CN107229052A - Trailer-mounted radar Object measuring system and operation method based on Multiple Frequency Shift Keying system - Google Patents
Trailer-mounted radar Object measuring system and operation method based on Multiple Frequency Shift Keying system Download PDFInfo
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- CN107229052A CN107229052A CN201710617055.0A CN201710617055A CN107229052A CN 107229052 A CN107229052 A CN 107229052A CN 201710617055 A CN201710617055 A CN 201710617055A CN 107229052 A CN107229052 A CN 107229052A
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
Abstract
Trailer-mounted radar Object measuring system and operation method disclosed by the invention based on Multiple Frequency Shift Keying system, using Multiple Frequency Shift Keying（MFSK）It is used as modulated signal, data are split, recombinated by sampled echo difference frequency signal, and whole phase FFT conversion, modulus, CA CFAR processing are then done again, to after false-alarm data carry out peak value searching, frequency matching, peak point phase solution, finally obtain target apart from velocity information.This method is it is possible to prevente effectively from the appearance of false target, is carried out without fuzzy measurement to multiple target；Sampling whole phase FFT avoids spectral leakage, inhibits Gaussian noise, it is ensured that measurement accuracy；Algorithm is simple, it is easy to accomplish.Present system produces modulated signal using phaselocked loop and improves modulation accuracy, and system architecture is simple, cost is relatively low.
Description
Technical field
The present invention relates to trailer-mounted radar field of signal processing, the trailer-mounted radar target of Multiple Frequency Shift Keying system is based particularly on
Measuring system and operation method.
Background technology
With the improvement of people ' s living standards with the progress of science and technology, automobile has become the work of riding instead of walk of everybody trip
Tool, it, which brings, also brings certain potential safety hazard while convenience.In recent years, traffic accident takes place frequently, largely
All it is due to that the blurred vision or reflection speed of driver is slowly caused, if a kind of car steering auxiliary system can be researched and developed
System, finds dangerous prompting driver, it is possible to avoid many life and property losses in time.
Nowadays a variety of onboard systems are occurred in that on the market, and they respectively there are advantage and disadvantage, and wherein radar system is compared to visualization
Onboard system, is not influenceed by external conditions such as weather, temperature, humidity, at the same high accuracy, remote measurement performance make it is vehicle-mounted
Radar system is obtained for application at many aspects and developed.Such as adaptive learning algorithms (ACC), CAS (CAS), pre-
Collision system (Pre-Crash), parking assistance system (Parking Aid) etc..The general principle of these Vehicular radar systems is
Signal processing unit control radio frequency unit produces corresponding signal, is launched by array antenna, runs into signal after target and return
Return and be received by the antenna again, receive signal and do difference frequency processing in radio frequency unit with transmission signal, obtained difference frequency signal is by signal
Reason unit carries out the status information that corresponding calculating processing obtains target.The use of these systems can be effectively prevented from traffic thing
Therefore generation, with very big Research Prospects and market value.
Technological challenge in Vehicular radar system research and development be and meanwhile measure the distance of multiple targets, radial velocity,
The design of the information such as azimuth, wherein waveform system have impact on the realization of these requirements.Two kinds of common at present wave shape bodies are formed with
Linear frequency modulation ripple (LFM) and frequency shift keying (FSK) waveform, traditional LFM waveforms radar provide very high distance and speed
Resolution ratio is spent, but the false target under multi-target condition can not be solved the problems, such as；And the radar system of FSK waveform systems has very
High velocity resolution and false target problem can be evaded, but there is drawback in terms of apart from solution, it is impossible to measure quiet
Only target and multiple targets with same radial speed.
In order to solve the problem of LFM and FSK systems are present, some improved waveform system target measuring methods are suggested,
Wherein there are variable period LFMCW multiple-target identification methods, variable period trapezoidal wave distance by radar speed measurement method, binary cycle variable slope
Sawtooth signal etc..It is that the hardware realization of system is brought but these methods can not all take into account measurement accuracy and operand simultaneously
Very big difficulty, causes R＆D costs too high, is unfavorable for further business development.
