CN107315168B - Software radar signal data processing system and method - Google Patents
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Abstract
The invention relates to a system and a method for processing software radar signal data, which aim to solve the problem of poor expansibility caused by the limitation of a software radar frame structure in the prior art, and the system comprises a hardware layer, a system layer, an intermediate layer and an application layer; the middle layer is used for realizing universality among different hardware platforms. It is located between the application layer and the system layer, provides general service for the upper layer, and has general protocol stack and standard program interface. The system comprises a data receiving middleware, a data transmission middleware, a real-time storage middleware, a signal processing middleware, a data processing middleware and a radar terminal display middleware; and the application layer builds a signal data processing framework based on the intermediate layer, and divides the radar signal data processing function into a plurality of components and modules, wherein the functions of platform function management, radar real-time data processing and the like are included. Through modification of an application layer software module in the system, the system can be reconstructed, so that the requirements of other radar systems are met, a complete radar signal processing flow is established, the expansibility of the system is improved, and the application range of the system is expanded; the method is suitable for the field of software radar.
Description
Technical Field
The invention relates to the field of software-based radar design, in particular to a system and a method for processing signal data of a software-based radar.
Background
In the course of modern combat, radar detection has become the main way to acquire information. Rapid advances in the combat environment, objects and countermeasures during the combat process require that the design and updating of radar systems also be able to accommodate this rapidly changing rhythm. The traditional radar has the characteristics of long development period and difficult maintenance and upgrading due to the fact that the functional performance of the traditional radar is in hard coupling with the software and hardware structures of the system, and the software-based radar is a new radar form which follows an open system structure and adopts commercial goods shelf products and can have consistent standards and specifications. In the software radar, the digital back end is the core of the efficient design, function reconstruction and performance improvement of the bearing system. The software radar is a radar system based on an open software/hardware platform and defining system functions in a software mode, the system needs to be decomposed strictly according to functions required in the radar system, a system structure of a radio frequency front end and a digital rear end is generally adopted, and under the background, the application provides a software radar signal data processing platform based on a CPU (central processing unit) and a GPU (graphic processing unit) heterogeneous platform. The method is based on algorithms included in typical radar signal data processing technology and research on parallelism of the signal processing algorithms. Typical radar signal processing includes four parts: digital pulse compression, digital pulse accumulation, clutter processing and constant false alarm rate detection. Typical radar data processing includes point-track processing and track processing. The existing signal parallel processing platform is researched, and a radar signal data processing technology is realized by combining the characteristics of a software radar and selecting a CPU + GPU heterogeneous platform.
Disclosure of Invention
The invention aims to: the invention solves the problem of poor expansibility caused by the limitation of a software radar frame structure in the prior art, and provides an open type, reusable and fast development software radar signal data processing system and method. The technical scheme adopted by the invention is as follows:
the invention provides a software-based radar signal data processing system, which comprises a hardware layer, a system layer, an intermediate layer and an application layer, wherein the hardware layer is a hardware layer; the middle layer is positioned between the application layer and the system layer and provides general services for the upper layer (the application layer), and the general services comprise a general protocol stack and a standard program interface, and comprise a data receiving middleware, a data transmission middleware, a real-time storage middleware, a signal processing middleware, a data processing middleware and a radar terminal display middleware; the application layer builds a signal data processing framework through the middle layer and is used for calculating current radar data and signals, and the signal data processing framework comprises radio frequency front end data receiving, real-time storage, signal processing, data processing and terminal display.
Specifically, the hardware layer comprises a signal processing bearing platform, a data processing bearing platform and radar terminal display equipment; the signal processing bearing platform is used for carrying out intensive calculation and radar real-time processing; the data processing bearing platform is used for performing radar data processing tasks; the radar terminal display equipment is used for finally displaying various radar echo data.
Specifically, the data processing middleware uses a current _ bound _ queue in the Intel tbb (the current _ bound _ queue is a queue in the Intel tbb and is used for implementing data transmission middleware).
Specifically, the data receiving middleware receives different types of data; the data transmission middleware transmits data; the radar data stored in real time comprises stored time points, radar control words and radar data information; the signal processing middleware comprises pulse compression, pulse accumulation and clutter processing middleware, and is not limited to the middleware in practical application; the data processing middleware carries out trace point preprocessing and track forming processing on the target parameter information acquired by the signal processing module; and the terminal display middleware displays the received data.
Specifically, the radio frequency front end data receiving thread initializes a receiving module, initializes a data transmission middleware and binds a CPU core; the data storage thread stores the front-end signal and the system time parameter together; the signal processing thread acquires data transmitted by a front-end thread, acquires radar echo information and data and addresses of a storage target data buffer area, judges whether a radar control word in the radar echo information changes, and resets parameters for partial middleware of signal processing if the radar control word in the radar echo information changes; the data processing thread acquires target data and radar information, judges whether a radar control word is changed or not, and if the control word is changed, reestablishes an interface class of data processing, and if the control word is not changed, obtains final data; and the terminal displays the thread and displays the final data transmitted by the data processing thread.
The application also provides a software radar signal data processing method, which comprises the following steps: step 1: acquiring radio frequency front end echo data, acquiring radar radio frequency front end echo data through a radio frequency front end data receiving thread, and transmitting the data to a signal processing thread through a data transmission middleware; step 2: processing the signal, step 2.1: initializing the signal processing middleware through a signal processing thread, acquiring radio frequency front end echo data transmitted by the data transmission middleware, setting a signal processing parameter according to the radio frequency front end data, calling the radio frequency front end data to the data processing middleware, and acquiring radar echo information and data transmitted by the data processing middleware and an address of a storage target data buffer area; step 2.2: judging whether a radar control word in radar echo information changes, if so, resetting parameters of the signal processing middleware, calculating target data and transmitting the target data to the data processing middleware, and if not, calculating the radar echo information, the target data and the address of a storage target data buffer area to obtain the target data and transmitting the target data to the data processing middleware; and step 3: processing data, acquiring target data transmitted by the data processing middleware through a data processing thread and judging whether a radar control word is changed, if so, recreating and reprocessing the interface class of the data processing and transmitting a processing result to the radar terminal display middleware for display, and if not, performing data processing and transmitting the processing result to the radar terminal display middleware for display; and 4, step 4: and displaying, namely initializing the interface through the terminal display thread, acquiring signal data transmitted by other threads, processing and displaying a processing result. Specifically, the method further comprises the following steps: and acquiring data transmitted by the data transmission middleware through a data storage thread and acquiring a current timestamp to store together.
