CN107688178A - A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars - Google Patents
A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars Download PDFInfo
- Publication number
- CN107688178A CN107688178A CN201710740727.7A CN201710740727A CN107688178A CN 107688178 A CN107688178 A CN 107688178A CN 201710740727 A CN201710740727 A CN 201710740727A CN 107688178 A CN107688178 A CN 107688178A
- Authority
- CN
- China
- Prior art keywords
- mrow
- signal
- speed
- fft
- cfar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
- G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a kind of sawtooth waveforms ranging and range rate method of 77GHz millimetre-wave radars, comprise the following steps：a.NtRoot transmitting antenna launches the continuous sawtooth waveforms transmission signal of identical frequency modulation and composition virtual array successively；b.NrRoot reception antenna receives the echo-signal of the transmission signal, forms virtual arrayWherein, Ns=fsT, Nsa1For transmit cycle；C. windowing FFT is carried out along fast time dimension to the reception signal of each transmit cycle, every antenna, obtainedNqFFTCounted for fast time dimension FFT；D. are carried out by slow time dimension FFT, is obtained for every reception antenna, the reception signal of different distance unitNsFFTCounted for slow time dimension FFT；E. to YVFFIt is each carry out phase compensation apart from speed unit, obtainF. beam forming is carried out apart from speed unit to all, obtainedG. CFAR CFAR detections are carried out to the data after beam forming, obtains CFAR detection result；And h. brings CFAR detection result into formula, speed v and distance parameter r are obtained.
Description
Technical field
The present invention relates to field of antenna, more particularly to a kind of sawtooth waveforms ranging and range rate side based on 77GHz millimetre-wave radars
Method.
Background technology
Millimetre-wave radar is widely used in traffic detection field at present, and wherein 77GHz millimetre-wave radars are either
Still there is very big advantage on detection accuracy and detection range in volume, this is due to 77GHz radar microstrip antenna
Easily narrow beam and high-gain are realized under less antenna volume.Because these characteristics, the millimetre-wave radar based on 77GHz
By as the standard configuration of active safety.At present, it is known that ripe 77GHz millimetre-wave radar schemes be all from foreign countries supply
Business, the domestic either research of colleges and universities or supplier to this respect are less.Domestic associated companies and universities and colleges are for thunder at present
The research for triangular wave scheme is concentrated mainly on up to the research in terms of algorithm, mainly there is following patent：
1st, " a kind of vehicle-mounted millimeter wave radar system multiple target number acquisition methods " (number of patent application is
201510875924.0) a kind of detections of radar multiple target spacing of triangular wave using variable period and the algorithm of speed, are proposed.
2nd, " a kind of millimetre-wave radar range-measurement system " (number of patent application 201520531100.7), describes one kind and is based on
The millimeter wave fmcw radar range-measurement system of triangular wave.
3rd, " objects in front state estimation and sorting technique based on vehicle-mounted millimeter wave radar " (number of patent application is
201510085048.1) a kind of objects in front estimation method of motion state based on vehicle-mounted millimeter wave radar, its feature, are described
It is：Based on the side velocity information of vehicle-mounted millimeter wave radar limited objects in front motion measured directly, front thing is established
The equation of motion of the body under earth coordinates, using adaptive Kalman filter algorithm for estimating, real-time and accurately estimate front thing
Body motion state.
4th, " vehicle-mounted millimeter wave radar system multi-target detection method " (number of patent application 201510874147.8) uses frequency
Rate clustering algorithm, tries to achieve the Doppler frequency matrix of CW waveform echo-signals, and calculates relative velocity matrix；Above and below FMCW
Also frequency of use agglomerative algorithm in frequency sweep, obtains the frequency values of frequency sweep up and down, and calculates the rate matrices of target and apart from square
Battle array.
5th, " vehicle-mounted millimeter wave radar system multi-target detection device " (number of patent application 201510875902.4), transmitting week
The FMCW and CW of phase property combined waveform, receives echo-signal, the also frequency of use agglomerative algorithm in frequency sweep above and below FMCW, obtain
The frequency values of upper and lower frequency sweep, and calculate the rate matrices and distance matrix of target.
What in general present Vehicle radar used is essentially all CW with frequency modulation (FMCW) radar, the thunder of the species
There is radiant power is small, ranging and range rate precision is high, equipment is relatively easy, is easily achieved solid state to design, with good up to major advantage
Good electronic countermeasure (ECM) and low probability of intercept (LPI) performance etc..Operation principle is one with echo-signal and transmission signal
Point carry out relevant mixing, obtain the difference frequency signal comprising target range and velocity information, then difference frequency signal is carried out processing and
Detection can obtain the distance and speed of target.
Tested the speed and ranging for FMCW is chirped, typically there are two methods：Triangular wave and sawtooth waveforms.The tune of triangular wave
Mode processed is commonly referred to as FMCW at a slow speed, and this mode obtains the distance and speed of target simultaneously, but wavelength is longer, speed compared with
Slowly, it is generally used for the relatively low system of traditional signal transacting performance.And sawtooth waveforms wavelength is shorter, the fast strong antijamming capability of speed,
Although by a FFT (FFT) while the distance and speed of target object can not be obtained, can pass through
Two-dimensional FFT, distance, then the mode for degree of testing the speed first are measured to obtain the distance of object and speed, with getting over for chip processing capabilities
Come stronger, memory headroom is increasing, and sawtooth phase modulation is the new quick FMCW modulation being increasingly widely adopted in recent years
Mode.
Such as above-mentioned art solutions, the modulation system that related algorithm is all based on triangular wave is calculated come the correlation developed
Method, have no and refer to for the related algorithm of sawtooth waveforms mode.