The content of the invention
For there is false target in terms of existing Vehicular radar system multi-target measurement, can not be while measuring various states mesh
Mark, it is computationally intensive the problems such as, the invention provides a kind of trailer-mounted radar Object measuring system of Multiple Frequency Shift Keying (MFSK) system,
The system has the advantages that modulated signal precision is high, data processing speed is fast, simple in construction, small volume.
Trailer-mounted radar Object measuring system based on Multiple Frequency Shift Keying system, including power module, respectively with power module
FPGA signal processing modules, radar sensor module and the result of connection show host computer, wherein：
Radar sensor module includes array antenna, radio circuit and phase-locked loop circuit；
FPGA signal processing modules include data acquisition module, PLL control module and data processing module；
The PLL control module of FPGA signal processing modules is produced in SPI control signals, control radar sensor assembly
Phase-locked loop circuit produce MFSK modulated signals, signal is then sent into radio circuit, radio circuit is carried out to modulated signal
Frequency-conversion processing, and signal is launched by array antenna, signal runs into target and is reflected back, array antenna received echo
Signal；Radio circuit does down coversion and difference processing to echo-signal again, obtains I, Q two-way Quadrature analog signal；Data acquisition
Module carries out sampling to I, Q two-way Quadrature analog signal and is converted into data signal, then enters data feeding data processing module
Row processing and calculating, are finally output to result by result of calculation and show on host computer.
Described PLL control module is according to system to index requests such as modulation signal type, cycle, amplitudes, and adjustment is posted
Storage parameter, and corresponding control signal is exported in the form of SPI communication, to configure phase-locked loop circuit, while being phaselocked loop electricity
The normal work on road provides clock, and antenna gain control signal.
Described phase-locked loop circuit is made up of phase-locked loop chip and corresponding peripheral circuit, mainly according to phase lock control
The clock and control signal of module, produce corresponding MFSK modulated signals.
Described radio circuit receives the VCO modulated signals from phase-locked loop circuit, and up-conversion is modulated to the signal
Processing, is then connected to array antenna by the signal after processing.Radio circuit is done down to the echo-signal of array antenna received simultaneously
Frequency-conversion processing, and the signal after down coversion and up-conversion signal are done into difference frequency processing and orthogonal transformation, obtain orthogonal two-way I, Q
Signal.
Described array antenna is the microstrip antenna of plane, and small volume, power is relatively low.It includes transmitter unit and reception
Unit, is mainly responsible for the data after radio circuit is modulated and launches, and receives echo-signal, and feeding radio circuit is done into one
Step processing.
Described data acquisition module is made up of analog to digital conversion circuit, the mainly I of collection radar sensor module output,
These analogue datas are converted into the data signal that data processing module can be recognized by Q two paths of signals.Wherein acquisition module is adopted
Sample frequency is determined that sample frequency typically takes the maximum beat frequency more than or equal to 2 times by the peak frequency of echo difference frequency signal.
Described data processing module is the topmost module of the system, and it is responsible for the data operation of whole system.Connect
The data signal of data acquisition module is received, then data are split, recombinates and obtains I roads A, B to induction signal and Q roads A, B couple
Induction signal, then does whole phase FFT processing, modulus computing, CA-CFAR processing, peak value searching, error function matching, phase asks
Solution, the distance and velocity information of target are calculated finally according to obtained information.
Described power module is mainly that radar sensor module and FPGA signal processing modules provide power supply, and it is radar
Sensor assembly provides 5V and 3.3V voltage, and 5V voltages are provided for FPGA signal processing modules.
Described result shows that host computer is the host computer for showing result of calculation and warning information, can be by data
Reason module calculates obtained target information and visually shown on the host computer again, it is possible to artificial to set target information threshold
Value, judges dangerous situation, prompting message is sent in time.