Specifically, the step 2 specifically includes: step 2.1.1, starting a signal processing thread and calling an InitRadarDSPSys interface, initializing a signal processing middleware, then waiting for a Start signal of signal data processing, and calling a Dequeue interface of a front-end data transmission middleware after receiving the signal to acquire data transmitted from a radio frequency front-end data receiving thread; then calling a SetSysParamer interface to set parameters for signal processing; step 2.1.2, respectively calling a GetOneBuff interface for transmitting target data to a data processing thread middleware and a Dequeue interface for acquiring a digital echo middleware, and acquiring radar echo information, data and an address of a storage target data buffer area; step 2.2.1, whether the radar control word in the radar echo information changes is judged, if so, the parameters of partial middleware of signal processing are reset: calling a ResetParameter interface, resetting all parameters, calling a SetSysParameter interface to reset parameters of a signal processing middleware, processing signals according to the sequence when radar control words are not changed, firstly calling a SetSampleSignal interface to obtain radar digitalized echo data and parameters, then calling a DoProprocess interface to process the signals of the data, transmitting the data obtained after data processing from a GPU to a memory by calling a GetSignalProcOut interface, then transmitting target data to an EnQueue interface of the data processing thread middleware to store a buffer area address into a queue, and finally calling a RefreshBuff interface of the thread data transmission middleware; if not, calculating radar echo information, target data and the address of a storage target data buffer area to obtain target data and transmitting the target data to a data processing middleware; and 2.2.2, calling a Get middleware in signal processing, displaying a thread and a signal slot corresponding to the thread through the terminal in the Show interface, displaying a data image processed by the signal processing middleware in real time, and circulating the operation until the thread exits. Wherein Dequeue, SetSysParamter, GetOneBuff, ResetParameter, GetSignalProcOut, SetSampleSignal, EnQueue, RefreshBuff, read _ new, GetTrackInfo, data _ linear, PShow, and RefreshBuff are names of interface functions.
Specifically, the step 3 specifically includes: step 3.1, starting a data processing thread, establishing and initializing an interface class of data processing, and calling a DeQueue interface of a target data transmission middleware after signal processing to acquire target data and radar information after acquiring a Start signal; step 3.2, judging whether the radar control word is changed, if the control word is changed, recreating the interface class of the data processing, if the control word is not changed, calling a read _ new interface, reading target data, performing data processing through a data _ stream interface, copying the data through GetTrackInfo, and calling a signal slot interface displayed by a terminal through a PShow interface to display final data; and 3.3, calling RefreshBuff interfaces of the data transmission middleware in the processing process in the step 3.2, and processing the addresses of the buffer areas.
Specifically, step 4 specifically includes: step 4.1, initializing an interface by a terminal display thread; step 4.2, connecting the signal receiving function and the slot function in the terminal display thread through the connect function, and establishing other threads in the application layer; and 4.3, acquiring the Start signal, starting signal data processing, and displaying the result of the signal data processing.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the radar signal processing method and system, the application layer software module in the system can be modified, the system can be reconstructed, the requirements of other radar systems are met, a complete radar signal processing flow can be established according to actual application, the expansibility of the system is improved, and the application range is expanded; 2. the software radar signal processing method has the advantages of universalization, modularization, parameterization and cross-platform transplantation; 3. the system hardware can adopt commercial goods shelf products, so that the system hardware module has the characteristics of standardization, easy expansion, reconfigurability and the like; 4. all processing tasks in the radar system are realized through software, and the system has stronger parallel processing capability and can complete the processing of various signals in the conventional radar; 5. according to the method, an open system architecture is adopted, decoupling of software and hardware is emphasized, the radar system is rapidly developed through software definition and parameter setting, and resource configuration, function expansion and performance improvement are flexibly achieved.
Drawings
FIG. 1 is a basic component structure of a software-based radar system according to the present invention; FIG. 2 is a schematic diagram of the general structure of the software-based radar of the present invention; FIG. 3 is a schematic diagram of the software radar application layer framework of the present invention; FIG. 4 is a diagram of the software radar application layer framework of the present invention; FIG. 5 is a general flow chart of the software-based radar application layer framework processing of the present invention; FIG. 6 is a flow chart of the present invention for a software-implemented radar RF front-end data receiving thread; FIG. 7 is a flow chart of the present invention software radar data storage thread processing; FIG. 8 is a flow chart of a software-based radar signal processing thread process according to the present invention; FIG. 9 is a flow chart of a software-implemented radar data processing thread process of the present invention; FIG. 10 is a flowchart of a display process of a software-implemented radar terminal according to the present invention; FIG. 11 is a diagram of a software-implemented radar data reception middleware interface class definition according to the present invention; FIG. 12 is a diagram of a radar data DataBuff structure of a software-based radar according to the present invention; FIG. 13 is a diagram of a radar control word RadarCtl structure of the software-implemented radar of the present invention; FIG. 14 is a diagram of a software-implemented radar data transmission middleware of the present invention; FIG. 15 is a diagram of a software-implemented radar data transmission middleware interface definition of the present invention; FIG. 16 is a diagram of a software-implemented radar storage data interface class definition of the present invention; FIG. 17 is a diagram of middleware interface definition of the signal processing part of the software-implemented radar of the present invention; FIG. 18 is a diagram of a software-implemented radar SignalToData structure according to the present invention; FIG. 19 is a software radar signal processing function reconfiguration diagram of the present invention; FIG. 20 is a diagram of a software-implemented radar data processing middleware interface definition of the present invention; FIG. 21 is a diagram of a TrackInfo structure of a software-based radar of the present invention; FIG. 22 is a diagram illustrating the definition of interface classes of middleware displayed by a software-based radar terminal according to the present invention; FIG. 23 is a diagram of the interface relationship of the software-based radar system of the present invention; FIG. 24 is a flow chart of the software-implemented radar signal data processing of the present invention; FIG. 25 is a block diagram of a timing controller of the software-based radar system of the present invention; FIG. 26 is a logical block diagram of a software-based radar system processing system of the present invention; FIG. 27 is a schematic diagram of an application layer framework of a software-implemented radar embodiment of the present invention; FIG. 28 is a flow chart of the present invention software-implemented radar signal data processing; FIG. 29 is a diagram of maximum time, mean time, minimum time for a pulse repetition period processing of a software-implemented radar; FIG. 30 is a graphical representation of the processing time for a pulse repetition period for a software-implemented radar of the present invention; FIG. 31 is a diagram illustrating the accumulation of 32 pulse processing maximum time, average time, and minimum time by the software-implemented radar of the present invention; FIG. 32 is a graphical display of the accumulation of 32 pulses of processing time; FIG. 33 is a schematic diagram of CPU resource occupancy in the CPU + GPU software radar signal data.
