquisitionSpectral strength exceed thresholding ThFrequency position fk, k=1 ..., K,
K is upper difference frequency spectrum signalSpectral strength exceed thresholding ThThe number of corresponding frequency,
Step 5.3, initializes first frequency for needing cohesionf1For first spectral strength of upper difference frequency signal exceedes
Thresholding ThCorresponding frequency,Be frequency that upper difference frequency signal first needs cohesion, set sign of flag=[1,0 ...,
0]K, representing that length is the vector of K, first element of the vector is 1, and remaining element is 0, initial chemoattractant molecule functionDenominator functionWhereinIt is first spectrum of upper difference frequency spectrum signal
Peak；
Step 5.4, judges next frequency fkFrom current cohesion frequencyDistance be：
If above formula is set up, next frequency f is illustratedkRate belongs to current cohesion frequencyBy fkAgglomerate to current frequencyOtherwise, a new cohesion frequency is created, and updates current cohesion frequency values, sign of flag, molecule function and denominator letter
Number；
Step 5.5, the frequency of l-th condensation center of difference frequency spectrum signal in calculatingFor：
Wherein, H+L () is the frequency points for l-th condensation center, L is the number of target, until all of K frequency all
Cohesion is completed, algorithm terminates；
According to same step 5.1-5.5, the frequency of l-th condensation center of lower difference frequency spectrum signalFor：
Wherein,It is the spectrum signal after the Fourier transformation of lower difference frequency signal, fkk, kk=1 ..., KK isCorresponding frequency, KK is lower difference frequency spectrum signalSpectral strength exceed thresholding ThCorresponding frequency
The number of point, H-L () is for l-th frequency points of condensation center.
3. a kind of multiple target based on symmetric triangular LFMCW radars according to claim 1 tests the speed distance-finding method, its feature
It is：One frequency of radar emission is the signal of symmetric triangular LFMCW in methods described, and transmission signal can be produced after target is run into
The delayed echo-signal of life, obtains difference frequency signal, by upper and lower after echo-signal and the local oscillation signal conjugate product of transmitting terminal
Difference frequency signal carries out Fourier transformation, and barycenter agglomeration process is carried out to the corresponding frequency in spectral peak place, by the frequency after agglomeration process
Point sets up the range-rate corresponding relation of frequency and target, finally using corresponding relation as the final frequency of spectral peak
Obtain the distance and speed of target.
4. a kind of multiple target based on symmetric triangular LFMCW radars according to claim 1 tests the speed distance-finding method, its feature
It is：Methods described is applied to symmetric triangular LFMCW radars.
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| CN107576946A (en) * | 2017-07-21 | 2018-01-12 | 电子科技大学 | A kind of LFMCW radar frequency modulation section automatic distinguishing method based on lock-out pulse |
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| CN108415010B (en) * | 2018-04-28 | 2022-04-19 | 西安电子科技大学 | Radar multi-target detection method based on trapezoidal LFMCW modulation |
| CN108415010A (en) * | 2018-04-28 | 2018-08-17 | 西安电子科技大学 | A kind of Radar Multi Target detection method based on trapezoidal LFMCW modulation |
| CN109407071A (en) * | 2018-12-13 | 2019-03-01 | 广州极飞科技有限公司 | Radar range finding method, radar range unit, unmanned plane and storage medium |
| CN109407071B (en) * | 2018-12-13 | 2021-07-20 | 广州极飞科技股份有限公司 | Radar ranging method, radar ranging device, unmanned aerial vehicle and storage medium |
| CN109782244A (en) * | 2018-12-29 | 2019-05-21 | 西安交通大学 | Based on single goal triangular linear frequency modulated continuous wave radar signal processing method |
| CN111352102A (en) * | 2020-03-18 | 2020-06-30 | 重庆邮电大学 | Multi-target number detection method and device based on frequency modulation continuous wave radar |
| CN111352102B (en) * | 2020-03-18 | 2023-02-24 | 重庆邮电大学 | Multi-target number detection method and device based on frequency modulation continuous wave radar |
| CN113204018A (en) * | 2021-03-16 | 2021-08-03 | 西安电子科技大学 | LFMCW-based MIMO radar rapid signal processing method |
| CN113204018B (en) * | 2021-03-16 | 2022-11-04 | 西安电子科技大学 | LFMCW-based MIMO radar rapid signal processing method |
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