The measuring method of above-mentioned trailer-mounted radar Object measuring system is the MFSK waveforms combined using LFM and FSK as tune
Signal processed, time sharing sampling is carried out to echo-signal, then carries out whole phase FFT and CA-CFAR processing to two groups of data after fractionation,
Spectrum peak point is taken, two groups of peak points are carried out with tolerance judgement, peak value matching and obtains target correspondence spectrum peak, is further obtained
Target beat frequency.Then take the real and imaginary parts data of peak to compensate coordinate rotation calculating (CORIDC) and obtain mesh
Target phase information.Range-to-go and speed are calculated according to respective formula.
The operation method of the above-mentioned trailer-mounted radar goal systems based on Multiple Frequency Shift Keying system, comprises the following steps：
(1) Multiple Frequency Shift Keying (MFSK) waveform signal is produced
Described MFSK signals are that it is by corresponding two signals of FSK waveforms by a kind of New System of LFM and FSK combinations
Obtained from A, B stepping, i.e., two waveforms, which alternately rise, constitutes MFSK signals.Wherein each A, B waveform duration is identical
All it isIt is stepping times N and each A, B waveform duration sum T modulation period that overall stepping time, which is,stepMultiply
Product TCPI=NTstep；
MFSK signals are made up of multiple fsk signal steppings, and its frequency number is more, and span scope is big, different targets
Reflected in different frequency stratum, so as to obtain the difference frequency signal of different frequency；
(2) difference frequency signal sampled, split, recombinated
According to nyquist sampling law with fsThe difference frequency signal of echo is sampled for sample frequency, what sampling was obtained
Data are alternate I, Q two-way echo difference frequency signals corresponding to A, B, and back end signal processing need use be single A,
I, Q two-way echo difference frequency data are split by B echo data according to the time interval of correspondence transmission signal and position, and
The data that fractionation is obtained are recombinated, and are stored in respectively in corresponding register；
(3) whole phase FFT and CA-CFAR processing are carried out to the data after restructuring
I, Q two paths of data in register corresponds to imaginary part and real part information respectively, corresponding to A, B in I, Q two-way respectively
Each T modulation period of difference frequency signalCPIInterior data do whole phase FFT computing, then seek A, B correspondence I, Q two paths of data
Mould, obtains two groups of frequency spectrum datas of A, B, then two groups of obtained frequency spectrums are done with CA-CFAR (unit CFAR) processing；
(4) target respective frequencies are sought
Peak value searching is carried out to the frequency spectrum after the corresponding false-alarm of A, B respectively, peak point is taken out, due to the sampling of every section of frequency spectrum
Time is equal toFrequency resolution, which can be obtained, is
Because the corresponding frequency of same target A, B should be identical, then if A, B beat frequency fAK、fBKMeet following formula appearance
Difference function
Then think the same target of frequency correspondence, determine real goal frequency values, exclude ineligible frequency；
(5) ask target corresponding phase poor
The target peak point position obtained according to step (4) and frequency, take out the corresponding real part number of target spectrum peak point
According to Re [X (m)], and imaginary data Im [X (m)].Then negated tangent using compensating coordinate rotation calculating method (CORIDC)
Similarly obtainObtain the phase difference between same target A, B waveform
(6) distance and speed of target are calculated
The beat frequency f for having obtained target is calculated by upper step (4) and step (5)BWith corresponding phase differenceCan be with
The distance and speed of target are calculated according to below equation.
WhereinC is the light velocity, f in formula0For baseband frequency.BSWFor modulation bandwidth, fshiftFor A,
Corresponding difference on the frequency between two modulated signals of B.
It follows that the beat frequency and phase difference of target are one-to-one relations, in the absence of intersecting aliasing, because
The Vehicular radar system of this MFSK system can be effectively prevented from the appearance of false target, overcome lacking for LFM systems presence
Fall into.