Detailed Description
A software radar signal data processing system and method specifically include:
1. digital information processing hardware platform based on CPU + GPU
For a hardware platform, a signal processing bearing platform, a data processing bearing platform and radar terminal display equipment are respectively needed. The application adopts a digital information processing hardware platform based on a CPU + GPU.
2. The system support based on the CPU + GPU heterogeneous platform mainly comprises a Redhawk system, a NightStar real-time programming tool and an Intel TBB parallel development library.
3. The intermediate layer based on the CPU + GPU signal data processing platform specifically comprises:
3.1 data receiving middleware, setting a uniform interface when realizing data transmission middleware, and adopting different middleware according to different requirements. In the technology, the characteristic of virtual inheritance in C + + can be adopted to map different middleware to interfaces with uniform specifications, so that different functions can be realized. And the data receiving middleware defines an interface with the application layer. By setting a uniform interface, middleware of a certain type of transmission card or middleware for reading echo data can be mapped into the interface class. The definitions of the DataBuff structure and the RadarCtl structure are shown in the attached drawings. Where iRadar _ Flag indicates whether the radar control word is changed, iCnt indicates the azimuth code of the radar, iLen indicates the length of a single channel of the received data, iChennel indicates the number of channels, pRadrCtl indicates the pointer to the radar control character, and pBuffer indicates the pointer to the echo data of the radar. Where pRadarCtl represents a pointer to a radar control character.
3.2, the data transmission middleware is realized by adopting current _ bound _ queue in Intel tbb for mass data transmission in a heterogeneous architecture of the CPU and the GPU. The Data transmission middleware adopts a thread safety queue line to construct two buffer node address queues, wherein one queue stores used buffer node addresses, the other queue stores unused buffer node addresses, and the interface class of the buffer node address queues is defined as follows, wherein Data refers to Data needing to be transmitted.
For single shaping or unsigned shaping data, the atomic operation carried by a GCC compiler in Linux is adopted in a CPU + GPU heterogeneous architecture. The shaping data is sent through the __ sync _ lock _ test _ and _ set function, and is received in other threads through the __ sync _ fetch _ and _ add function, so that the data can be guaranteed not to be interrupted by other programs and sequential transmission can be guaranteed.
3.3 real-time storage middleware, the radar data stored in real time comprises stored time points, radar control words and radar data information, and the interface definition is shown in the attached drawing.
3.4 signal processing middleware, wherein the signal processing module comprises middleware such as pulse compression, pulse accumulation, clutter processing and the like. The interface definition of part of the functions is shown in the figure. The related Signal ToData structure is shown in the figure. Signal ToData is the structure that the Signal processing thread sends to the data processing thread. The middleware of the required signal processing function is called in the DoProcess function interface, and the characteristic that the software radar function is reconfigurable is utilized to quickly respond to different radar application development requirements, so that the development time of the radar is greatly shortened.
And 3.5, data processing middleware, wherein the data processing is to perform point trace preprocessing, track formation and other processing on the target parameter information acquired by the signal processing module. In the CPU + GPU heterogeneous architecture, the functional interface is defined in the attached drawing. The TrackInfo structure is shown in the attached figure.
3.6 the radar terminal displays the middleware, and the radar terminal is developed by adopting a QT development framework in a CPU + GPU heterogeneous framework. Different signal transmission functions need to be created for the transmission of different data, and part of interfaces of the signal transmission functions are defined in the attached drawings.
And the display terminal is connected with the internal slot function and the signal transmission function after the program is started. The functions of other threads transmit data to the display thread by calling the interface function in the figure, and then display.
4. The method comprises the steps that an application layer based on a CPU + GPU heterogeneous architecture platform adopts real-time Linux as a System platform in the CPU + GPU heterogeneous architecture, so that a Pthread thread based on a Portable Operating System Interface (POSIX) standard is used for building a signal data processing framework in the application layer, and the thread can be transplanted and used in all Unix-like operating systems. The frame is shown in the attached drawings. The application layer framework comprises five parts, namely radio frequency front end data receiving, signal processing, real-time storage, terminal display and data processing. Next, an application implementation process of each part will be explained.
4.1 radio frequency front end data receiving thread, the radar radio frequency front end data is transmitted into the processor after passing through the transmission card. The system assigns a CPU core to the thread and uses data transfer middleware to transfer the data of the current thread to other threads. The processing flow is shown in the attached drawing. After the data receiving thread is started, various initializations are carried out on the whole module, including initialization of the receiving module, initialization of data transmission middleware, CPU core binding and the like, then a Start signal of signal data processing is waited, after the signal is received, the middleware for transmitting data calls GetOneBuff, then the received data is stored in the corresponding Buff, namely a DataRec interface function of the data receiving middleware is called, and finally an address pointer of the Buff is placed in a BuffUsedUseQueueItem queue. The GetOneBuff call then continues to be repeated until the thread interrupt exits.
