CN107064924B - Self-checking method of hump speed measuring radar - Google Patents

Self-checking method of hump speed measuring radar Download PDF

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CN107064924B
CN107064924B CN201710306794.8A CN201710306794A CN107064924B CN 107064924 B CN107064924 B CN 107064924B CN 201710306794 A CN201710306794 A CN 201710306794A CN 107064924 B CN107064924 B CN 107064924B
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CN107064924A (en
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王传根
韦勇继
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ANHUI CHAOYUAN INFORMATION TECHNOLOGY Co Ltd
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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
    • 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
    • G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW

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  • Radar, Positioning & Navigation (AREA)
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Abstract

The invention discloses a self-checking method of a hump speed measuring radar, which comprises a frequency modulation microstrip antenna and an FPGA main control module, utilizes digital processing and radar high-frequency sweeping technology, by adopting the frequency-adjustable microstrip panel antenna and the large-scale FPGA programmable logic controller, the radar emission wave is rapidly modulated, and the Doppler signal frequency spectrum is contrasted and analyzed, so that the self-detection modulation signal completely passes through a loop with the same actual signal, the detection of all hardware from a high-frequency part of the radar to a signal processing part is realized, the self-detection signal is ensured to have the same signal transmission path as the actual Doppler radar signal, the reliability of the self-detection function of a hardware system is improved, meanwhile, the self-checking is completely based on the same mechanism as the radar working signal, and does not depend on the bias voltage of the mixing tube, so the influence of environment and the like on the self-checking reliability is avoided.