Compared with prior art, advantage of the present invention is：
1st, the system is using the radar sensor for being internally integrated phaselocked loop, and phaselocked loop produces modulated signal and used with conventional
FPGA directly controls DA to produce modulated signal compared to precision is higher, the linearity more preferably, and then ensure that the essence of system echoes signal
Degree, improves signal to noise ratio, is easy to rear end computing；
2nd, the system is handled intermediate-freuqncy signal without using intermediate-frequency circuit, it is to avoid unnecessary external interference, and
And system bulk is reduced, save development cost；
3rd, using MFSK waveforms as modulated signal, going out for false target can be avoided under various states target occasion
Now, target is carried out without fuzzy measurement, and has very high apart from velocity resolution；
4th, with reference to whole phase FFT algorithm, it is to avoid spectral leakage, inhibit Gaussian noise, the phase for improving algorithm estimates
Count precision, further improve final goal apart from velocity accuracy；
5th, phase is sought using compensation cordic algorithm, is realized beneficial to FPGA hardware, it is to avoid data floating-point operations turn
Change；
6th, this method need to only use 1 FFT, and carry out tolerance judgement before target range speed is calculated, and reduce calculation
The operand of method, it is ensured that the arithmetic speed of algorithm.
Brief description of the drawings
Fig. 1 is the structural framing figure of embodiment；
Fig. 2 is the signal processing flow figure of embodiment.
Embodiment
It is described in further detail with reference to the accompanying drawings and examples.
Embodiment：
As shown in figure 1, the trailer-mounted radar Object measuring system based on Multiple Frequency Shift Keying system, including power module, FPGA
Signal processing module, radar sensor module, result show host computer.Wherein radar sensor module again include array antenna,
Radio circuit and phaselocked loop.FPGA signal processing modules include data acquisition module, PLL control module and data processing
Module.Power module is powered for whole system.The PLL control module of FPGA signal processing modules produces SPI control signals,
Phase-locked loop circuit in control radar sensor assembly produces MFSK modulated signals, and signal then is sent into radio circuit.Radio frequency
Circuit carries out upconversion process to modulated signal, then launches signal by array antenna.It is anti-that signal runs into target
It is emitted back towards and, array antenna received echo-signal.Radio circuit does down coversion and difference processing to echo-signal again, obtains I, Q two
Road orthogonal signalling.Data acquisition module carries out sampling to I, Q two-way analog signal and is converted into data signal, then sends into data
Data processing module is handled and calculated, and result of calculation finally is output into result shows on host computer.
The 5V power supplys of the power module of this example are provided by external power adapter, and electricity is reduced in power pins plus filter capacitor
Hold influence of the ripple to system.Using ASM117-3.3 3.3V voltages are provided by 5V photovoltaic conversions for 3.3V for radar sensor.
The PLL control module of this example is included in FPGA signal processing modules, and corresponding control signal is produced by FPGA.
Signal and antenna gain control signal etc. are enabled including CLK clock signals, DATA register data signals, LE data.
The phase-locked loop circuit of this example is made up of the ADF4158 and peripheral circuit of Ya De promise semiconductor company, the circuit
6.1GHz modulation waveform can be directly produced, is a kind of fraction-N-synthesizer.Can be according to PLL control module
Control signal produce high-precision MFSK modulated signals, and the linearity is good.
The radio circuit of this example increases comprising VCO circuits, signal transmission circuit, signal receiving demodulation circuit and difference frequency signal
Benefit control circuit.Wherein signal receiving demodulation circuit is mainly responsible for the reception of signal, and echo-signal and transmission signal are carried out
Mixing and orthogonal differential conversion, obtain I, Q signal；Difference frequency signal gain circuitry primarily to regulation difference frequency signal gain,
It is to configure the register in gain circuitry by external control signal to be adjusted.
The array antenna of this example uses the microstrip antenna of plane, transmitter unit and 16 array elements with 56 array element
Receiving unit.The array antenna small volume is also very low to power consumption requirements.
The data acquisition module of this example is made up of the AD9233-125 chips and peripheral circuit of Analog Device companies
's.The chip is the single-chip of a 12 bit resolution, and highest sample rate can reach 125M, can do the direct band logical of radio frequency and adopt
Sample, the need for fully meeting system.Due to being I, Q two paths of signals of difference, so needing two AD sampling modules.