4.2 real-time storage thread, the real-time storage thread is the thread which stores the front-end signal and the parameters such as system time in a file, and the processing flow is shown in the attached figure. After the real-time storage thread is started, a file with the current system time as the name is created to serve as an address of future data storage, then a Start signal of signal data processing is waited, after the signal is received, a time series function is called first, after a current system time stamp is obtained, a Dequeue interface of front-end data transmission middleware is called, a transmitted data pointer address is pushed out from a buffusedqueueItem, then the data and the time stamp are stored in the file together, after the data file is stored, a RefreshBuff interface function is called, and the used data pointer address is pushed into a BuffFreeQueuueItem queue. And then continuing to repeatedly call the function of the time series to acquire the time stamp until the thread interrupt exits.
4.3 signal processing thread, the signal processing thread is in the part of CPU operation, also has the part of GPU operation, and a CPU core needs to be bound to the thread, prevents other processes from preempting and the like time consumption. Because the signal processing middleware needs to be initialized according to parameters such as radar control words, and after the radar control words are changed, the parameters of part of the middleware for signal processing need to be reset. See the attached drawings. The signal processing thread calls an InitRadarDSPSys interface after being started, initializes the signal processing middleware, and then waits for a Start signal of signal data processing; after receiving the signal, calling a Dequeue interface of the front-end data transmission middleware to acquire data transmitted from a front-end thread; and then calling a SetSysParameter interface to set parameters of signal processing, wherein the first frame radar echo data has no influence on subsequent signal processing, so that the data is not processed, and a RefreshBuff interface of a front-end thread data transmission middleware is directly called.
Then, a GetOneBuff interface for transmitting target data to the data processing thread middleware and a Dequeue interface for acquiring the digital echo middleware are respectively called, so that radar echo information, data and the address of a storage target data buffer area are acquired, whether a radar control word in the radar echo information is changed or not is judged, and if the radar control word is changed, parameters of part of the middleware for signal processing are required to be reset. The ResetParameter interface is called first to reset all parameters, then the setsysparameter interface is called to reset the parameters of the signal processing middleware, and then signal processing can be performed in the order when the radar control word is not changed. Firstly, calling a SetSampleSignal interface to obtain radar digital echo data and parameters, then calling a DoProcessEx interface to perform signal processing on the data, calling a GetSignalProcOut interface to transmit the data obtained after data processing to a memory from a GPU, then transmitting target data to an EnQueue interface of a data processing thread middleware to store a buffer area address into a queue, and finally calling a RefreshBuff interface of a front-end thread data transmission middleware to mark that the signal processing on the digital echo data is finished. The Get middleware in signal processing and the corresponding signal slot in terminal display can be called in the Show interface, so that the data image processed by the signal processing middleware can be displayed in real time. Finally, the above operations are looped until the thread exits. In the process, the DoProcess runs in the GPU, the DeQueue and the EnQueue run in the CPU, and other functions run interactively in the GPU and the CPU and transmit data.
And 4.4, processing the target data acquired after signal processing by using a data processing thread. When the radar control word is changed, the data processing module needs to discard all the target data before the control word is not changed. The data processing thread runs in the CPU, and in order to improve the data processing capacity, the system binds the thread in the CPU core, and the processing flow is shown in the attached figure.
After the data processing thread is started, the interface class of the data processing is created and initialized, then a Start signal of information processing is waited, after the signal is obtained, a DeQueue interface of a middleware for transmitting target data after signal processing is called, the thread obtains the target data and radar information, and whether the radar control word is changed or not is judged. If the control word has changed, the interface class for data processing is recreated. If the control word is not changed, calling a read _ new interface, reading target data, then carrying out data processing through a data _ stream interface, finally copying the data through GetTrackInfo, and then calling a signal slot interface displayed by a terminal to display final data through a PShow interface. And finally, whether the radar control word is changed or not, calling a RefreshBuff interface of the data transmission middleware to process the address of the buffer area.
4.5 radar terminal display thread, radar terminal shows and adopts QT development frame to develop, according to the development attribute of QT, directly adopts the main thread to carry out data display. The processing flow is shown in the attached drawing. The method comprises the steps that a radar terminal display thread initializes an interface, then a signal receiving function and a slot function in a display main thread are connected through a connect function, then other threads in an application frame are established, and signal data transmitted from the interface is waited to process a Start signal. If the signal is received, the signal data processing is started, and the result of the signal data processing is displayed. In summary, the architecture of the software radar signal data processing application layer based on the CPU + GPU heterogeneous structure is shown in the attached drawing.
A radio frequency front end receiving thread runs in a CPU, receives echo data transmitted from the radio frequency front end by using the thread, and then respectively transmits the data to a signal processing thread and a data storage thread through two data transmission middleware; the data storage thread runs in the CPU, and stores the data after receiving the echo data; the signal processing thread has a part running in the CPU and a part running in the GPU, firstly, the data is received through function execution in the CPU, the data is transmitted to the operation of the GPU, then, a middleware for signal processing is called, the data is processed in the GPU, the processed data is transmitted to the CPU, the data is transmitted to the data processing thread in the CPU through the data transmission middleware, and the result of part of the modules is transmitted to a terminal display process through the display middleware to be displayed; the data processing thread runs in the CPU, receives target information obtained by signal processing through the data transmission middleware, then calls the data processing middleware to process, and finally transmits the processed target data to the terminal display thread through the display middleware to be displayed.
Under normal conditions, when the radar control word is not changed, the processing flow chart of the application layer of the software radar signal data processing architecture based on the CPU + GPU isomerism is shown in the attached drawing.
Example one
The embodiment provides a system and a method for processing software-based radar signal data, which specifically comprise the following steps:
1. the whole signal data processing system receives 4 paths of intermediate frequency signals transmitted by the radar receiver, and completes the A/D data receiving, signal processing, data processing and human-computer interaction interface.