Description

Self-checking method of hump speed measuring radar
Technical Field
The invention relates to the field of automatic control of a railway marshalling station, in particular to a hump speed measuring radar and a self-checking method thereof.
Background
At present, radars used for measuring the speed of vehicles in a railway hump yard at home and abroad belong to analog speed measuring radars, the high reliability is required, when the radars are in a state of no vehicle sliding to be measured, a self-checking circuit is required to detect whether related hardware systems such as a radar high-frequency system and a signal amplifying circuit are normal or not, and a fixed frequency signal is output to inform an automatic control center of a hump marshalling station. The method commonly adopted at present is to detect the quality of the radar high-frequency system by detecting whether the direct-current bias voltage of the mixing tube is normal or not. When the frequency mixing tube works normally, the frequency mixing tube has a certain DC bias voltage, and when the bias voltage is normal, a self-checking signal is injected into the front end of the analog signal amplifying circuit through the AND gate circuit. And completing the self-checking function.
However, since the self-test signal does not actually pass through the high-frequency system, and whether the high-frequency system is normal or not completely depends on the value of the dc bias voltage of the mixing tube, long-term application practice shows that the method has the following defects:
1. the frequency mixing tube has great characteristic relation between direct current bias voltage and temperature of the device, and the sensitivity of the received signal cannot be completely reflected, so that the self-checking reliability is insufficient.
2. The front protective plate material, thickness and installation position of the radar have great influence on the voltage of the mixing tube, which can cause the misjudgment of the high-frequency system.
3. At present, the self-checking circuit can only be applied to the radar with a single-tube mixer structure, and the circuit cannot be applied to the balanced mixer radar with better performance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a self-checking method of a hump velocity measuring radar so as to overcome the defects of the hardware self-checking function of the existing railway hump velocity measuring radar.
The invention is realized by the following technical scheme:
the invention provides a hump velocity measurement radar which comprises a frequency modulation microstrip antenna and an FPGA (field programmable gate array) main control module, wherein the signal output end of the frequency modulation microstrip antenna is connected with the frequency modulation signal input end of the FPGA main control module through a signal amplification filter circuit and an analog-to-digital conversion circuit which are connected in sequence, and the frequency modulation signal output end of the FPGA main control module is connected with the signal input end of the frequency modulation microstrip antenna through a digital-to-analog conversion circuit and a sweep frequency voltage control circuit which are connected in sequence.
The invention also provides a self-checking method of the hump speed measuring radar, which comprises the following steps:
step S1: in the radar self-checking stage, the FPGA main control module continuously sends out fixed frequency fΔThe triangular wave modulation signal is a 2000Hz triangular wave modulation signal, and after the modulation signal passes through a digital-to-analog conversion module and a frequency sweep voltage control module, a frequency modulation microstrip antenna at the front end of the radar is controlled to carry out FMCW mode modulation and amplitude modulation; according to the FMCW technical principle, the wave transmitted by the radar is a high-frequency continuous wave which changes along with time according to the triangular wave rule, the frequency of the echo received by the radar is the same as the change rule of the transmitted frequency, only a time difference exists, and the distance of a target can be calculated through the time difference; in addition, after amplitude modulation demodulation, the Doppler signal output by the radar contains a base frequency signal similar to a triangular wave, and the frequency of the base frequency signal is the same as that of the input triangular wave modulation signal;
step S2: calculating the Doppler frequency shift value f of the relative moving object under the condition that the length of the sampling series is Nd：
Figure GDA0002173807900000021
In the formula (f)sK is more than or equal to 0 and less than or equal to N-1;
step S3: fourier transform with length N is carried out on I signal and Q signal in Doppler signal output by radar, and the Fourier transform is recorded as XI(K) And XQ(K)，K＝0,1...N-1；
Step S4: are respectively paired with XI(K) And XQ(K) The spectral signal is subjected to pole peak value query, all XI(K) Magnitude value | X at the pole peak of (1)I(K)|≥FnAre considered to be valid pole peaks, where FnFor the amplitude threshold, the corresponding K point value is recorded in the array sI(i) Li, sI(i)＝{KI1,KIN-1, n is a number satisfying | X }, i ═ 0,1I(K)|≥FnThe number of pole peaks;
step S5: solving for an array s using a doppler shift calculation formulaI(i) And sQ(i) Frequency of the corresponding K point position in, is recorded as
Figure GDA0002173807900000022
Step S6: setting the frequency error range value as delta f, and
Figure GDA0002173807900000023
and
Figure GDA0002173807900000024
each frequency value in (a) and the frequency value f of the triangular wave modulation signalΔBy comparison, if at
Figure GDA0002173807900000025
Li can find
Figure GDA0002173807900000026
The signal loop through which the I signal passes is considered to be normal, otherwise, the signal loop is considered to be abnormal; in the same way, by
Figure GDA0002173807900000027
Judging whether a signal loop through which the Q signal passes is normal or not;
step S7: repeating the steps 2-6, continuously detecting the signal loops of the I signal and the Q signal, if the signal loops through which the I signal and the Q signal pass are normal in a plurality of detection periods, considering that the system signal loop is normal, and outputting the frequency equal to fΔAnd providing the square wave signal to an automatic control system.
Further, the step S2 further includes: and selecting a hamming window series to carry out windowing truncation on the Doppler signal so as to reduce the influence of the frequency spectrum leakage on the measurement result.
Further, in the step S2, fsIs fdTo appropriately reduce the frequency offset caused by the calculation error.
The principle of the invention is as follows: when the radar transmitting frequency is subjected to frequency sweep modulation, an intermediate frequency signal similar to the frequency sweep modulation signal exists in the mixing output, as shown in fig. 1. It can be seen in the figure that when the radar transmitting frequency is subjected to frequency modulation change according to a triangular wave curve, echoes (even no object echo, even continuous echoes of particles such as uniform far-near air and the like) of no matter how far away an object is in front of the radar can generate different mixing signals in a rising edge stage and a falling edge stage of the triangular wave, and the following conditions are met:
in the rising edge stage of the triangular wave: f. ofb+＝f0-fd
In the falling edge stage of the triangular wave: f. ofb-＝f0+fd