The data processing module of this example is FPGA processor, its model EP4CE115F2317, is the generations of Cyclone tetra-
Processor, compared with chip before, the chip internal aboundresources is low in energy consumption.FPGA is the chip of parallel processing, institute simultaneously
Also ensure that the arithmetic speed of system.Data processing module mainly used FIFO kernels inside FPGA, ROM kernels,
The integrated kernels such as RAM kernels, FFT kernels, and its powerful logical operation capability complete the computing of whole system.Finally will
Obtained result is calculated to send to result display host computer by serial ports.
The result of this example shows that host computer is the host computer for showing result of calculation and warning information, can be by data
Reason module calculates obtained target information and visually shown on the host computer again, it is possible to artificial to set target information threshold
Value, judges dangerous situation, prompting message is sent in time.
Trailer-mounted radar target measuring method based on Multiple Frequency Shift Keying system is based on Multiple Frequency Shift Keying system above-mentioned
Trailer-mounted radar Object measuring system embodiment on implement, measurement target be apart from 80m, speed 10m/s target one and distance
35m, speed 5m/s target two.Its flow chart is illustrated in fig. 2 shown below.
(1) Multiple Frequency Shift Keying (MFSK) waveform signal is produced
MFSK signals produced by this example are formed by 100 fsk signal steppings, and the respective frequencies of wherein fsk signal are
250KHz, the frequency-splitting between each stepping is 1000KHz, and the duration of each stepping is 100us.Obtain modulating band
Wide BSWFor 100MHz, the cycle T of modulated signalCPIFor 10ms.The baseband frequency of transmission signal be 24GHz, target farthest detection away from
From for 100m, range resolution ratio is 1.5m.
(2) difference frequency signal sampled, split, recombinated
This example calculates the frequency of maximum echo difference frequency according to the farthest measurement distance of system, is then adopted according to Nyquist
Sample frequency is set to 500KHz by sample law.The data returned that will sample and the modulated signal of transmitting carry out time contrast, utilize
A, B waveform each duration 50us is split to I, Q data, and the corresponding register of restructuring deposit obtains four groups of data respectively
It is I roads A Wave datas, I roads B Wave datas, Q roads A Wave datas, Q roads B Wave datas respectively.Then data are stored in FPGA
In four internal different FIFO.
(3) whole phase FFT and CA-CFAR processing are carried out to the data after restructuring
The data taken out in this example in FIFO do all phase pretreatment, and the result after processing is sent into FPGA FFT kernels
In do FFT, obtain corresponding I, Q road frequency spectrum of A waveforms and corresponding I, Q road frequency spectrum of B waveforms.Mod function is reused to upper
State frequency spectrum data progress and handle and obtain A waveform frequency spectrums data and B waveform frequency spectrum data.Then unit CFAR algorithm (CA- is used
CFAR false-alarm processing) is carried out to A, B two paths of data.
(4) target respective frequencies are sought
This example is scanned for frequency spectrum, all peak point positions is found, then according to following formula
All peak point respective frequencies are calculated, wherein k is peak point position, and N counts for FFT, fsFor sample frequency.It is right
The frequency values more close than two waveforms of A, B, the respective frequencies if following formula is met for same target.
The echo frequency that calculating obtains two targets is respectively 6.93KHz and 3.13KHz.
(5) ask target corresponding phase poor
According to the target peak point position obtained after previous step (4) peak value searching and tolerance matching, whole phase FFT is taken out
The real and imaginary parts data of relevant position afterwards, then compensate according to the size of data, floating number are converted into fixed-point number,
Then the phase that contact transformation anyway obtains two frequency spectrums of A, B is done to the data of real and imaginary parts by CORIDC function algorithms again,
The two, which subtracts each other, obtains phase difference.By calculate obtain the corresponding difference frequency of two targets phase difference be respectively 1.3455rad and
0.6204rad。
(6) distance and speed of target are calculated
This example brings data into following formula according to the above-mentioned target beat frequency and phase difference tried to achieve
Wherein, c=3.0 × 108M/s, λ=0.0125, Δ v=0.625, BSW=100MHz, N=100, TCPI=10ms,
fshift=250kHz.Calculating obtains R1=79m, V1=10m/s, R2=35m, V2=4.9m/s.It can be seen that the system can avoid void
The appearance of decoy, unambiguously measures target, and have very high measurement accuracy.