2. The system has the main functions: (1) and receiving 4 paths of intermediate frequency signals transmitted from the receiver to perform side lobe cancellation and side lobe elimination. Two of the four signals are sum and difference channels of a receiver; the other two paths are auxiliary channels of the receiver; (2) completing digital quadrature demodulation and pulse pressure; (3) comprises functions of moving target display (MTI) and Moving Target Detection (MTD), wherein the MTD is completed by the MTI and the FFT; (4) the CFAR comprises a one-dimensional CFAR, a two-dimensional CFAR and a clutter map; (5) functions including incoherent accumulation and M/N detection; (6) the target, the azimuth and the speed can be calculated; (7) the function of signal processing can be set through a human-computer interaction interface; (8) wherein the clutter map is required to contain static and dynamic clutter maps; (9) according to the working mode of the radar, the speed ambiguity can be solved; (10) the trace point data generated by the radar signal processing system can be received in real time; (11) in the data processing, point track condensation, track initiation, target tracking, target association, track point supplement and track extinction operation are required; (12) the target track can be drawn in real time in the concentric circle of the P display for the data after data processing; (13) distance and orientation data of the target existing in the circle can be given in a table mode; (14) the system can selectively display CFAR, MTI, MTD, echo data, pulse pressure results and the like in the radar system in real time.
3. Tactical indexes of system signal data processing: (1) the AD converter needs to meet the requirement that the sampling rate is more than 14MHZ, and has four data channels, and the sampling resolution is 16 bits; (2) MTI is three-pulse cancellation in signal processing; the Doppler filter in the MTD is completed by FFT, wherein the point number range of the FFT is 8K-32K; probability of false alarm less than or equal to 10-6(ii) a The M/N criterion is 2/3; (3) the need to include silence in clutter mapsTwo kinds of clutter, namely, attitude clutter and dynamic clutter; (4) the number of target points processed in one circle in data processing is not less than 1000 points; (5) the man-machine interaction interface can display data of modules such as MTI and MTD in signal processing while performing P display.
4. The signal data processing system interface of the software radar system is closely connected with a plurality of subsystems of the radar, and the subsystems comprise a receiver, a frequency synthesizer and a monitoring station. The connection relationship between them is as shown in the figure.
5. The signal data processing flow comprises signal processing and data processing functions such as digital quadrature demodulation, pulse pressure, sidelobe cancellation, pulse pressure, CFAR, angle measurement, point trace aggregation, data association and the like besides terminal display according to the requirements of a radar system. The overall signal data processing system is shown in the figure.
The original analog echo received by the radar is converted into a digital intermediate frequency signal through the ADC, the digital intermediate frequency signal can be orthogonally demodulated only through floating point number conversion, and the data is converted into a double-channel I, Q signal through demodulation. The signal obtained after the quadrature demodulation has the characteristics of high amplitude consistency among I, Q channels and good orthogonality.
The digital pulse pressure part completes the pulse pressure operation of the chirp signal and the two-phase code. The CPU firstly transmits data acquired by 4 channels of the AD card to the GPU, the GPU completes sidelobe cancellation and suppression of sidelobe interference of the antenna through two auxiliary branch signal pairs and channel signals, and then suppresses clutter through MTI or MTD, so that the signal-to-clutter ratio is improved. The MTD realized by adopting MTI + FFT can improve the signal-to-noise ratio and the signal-to-noise ratio. After constant false alarm detection and incoherent accumulation are carried out on the sum branch signal, angle solution is carried out on the detected signal through a combined sum channel and a difference channel. Finally forming the target point trace. And then transmitting the target track to a data processing module, finally eliminating interference by carrying out algorithms such as point track aggregation, track initiation, single-target tracking, data association and the like on the target, and transmitting the data of the current circle and the points which can form a stable track with the previous circles of data to a terminal module for display.
6. The design scheme of the signal data processing rear end and the design of the software radar system adopt commercial goods shelf products, namely all hardware devices in the system can be realized by purchasing the commercial products. The system comprises the steps of acquisition, processing, storage and control. This allows the entire system to be built based on an open computing architecture. The system finally completes the functions of quantizing, signal processing and data processing of target echo signals, recording of original echo data, signal processing, terminal display of processing results and final results of partial modules in the data processing and the like, and provides an efficient, open and reusable real-time signal data processor for the radar system.
7. The data acquisition system is an ADC converter, and it needs to complete synchronous acquisition and conversion of four intermediate frequency analog echo signals. According to the indexes of the radar receiver signals, the intermediate frequency of the collected signals is 10.5MHz, and the bandwidth of the signals is 2MHz and 7 MHz. Since the signal is a band-pass signal, the sampling frequency f of the ADCsThe bandpass sampling law must be satisfied:
2fH(m+1)≤fs≤2fL/m(0≤m≤M) (1-1)
wherein f isHIs the highest frequency of the signal, fLFor the lowest frequency of the signal, M is not more than fHThe highest positive integer of/B. According to the signal characteristics, fLIs 7MHz, fHAt 14MHz, M may take a positive integer less than 2. As can be seen from the above system parameters, m takes the value 1, and f is the samesIs 14MHz, and thus 14MHz is the sampling frequency of the ADC, while if the signal bandwidth is 2MHz, the sampling frequency does not need to be changed according to the band-pass sampling theorem.
From the above analysis, the major specifications and requirements of the ADC system are as follows: (1)4 sampling channel numbers; (2) a 14MHz sampling rate; (3) a signal bandwidth of up to 7 MHz; (4) the resolution of the ADC acquisition system is 16 bits; (5) a transmission interface of pci 2.0x8 is used. According to the above system requirements and the required expansion performance of the system, an acquisition card of M4i.4411-x8 of SPECTRUM company can be selected, the highest sampling rate is 130MHz, the resolution of 4 channels and 16 bits, and the PCIe2.0x8 interface is used for connecting with the computer.
8. In the data storage system, a signal processor needs to record the intermediate frequency signal of the echo data received by the radar after the echo data is collected by the ADC in real time so as to analyze and playback the data in the later period.
According to the parameters of the radar system, the radar range is 120KM, the sampling frequency is 14MHz, 16 bits, 4 channels and the pulse repetition frequency is 1000Hz, so that within 1 second, the system needs to record 2 × 120e3/3e8 × 14e6 × 4 × 2 × 1000 — 89.5MBytes, and if the system records echo data for 10 hours continuously, the storage capacity of the system needs 3.25 TBytes.