In the formula (f)b+Frequency difference obtained for forward modulation of the first half-cycle, fb-Frequency difference obtained by negative frequency modulation of the second half period, f0Is the difference frequency, f, of the target at relative restdIs the doppler shift relative to a moving object.
For stationary targets, the mixed output signals of the up-and down-frequency segments are of the same frequency but opposite phase. When no target is detected, f0、fdAre all 0. To forThe mixing signal frequencies of the ascending section and the descending section of the moving object are completely different.
By spectrum analysis, whether a target exists in front of the radar or not or a static or moving target can be obtained, and the radar mixing output signal always contains a fundamental frequency signal of a modulation triangular wave. The invention utilizes the existence of the fundamental wave signal, and analyzes and judges whether a system signal loop is normal or not by comparing the frequency spectrum characteristics of the output signal of the radar mixer and the frequency modulation signal of the radar transmitted wave. Since when the target is not detected, f0、fdAll are 0, and whether the signal loop is normal cannot be checked by detecting the Doppler frequency shift function in a single frequency modulation period, so that a plurality of frequency modulation periods are adopted for sampling and carrying out Fourier transform on the frequency, the frequency of a triangular wave modulation signal mixed in a Doppler signal output by a radar is solved, and whether the signal loop is normal can be detected under all conditions.
Compared with the prior art, the invention has the following advantages: the invention provides a hump speed measuring radar self-checking method, which utilizes digital processing and radar high-frequency sweeping technologies, rapidly modulates frequency of radar emission waves by adopting a frequency-adjustable microstrip panel antenna and a large-scale FPGA programmable logic controller, and leads self-checking modulation signals to completely pass through a loop with the same actual signals by comparing and analyzing Doppler signal frequency spectrums, thereby realizing the detection of all hardware from a radar high-frequency part to a signal processing part, ensuring that the self-checking signals have the same signal transmission path as the actual Doppler radar signals by one hundred percent, and improving the reliability of the self-checking function of a hardware system. Meanwhile, the self-checking is completely based on the same mechanism as the radar working signal, and does not depend on the bias voltage of the mixing tube, so the influence of environment and the like on the self-checking reliability is avoided.
Drawings
FIG. 1 is a diagram of a mixing output result after frequency sweep modulation is performed on radar transmission frequency;
FIG. 2 is a block diagram of a circuit structure of a hump velocity measuring radar;
FIG. 3 is a flow chart of a self-test method;
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Example 1
The embodiment provides a hump speed measuring radar and a self-checking method thereof, wherein the hump speed measuring radar has a structure as shown in fig. 2 and comprises a frequency modulation microstrip antenna and an FPGA main control module, wherein a signal output end of the frequency modulation microstrip antenna is connected with a frequency modulation signal input end of the FPGA main control module through a signal amplification filter circuit and an analog-to-digital conversion circuit which are sequentially connected, and a frequency modulation signal output end of the FPGA main control module is connected with a signal input end of the frequency modulation microstrip antenna through a digital-to-analog conversion circuit and a sweep frequency voltage control circuit which are sequentially connected.
The flow of the self-checking method is shown in fig. 3, and includes the following steps:
step S1: in the radar self-checking stage, the FPGA main control module continuously sends out fixed frequency fΔThe triangular wave modulation signal is a 2000Hz triangular wave modulation signal, and after the modulation signal passes through a digital-to-analog conversion module and a frequency sweep voltage control module, a frequency modulation microstrip antenna at the front end of the radar is controlled to carry out FMCW mode modulation and amplitude modulation; according to the FMCW technical principle, the wave transmitted by the radar is a high-frequency continuous wave which changes along with time according to the triangular wave rule, the frequency of the echo received by the radar is the same as the change rule of the transmitted frequency, only a time difference exists, and the distance of a target can be calculated through the time difference; in addition, after amplitude modulation demodulation, the Doppler signal output by the radar contains a base frequency signal similar to a triangular wave, and the frequency of the base frequency signal is the same as that of the input triangular wave modulation signal;
step S2: selecting a hamming window series to carry out windowing truncation on Doppler signals sent by the radar so as to reduce the influence of frequency spectrum leakage on a measurement result; then, an appropriate sampling frequency f is selectedsCalculating the Doppler frequency shift value f of the relative moving object under the condition that the length of the sampling series is Nd：
Figure GDA0002173807900000041
In the formula, K is more than or equal to 0 and less than or equal to N-1, and fsIs fdIn order to appropriately reduce the frequency offset caused by the calculation error.
Step S3: fourier transform with length N is carried out on I signal and Q signal in Doppler signal output by radar, and the Fourier transform is recorded as XI(K) And XQ(K)，K＝0,1...N-1；
Step S4: selecting a suitable amplitude threshold FnAre respectively aligned with XI(K) And XQ(K) The spectral signal is subjected to pole peak value query, all XI(K) Magnitude value | X at the pole peak of (1)I(K)|≥FnAll consider the effective pole peak value, record the corresponding K point value in the array sI(i) Li, sI(i)＝{KI1,KIN-1, n is a number satisfying | X }, i ═ 0,1I(K)|≥FnThe number of pole peaks;
step S5: solving for an array s using a doppler shift calculation formulaI(i) And sQ(i) Frequency of the corresponding K point position in, is recorded as
Figure GDA0002173807900000042
Step S6: selecting a suitable frequency error range value delta f
Figure GDA0002173807900000043
Andeach frequency value in (a) and the frequency value f of the triangular wave modulation signalΔBy comparison, if at
Figure GDA0002173807900000045
Li can find
Figure GDA0002173807900000046
The signal loop passed by the I signal is considered to be normal, otherwise, the signal loop is considered to be abnormalThe method is normal; in the same way, by
Figure GDA0002173807900000047
Judging whether a signal loop through which the Q signal passes is normal or not;
step S7: and (4) repeating the steps 2-6, carrying out continuous detection on the signal loops of the I signal and the Q signal, if the signal loops through which the I signal and the Q signal pass are normal in a plurality of detection periods, determining that the system signal loop is normal, outputting a square wave signal with the frequency of 2000Hz, and providing the square wave signal to an automatic control system.
The above is a detailed embodiment and a specific operation process of the present invention, which are implemented on the premise of the technical solution of the present invention, but the protection scope of the present invention is not limited to the above-mentioned examples.