Above-described embodiment, is only to the specific of the purpose of the present invention, technical scheme and beneficial effect further description
Individual example, the present invention is not limited to this.All any modifications made within the scope of disclosure of the invention, equivalent substitution, change
Enter, be all contained within protection scope of the present invention.
Claims (9)
1. the trailer-mounted radar Object measuring system based on Multiple Frequency Shift Keying system, it is characterized in that：Including power module, respectively with electricity
FPGA signal processing modules, radar sensor module and the result of source module connection show host computer, wherein：
Radar sensor module includes array antenna, radio circuit and phase-locked loop circuit；
FPGA signal processing modules include data acquisition module, PLL control module and data processing module；
The PLL control module of FPGA signal processing modules produces the lock in SPI control signals, control radar sensor assembly
Phase loop circuit produces MFSK modulated signals, and signal then is sent into radio circuit, and radio circuit carries out up-conversion to modulated signal
Processing, and signal is launched by array antenna, signal runs into target and is reflected back, array antenna received echo letter
Number；Radio circuit does down coversion and difference processing to echo-signal again, obtains I, Q two-way Quadrature analog signal；Data acquisition module
Block carries out sampling to I, Q two-way Quadrature analog signal and is converted into data signal, then carries out data feeding data processing module
Processing and calculating, are finally output to result by result of calculation and show on host computer.
2. trailer-mounted radar Object measuring system according to claim 1, it is characterized in that：Described PLL control module root
According to system to modulation signal type, cycle, amplitude index requirement, register parameters, and the output phase in the form of SPI communication are adjusted
The control signal answered, to configure phase-locked loop circuit, while providing clock, and antenna gain for the normal work of phase-locked loop circuit
Control signal.
3. trailer-mounted radar Object measuring system according to claim 1, it is characterized in that：Described phase-locked loop circuit is by lock phase
Ring core piece and corresponding peripheral circuit are constituted, mainly according to the clock and control signal of PLL control module, are produced corresponding
MFSK modulated signals.
4. trailer-mounted radar Object measuring system according to claim 1, it is characterized in that：Described radio circuit is received and come from
The VCO modulated signals of phase-locked loop circuit, upconversion process is modulated to the signal, and the signal after processing then is connected into array
Antenna, while radio circuit does down-converted to the echo-signal of array antenna received, and by the signal after down coversion with it is upper
Frequency variation signal does difference frequency processing and orthogonal transformation, obtains orthogonal two-way I, Q signal.
5. trailer-mounted radar Object measuring system according to claim 1, it is characterized in that：Described array antenna is plane
Microstrip antenna, it includes transmitter unit and receiving unit, is mainly responsible for the data after radio circuit is modulated and launches, and connects
Echo-signal is received, feeding radio circuit is further processed.
6. trailer-mounted radar Object measuring system according to claim 1, it is characterized in that：Described data acquisition module is by mould
Number change-over circuit is constituted, and mainly gathers I, Q two paths of signals of radar sensor module output, these analogue datas are converted into
The sample frequency of the data signal that data processing module can be recognized, wherein acquisition module by echo difference frequency signal peak frequency
Determine, sample frequency typically takes the maximum beat frequency more than or equal to 2 times.
7. trailer-mounted radar Object measuring system according to claim 1, it is characterized in that：Described data processing module is responsible for
The data operation of whole system, receives the data signal of data acquisition module, and then data are split, recombinates and obtains I roads
A, B, to induction signal, then do whole phase FFT processing, modulus computing, CA-CFAR processing, peak value and searched to induction signal and Q roads A, B
Rope, error function matching, phase solution, the distance and velocity information of target are calculated finally according to obtained information.