Meanwhile, the recording speed that the whole recording system needs to support is 89.5Mbytes/S, and according to the analysis, the main indexes of the data recording system are as follows: (1) recording capacity: not less than 4TBytes (2) recording speed: and according to the indexes, selecting the 12TBytes SFF SAS disk array, wherein the transmission speed is 12 x 1024 MBytes/S.
9. The serial port 422 transmits, the radar monitoring subsystem monitors the working state of the radar, and transmits the working state of the radar to the signal data processing system, and meanwhile, the radar also needs to transmit the azimuth code to the signal processing module so as to determine the azimuth of the target. In the radar system, the serial port rate of the control word transmitted by the control subsystem of the radar is different from the rate of the radar azimuth code transmission. The control words of the radar are transmitted according to the serial port 422 transmission rate of 115200bps, and the azimuth codes of the radar are transmitted according to the 9600bps transmission rate. According to the above analysis, the main technical indexes and requirements of serial port transmission are as follows: (1)2 paths of independent RS422 channels; (2) the lowest transmission rate needs to meet 115.2 Kbps; (3) the transmission interface is PCIe, a CP-132L serial port card of Moxa is selected to transmit azimuth codes and control words according to system requirements, two independent RS-422 ports are supported, the PCIe interface is adopted, the maximum transmission rate is 921.6Kbps, and the method can be suitable for one-to-many application environments.
10. And the system time schedule controller needs to receive the clock signal of the frequency synthesizer, the pulse emission signal and the pulse frequency conversion starting point signal according to the system requirement of the radar, and simultaneously connects the sampling clock and the sampling starting signal of the AD card, thereby controlling the whole process of data acquisition of the AD card. The structure diagram is as follows.
The system time sequence controller outputs the trigger signal and the acquisition clock of the AD card according to the reference clock of the radar and the trigger signal emitted by the pulse. The system time sequence control module needs to ensure that the trigger signal and the acquisition clock of the AD card can be synchronous, and the rising edges of the trigger signal and the acquisition clock need to be aligned, because if the trigger signal and the acquisition clock are not aligned, the data acquired by the AD card can be staggered by one acquisition point. In the system, the frequency of an AD acquisition clock is 14MHz, namely the clock period is 71ns, the synchronization precision between the AD acquisition clock and the clock period needs to be controlled within 35.5ns, and the control precision of a time schedule controller needs to be controlled within 10 ns. The technical indexes and requirements of the analysis are as follows: (1) the signal pulse of the input system clock is 14MHz, and the signal is TTL level; (2) the input emission pulse trigger signal and the frequency conversion starting point signal are both TTL levels; (3) the system needs to control the time to within 10 ns.
11. The system adopts a signal processing system with a CPU + GPU heterogeneous architecture, has the real-time computing capacity of signal processing and data processing required by a radar system, and can perform functions of digital quadrature demodulation, signal processing, data processing and the like on target echo signals.
When the system is in operation, the AD acquisition card waits for an acquisition trigger signal transmitted by a system time schedule controller, when an acquisition starting signal arrives, four paths of intermediate frequency signals from a radar receiver, such as a sum signal, an azimuth difference signal, an auxiliary channel 1, an auxiliary channel 2 and the like, are input into a signal processing system, a clock signal of an frequency synthesizer is input into the system time schedule controller, four paths of analog signals are synchronously acquired by a four-channel data acquisition device under the control of a CPU (central processing unit) by utilizing a sampling clock and a sampling trigger signal generated by a system controller, then the data are transmitted to a system memory through a PCIe (peripheral component interface express) 2.0x8 bus under the control of the CPU, and then the data are transmitted to; meanwhile, the control word and the azimuth code of the radar are transmitted to a system memory through a serial port card and then transmitted to a CPU for setting, a GPU is controlled to perform radar signal processing of different types, and finally the system combines the control word, the azimuth code and the digitized data of the radar echo and then sends the data to a disk array for storage. This is the process of signal processing. For data processing and terminal display, the system transmits radar data processed by the GPU to the CPU through a system memory, and the CPU performs data processing on the data after signal processing and then displays the data. Since the signal processing of the entire system is performed by the GPU, the GPU needs to select a computing card with high performance. Depending on the requirements of the radar system. The system selects a Nividia K40 computing card, the peak value single-precision floating point computing capability is 4.29TFLOPS, and the frequency of video memory can reach 6 GHz.
The data processing of the whole system is completed by the CPU, and the CPU needs to be responsible for real-time storage, real-time acquisition of the AD card, control of the GPU to perform operations such as signal processing, terminal display, serial port receiving and the like, wherein an independent CPU core is needed for controlling the GPU to perform signal processing. Because data processing is required to be performed on the data after signal processing, the normal operating frequency cannot be too low. The system selects the CPU chip of intel with the intensity of E5-2643, the main frequency full load of the system can reach 3.456GHz, and the system has the processing performance of multi-core and multi-thread.
In the whole software-based radar signal data processing system, at least 3 PCIe cards including a GPU card, an ADC acquisition card and a serial port card need to be inserted, because the E5-strong CPU selected by the system does not have an integrated display card inside, a common display card is also needed, and therefore the selected processor needs to include at least 4 PCIe slots.
In order to ensure that the whole real-time system can meet the requirement of the radar system on the working environment, the system must be capable of completing the calculation required by simulation within the time beat required by the determined time sequence, and simultaneously must be capable of responding to the external interrupt in real time and switching between threads in the system in real time.
For a general Window operating system and a general Linux operating system, a time of about 1ms to 10ms is required for performing interrupt response and switching process, and the requirement of real-time system signal processing cannot be met, so that the whole system adopts a real-time rednawk operating system to meet the requirement of radar system real-time processing according to the description in the fourth chapter.
In summary, the software radar signal data processing system based on the CPU + GPU completes scheduling and data processing of various events through the CPU by using the high-performance server including the CPU and the GPU; real-time scheduling support for the GPU is provided by adopting a real-time operating system Redhawk based on Linux, so that high-performance and real-time signal data processing based on the CPU and the GPU is realized.