Claims (3)

1. The self-checking method of the hump speed measuring radar comprises a frequency modulation microstrip antenna and an FPGA (field programmable gate array) main control module, wherein a signal output end of the frequency modulation microstrip antenna is connected with a frequency modulation signal input end of the FPGA main control module through a signal amplification filter circuit and an analog-to-digital conversion circuit which are connected in sequence, a frequency modulation signal output end of the FPGA main control module is connected with a signal input end of the frequency modulation microstrip antenna through a digital-to-analog conversion circuit and a sweep frequency voltage control circuit which are connected in sequence, and the self-checking method of the hump speed measuring radar comprises the following steps:
step S1: in the radar self-checking stage, the FPGA main control module continuously sends out specific frequency fΔThe triangular wave modulation signal is a 2000Hz triangular wave modulation signal, and after the modulation signal passes through a digital-to-analog conversion module and a frequency sweep voltage control module, a frequency modulation microstrip antenna at the front end of the radar is controlled to carry out FMCW mode modulation and amplitude modulation;
step S2: calculating the Doppler frequency shift value f of the relative moving object under the condition that the length of the sampling series is Nd：
Figure FDA0002173807890000011
In the formula (f)sFor sampling frequency, 0≤K≤N-1；
Step S3: fourier transform with length N is carried out on I signal and Q signal in Doppler signal output by radar, and the Fourier transform is recorded as XI(K) And XQ(K)，K＝0,1...N-1；
Step S4: are respectively paired with XI(K) And XQ(K) The spectral signal is subjected to pole peak value query, all XI(K) Magnitude value | X at the pole peak of (1)I(K)|≥FnAre considered to be valid pole peaks, where FnFor the amplitude threshold, the corresponding K point value is recorded in the array sI(i) Li, sI(i)＝{KI1,KIN-1, n is a number satisfying | X }, i ═ 0,1I(K)|≥FnThe number of pole peaks;
step S5: solving for an array s using a doppler shift calculation formulaI(i) And sQ(i) Frequency of the corresponding K point position in, is recorded as
Figure FDA0002173807890000012
Step S6: setting the frequency error range value as delta f, and
Figure FDA0002173807890000013
and
Figure FDA0002173807890000014
each frequency value in (a) and the frequency value f of the triangular wave modulation signalΔBy comparison, if at
Figure FDA0002173807890000015
Li can find
Figure FDA0002173807890000016
The signal loop through which the I signal passes is considered to be normal, otherwise, the signal loop is considered to be abnormal; in the same way, by
Figure FDA0002173807890000017
To determine the signal passed by the Q signalWhether the loop is normal;
step S7: and repeating the steps 2-6, continuously detecting the signal loops of the I signal and the Q signal, and if the signal loops through which the I signal and the Q signal pass are normal in a plurality of detection periods, determining that the system signal loop is normal.
2. The self-test method of the hump speed radar according to claim 1, wherein the step S2 further comprises: and selecting a hamming window series to carry out windowing truncation on the Doppler signal.
3. The self-test method of hump velocity radar as claimed in claim 2, wherein in step S2, fsIs fdInteger multiples of.
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CN107884755B (en) * 2017-11-07 2021-06-29 广东技术师范学院 Method and simulation device for providing simulation signal for radar velocimeter
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CN111007470B (en) * 2019-12-26 2024-03-22 成都纳雷科技有限公司 Self-checking method based on traffic speed measuring radar and traffic speed measuring radar
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