8. trailer-mounted radar Object measuring system according to claim 1, it is characterized in that：The trailer-mounted radar target measurement system
The measuring method of system be the MFSK waveforms combined using LFM and FSK as modulated signal, time sharing sampling is carried out to echo-signal,
Whole phase FFT and CA-CFAR processing are carried out to two groups of data after fractionation again, spectrum peak point is taken, two groups of peak points are carried out
Tolerance judges, peak value matching obtains target correspondence spectrum peak, further obtains target beat frequency.Then peak is taken
Real and imaginary parts data compensate coordinate rotation and calculate the phase information that (CORIDC) obtains target.According to respective formula meter
Calculate to obtain range-to-go and speed.
9. the operation method of the trailer-mounted radar goal systems based on Multiple Frequency Shift Keying system, it is characterized in that：Comprise the following steps：
(1) Multiple Frequency Shift Keying (MFSK) waveform signal is produced
Described MFSK signals are that, by a kind of New System of LFM and FSK combinations, it is walked by FSK waveforms corresponding two signals A, B
Obtained from entering, i.e., two waveforms, which alternately rise, constitutes MFSK signals.Wherein each A, B waveform duration is identical to beIt is stepping times N and each A, B waveform duration sum T modulation period that overall stepping time, which is,stepProduct TCPI
=N × Tstep；
MFSK signals are made up of multiple fsk signal steppings, and its frequency number is more, and span scope is big, and different targets are not
Same frequency stratum is reflected, so as to obtain the difference frequency signal of different frequency；
(2) difference frequency signal sampled, split, recombinated
According to nyquist sampling law with fsThe difference frequency signal of echo is sampled for sample frequency, obtained data of sampling
It is alternate I, Q two-way echo difference frequency signal corresponding to A, B, and back end signal processing needs that use to be single A, B
I, Q two-way echo difference frequency data are split, and will tear open by echo data according to the time interval of correspondence transmission signal and position
The data got are recombinated, and are stored in respectively in corresponding register；
(3) whole phase FFT and CA-CFAR processing are carried out to the data after restructuring
Q two paths of data corresponds to imaginary part and real part information respectively, respectively to each tune of the corresponding difference frequency signal of A, B in I, Q two-way
Cycle T processedCPIInterior data do whole phase FFT computing, then seek the mould of A, B correspondence I, Q two paths of data, obtain two groups of frequency spectrums of A, B
Data, then two groups of obtained frequency spectrums are done with CA-CFAR (unit CFAR) processing；
(4) target respective frequencies are sought
Peak value searching is carried out to the frequency spectrum after the corresponding false-alarm of A, B respectively, peak point is taken out, due to the sampling time of every section of frequency spectrum
It is equal toFrequency resolution, which can be obtained, is
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Because the corresponding frequency of same target A, B should be identical, then if A, B beat frequency fAK、fBKMeet following formula tolerance letter
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Then think the same target of frequency correspondence, determine real goal frequency values, exclude ineligible frequency；
(5) ask target corresponding phase poor
The target peak point position obtained according to step (4) and frequency, take out the corresponding real part data Re of target spectrum peak point
[X (m)], and imaginary data Im [X (m)].Then negated tangent using compensating coordinate rotation calculating method (CORIDC)
Similarly obtainObtain the phase difference between same target A, B waveform
(6) distance and speed of target are calculated
The beat frequency f of target has been obtained by upper calculatingBWith corresponding phase differenceMesh can be calculated according to below equation
Target distance and speed.
WhereinC is the light velocity, f in formula0For baseband frequency.BSWFor modulation bandwidth, fshiftFor A, B two
Corresponding difference on the frequency between modulated signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710617055.0A CN107229052A (en) | 2017-07-26 | 2017-07-26 | Trailer-mounted radar Object measuring system and operation method based on Multiple Frequency Shift Keying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710617055.0A CN107229052A (en) | 2017-07-26 | 2017-07-26 | Trailer-mounted radar Object measuring system and operation method based on Multiple Frequency Shift Keying system |
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