The main technical indexes and requirements are as follows: (1) the computing power is not less than 3 TFLOPS; (2) the transmission interface with PCIe3.0 x16 is provided, and the continuous transmission speed is not lower than 9.5 GByte/s; (3) the system scheduling delay should not be greater than 20 us; (4) has not less than 4 PCIe interfaces; (5) the software reconstruction of system functions can be realized; (6) the storage speed is higher than 1.5 Gb/s; (7) the real-time Linux operating system can support GPU real-time scheduling.
According to the technical indexes, HP ProLiant DL580 Gen8 is selected for the whole signal processing server, and the server comprises 9 PCI-e slots, wherein 5 PCI-e 3.0 x16 slots are included, so that the requirements of various board cards of the system are completely met. And because the whole system is provided with redundant slots, more GPU cards can be placed to complete more complex signal processing tasks. The signal processing algorithm is carried out in the system, and all the signal processing algorithm is software based on the GPU, so that the signal processing algorithm is reconstructed only by reconstructing and compiling the algorithm of the GPU. The system clock control card is the whole time sequence control device of the signal processing system, and the time sequence and the trigger signal on the card are generated through the FPGA, so that the required time sequence control signal can be generated only by reconstructing an FPGA program on the clock control card even if the radar system is changed or the working mode of the radar is changed. In summary, the reconfigurability of the whole system can be realized by modifying software. And for the expansibility of the system, the system can be completed only by adding more GPU cards. The system thus fully satisfies the requirements of expandability.
12. Application framework
The radar system adopts a real-time operating system based on Linux and has the characteristics of modularization and the like of a software radar. The system adopts POSIX threads conforming to POSIX standards to build an application layer framework of the radar system.
For data transmission between different threads, a transmission queue built by the Intel TBB introduced in section 4.1.3 is used to transmit data. The system adopts a QT graphical interface development framework to develop the interface of the display terminal. Through the POSIX thread, can call the middleware that satisfies radar development demand at the application layer to make the system have fine expansibility and flexibility, can the different radar system development demands of quick response.
The test results of the system scheme of the application are as follows:
the radar signal data processing system needs to meet the requirement of real-time processing of signals, so the realized signal data processing system of the CPU + GPU needs to meet the requirement of real-time performance.
In the whole process, signal processing is performed in the GPU. For signal processing, the real-time performance of the radar system needs to be satisfied, and we will analyze the time performance of GPU processing in the following.
The analysis of the radar working parameters needs to be designed according to the highest working parameters of the radar, wherein the radar working parameters are as follows: the operating distance is 120KM, the pulse repetition frequency is 1000Hz, the intermediate frequency is 10.5MHz, the sampling frequency is 14MHz, 16bit, the number of FFT points of MTD is 32, namely, the MTD operation is carried out after 32 pulses are accumulated to be used as MTI. The GPU for calculation uses K40.
Under the above conditions, the signal data processor divides the signal processing section into two sections in total, one pulse repetition period processing and 32 pulse accumulation processing. The work done in one pulse repetition period comprises data movement in the ADC to the GPU, floating point number conversion, digital quadrature demodulation, side lobe cancellation namely weight solving, range pulse pressure and three-pulse MTI. The processing after accumulating 32 pulses comprises: MTD, modulus calculation, CFAR, dynamic clutter map calculation and angle calculation.
According to the working parameters of the system, the number of data acquisition points of one channel in one pulse of the system is 22.4K, the size of the acquired data is 22.4x2x4 ═ 179.2Kbytes due to the bit number being 16bit, the bus bandwidth of an A/D card in the system is 3.4 GBbytes/s, the bus bandwidth of a GPU is 9.5 GBbytes/s, and 71.2us is needed for data transmission.
The GPU completion time was measured by NightStar tool to be 0.3ms maximum in a cycle process with 5000 times of one pulse repetition, while the repetition cycle of the system was 1ms, so the entire operating system fully satisfied the performance requirements. And as can be known from fig. 5 to 8, the GPU maintains a high-performance and high-concurrency state during the data processing, and can be reliably used in the signal data processing of the software radar signal data processing. The computation time is fully satisfactory for the system since it is measured by the NightStar tool that the GPU completion time is 0.6ms maximum for 5000 processes after 32 pulses are accumulated, which is much longer than the 32ms required for accumulating 32 pulses. In the actual processing process, the actual resource consumption of the CPU is not high by the software radar signal data processing system based on the CPU and the GPU. In the process of radar signal data processing, only when the QT graphical interface is displayed, the resources of the CPU are required to be occupied completely, and the occupation rate of other processing on a CPU core is low, namely, the CPU can easily complete the tasks specified by the application program.
According to the software radar signal data processor based on the CPU + GPU, the software radar signal data processor based on the CPU + GPU is realized through research on software radar signal data processing and parallel processing technologies. A platform for radar signal processing and data processing is built by adopting commercial goods shelf products such as ADC, CPU, GPU and the like and based on an open computer structure. The method completes the quantization, signal processing and data processing of the target echo signal, real-time recording of the original echo data and real-time display of the processing result, thereby providing an open, reusable and high-performance real-time signal and data processor. The radar system has the characteristics of a software radar by software definition of system structure improvement and a digital back end.
Compared with the traditional signal data processing system, the signal data processor has an open computer architecture, more flexible reconfigurable characteristics and stronger processing capability. The main characteristics are as follows:
(1) the system hardware adopts commercial goods shelf products, so that the hardware module has the characteristics of standardization, easy expansion, reconfigurability and the like; (2) the system can be reconstructed by modifying the application layer software module in the system, so that the requirements of other radar systems are met; (3) all processing tasks in the radar system are realized through software; (4) the system has stronger parallel processing capability and can complete the processing of various signals in the conventional radar.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (9)
1. A software-based radar signal data processing system is characterized by comprising a hardware layer, a system layer, an intermediate layer and an application layer;
the middle layer is used for providing general services for the application layer and comprises a data receiving middleware, a data transmission middleware, a real-time storage middleware, a signal processing middleware, a data processing middleware and a radar terminal display middleware;
the application layer builds a signal data processing framework through the middle layer and is used for calculating current radar data and signals, and the signal processing framework comprises radio frequency front end data receiving, real-time storage, signal processing, data processing and terminal display;
the radio frequency front end data receiving thread initializes a receiving module, initializes a data transmission middleware and binds a CPU core;
the data storage thread stores the front-end signal and the system time parameter together;
the signal processing thread acquires data transmitted by a front-end thread, acquires radar echo information and data and addresses of a storage target data buffer area, judges whether a radar control word in the radar echo information changes, and resets parameters for partial middleware of signal processing if the radar control word in the radar echo information changes;
the data processing thread acquires target data and radar information, judges whether a radar control word is changed or not, and if the control word is changed, reestablishes an interface class of data processing, and if the control word is not changed, obtains final data;
and the terminal displays the thread and displays the final data transmitted by the data processing thread.
2. The software-implemented radar signal data processing system of claim 1, wherein the hardware layer comprises a signal processing platform, a data processing platform, and a radar terminal display device;
the signal processing bearing platform is used for carrying out intensive calculation and radar real-time processing;
the data processing bearing platform is used for performing radar data processing tasks;
the radar terminal display equipment is used for finally displaying various radar echo data.
3. The software-implemented radar signal data processing system of claim 1, wherein the data processing middleware employs a current _ binder _ queue in an Intel tbb.
4. A software-implemented radar signal data processing system according to claim 1, wherein:
the data receiving middleware receives different types of data;
the data transmission middleware transmits data;
the radar data stored in real time comprises stored time points, radar control words and radar data information;
the signal processing middleware comprises pulse compression middleware, pulse accumulation middleware and clutter processing middleware;
the data processing middleware carries out trace point preprocessing and track forming processing on the target parameter information acquired by the signal processing module;
and the terminal display middleware displays the received data.
5. A software-based radar signal data processing method is characterized by comprising the following steps:
step 1: obtaining radio frequency front end echo data
Acquiring radar radio frequency front end echo data through a radio frequency front end data receiving thread, and transmitting the data to a signal processing thread through a data transmission middleware;
step 2: processing signals
Step 2.1: initializing the signal processing middleware through a signal processing thread, acquiring radio frequency front end echo data transmitted by the data transmission middleware, setting a signal processing parameter according to the radio frequency front end data, calling the radio frequency front end data to the data processing middleware, and acquiring radar echo information and data transmitted by the data processing middleware and an address of a storage target data buffer area;
step 2.2: judging whether a radar control word in radar echo information changes, if so, resetting parameters of the signal processing middleware, calculating target data and transmitting the target data to the data processing middleware, and if not, calculating the radar echo information, the target data and the address of a storage target data buffer area to obtain the target data and transmitting the target data to the data processing middleware;
and step 3: processing data
Acquiring target data transmitted by the data processing middleware through a data processing thread and judging whether a radar control word is changed or not, if so, recreating and reprocessing the interface class of the data processing and transmitting a processing result to the radar terminal display middleware for display, and if not, performing data processing and transmitting the processing result to the radar terminal display middleware for display;
and 4, step 4: display device
And initializing the interface through the terminal display thread, then acquiring signal data transmitted by other threads for processing, and displaying a processing result.
6. The software-implemented radar signal data processing method of claim 5, further comprising the steps of: and acquiring data transmitted by the data transmission middleware through a data storage thread and acquiring a current timestamp to store together.
7. The method for processing the software-based radar signal data according to claim 5, wherein the step 2 is specifically as follows:
step 2.1.1
Starting a signal processing thread and calling an InitRadarDSPSys interface, initializing a signal processing middleware, then waiting for a Start signal of signal data processing, and calling a Dequeue interface of a front-end data transmission middleware after receiving the signal to acquire data transmitted from a radio frequency front-end data receiving thread; then calling a SetSysParamer interface to set parameters for signal processing;
step 2.1.2
Respectively calling a GetOneBuff interface for transmitting target data to a data processing thread middleware and a Dequeue interface for acquiring a digital echo middleware, and acquiring radar echo information, data and an address of a storage target data buffer area;
step 2.2.1, whether the radar control word in the radar echo information changes is judged, if so, the parameters of partial middleware of signal processing are reset: calling a ResetParameter interface, resetting all parameters, calling a SetSysParameter interface to reset parameters of a signal processing middleware, processing signals according to the sequence when radar control words are not changed, firstly calling a SetSampleSignal interface to obtain radar digitalized echo data and parameters, then calling a DoProprocess interface to process the signals of the data, transmitting the data obtained after data processing from a GPU to a memory by calling a GetSignalProcOut interface, then transmitting target data to an EnQueue interface of the data processing thread middleware to store a buffer area address into a queue, and finally calling a RefreshBuff interface of the thread data transmission middleware; if not, calculating radar echo information, target data and the address of a storage target data buffer area to obtain target data and transmitting the target data to a data processing middleware;
and 2.2.2, calling a Get middleware in signal processing, displaying a thread and a signal slot corresponding to the thread through the terminal in the Show interface, displaying a data image processed by the signal processing middleware in real time, and circulating the steps 2.1.1 to 2.2.2 until the thread exits.
8. The method for processing the software-based radar signal data according to claim 5, wherein the step 3 is specifically as follows: step 3.1, starting a data processing thread, establishing and initializing an interface class of data processing, and calling a DeQueue interface of a target data transmission middleware after signal processing to acquire target data and radar information after acquiring a Start signal; step 3.2, judging whether the radar control word is changed, if the control word is changed, recreating the interface class of the data processing, if the control word is not changed, calling a read _ new interface, reading target data, performing data processing through a data _ stream interface, copying the data through GetTrackInfo, and calling a signal slot interface displayed by a terminal through a PShow interface to display final data; and 3.3, calling RefreshBuff interfaces of the data transmission middleware in the processing process in the step 3.2, and processing the addresses of the buffer areas.
9. The method for processing the software-based radar signal data according to claim 5, wherein the step 4 is specifically as follows: step 4.1, initializing an interface by a terminal display thread; step 4.2, connecting the signal receiving function and the slot function in the terminal display thread through the connect function, and establishing other threads in the application layer; and 4.3, acquiring the Start signal, starting signal data processing, and displaying the result of the signal data processing.
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