The content of the invention
The shortcomings that present invention is based on above-mentioned prior art, based on 77GHz millimetre-wave radar characteristics, propose a kind of based on multiple
The ranging and range rate method of the sawtooth waveforms radar emission signals for receiving antennas more, can realize simultaneously it is high-precision closely and at a distance
Multi-Goal Measure test the speed.
A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars of the present invention, comprises the following steps：
a.NtRoot transmitting antenna launches the continuous sawtooth waveforms transmission signal of identical frequency modulation and composition virtual array successively, described
Multiple transmitting antennas use different swept bandwidths and sawtooth waveforms quantity；
b.NrRoot reception antenna receives the echo-signal of the transmission signal, by a transmit cycle, identical reception day
The echo-signal for the different transmitting world transmission signals that line receives merges, and forms virtual arrayIts
In, Ns=fsT, Nsa1For transmit cycle；
C. windowing FFT is carried out along fast time dimension to the reception signal of each transmit cycle, every antenna, obtainedNqFFTCounted for fast time dimension FFT；
D. are carried out by slow time dimension FFT, is obtained for every reception antenna, the reception signal of different distance unitNsFFTCounted for slow time dimension FFT；
E. to YVFFEach distance-speed unit carry out phase compensation, obtain
F. beam forming is carried out to all distances-speed unit, obtained
G. CFAR CFAR detections are carried out to the data after beam forming, obtains CFAR detection result；And
H. bring CFAR detection result into following formula (4) and formula (5), obtain speed v and distance parameter r
Wherein, f0For centre carrier frequency, μ=B/T is frequency sweep slope, and B and T is respectively swept bandwidth and upper frequency sweep week
Phase, c are spread speed of the electromagnetic wave in free space.
Preferably, in step a, in multiple transmitting antennas, the transmitting antenna closely detected uses high frequency sweep band
Width, the transmitting antenna detected at a distance use small swept bandwidth.
Preferably,, can be by each distance-speed list of the reception antenna after Two-dimensional FFT to disclosed herein signal in step f
First signal carries out no-coherence cumulating, obtains accumulation gain.
Preferably, in step g, noise range and clutter area are detected using the CFAR of different criterions.
Preferably, in step h, in addition to the measurement of angle parameter is carried out.
Preferably, after step h, also there is solution velocity ambiguity step, including closely speed ambiguity solution step and remote
Speed ambiguity solution step.
The present invention has the advantages that：The solution of the present invention can realize simultaneously it is high-precision closely and at a distance
Multi-Goal Measure test the speed, by emulation testing, the solution of the present invention for the detection error of target be held in one quite
Low level.
Brief description of the drawings
Fig. 1 is sawtooth waveforms transmission signal time-frequency figure.
Fig. 2 is the sawtooth waveforms transmission signal design based on multiple antennas of the present invention.
Fig. 3 is the sawtooth waveforms transmission signal design based on multiple antennas of the present invention.
Fig. 4 is the dimensional Graphics figure of radar data block in a coherent processing inteval.
Fig. 5 is the algorithm flow chart of the present invention.
Fig. 6 is virtual array phase compensation schematic diagram.
Fig. 7 is CFAR detection principle diagrams.
Fig. 8 is angle parameter schematic diagram.
Embodiment
Below by embodiment, the invention will be further described, and its purpose is only that the research for more fully understanding the present invention
The protection domain that content is not intended to limit the present invention.
Below sawtooth waveforms transmission signal time-frequency figure is introduced referring initially to Fig. 1.As shown in figure 1, the i-th (i=1,2 ..., NSa) individual
Frequency sweep cycle transmission signal：
In formula, A is transmission signal amplitude, f0For centre carrier frequency,For first phase, μ=B/T is frequency sweep slope, B and T
Respectively swept bandwidth and upper frequency sweep cycle, NsaFor the number of sawtooth waveforms in a Coherent processing cycle.
Consider the t=0 moment, radar front is r in the presence of a distance, and speed is that (target is fast relative to the radial direction of radar by v
Degree, using close to radar direction as just) target, then reception signal：
In formula, A0For reception signal amplitude, when caused by distances of τ=2 (the r-vt)/c between t target and radar
Prolong, c is electromagnetic wave in the spread speed of free space, τd=2rmax/ c is maximum delay.
By reception signal and transmission signal is mixed and LPF, obtains intermediate-freuqncy signal：
To fast time dimension carry out FFT, obtain be on r and v frequency：
To slow time dimension carry out FFT, obtain be on v frequency：
Target velocity v can be obtained according to above-mentioned formula (5), distance r can be obtained by bringing v into formulas (4).
The present invention proposes a kind of sawtooth waveforms ranging and range rate method of 77GHz millimetre-wave radars.It is illustrated in figure 2 the present invention
The sawtooth waveforms transmission signal design schematic diagram based on multiple antennas.It is continuous that multiple transmitting antennas launch identical frequency modulation successively
Ripple, the virtual array of bigger receiving aperture can be formed, but the sampling rate of slow time dimension can be reduced, want to keep it is original not
The fuzzy scope that tests the speed, need to further reduce frequency sweep cycle.
Therefore, the present invention solves velocity ambiguity using different PRF, reduced on the basis of above-mentioned multiple antenna transmitter sets up meter
Algorithm complex；And use different swept bandwidths and sawtooth waveforms quantity.Up-close inspection needs higher range resolution ratio, adopts
With higher swept bandwidth.Long distance detection needs to detect larger distance, using less swept bandwidth.Form the present invention's
Multi-antenna transmission design, as shown in Figure 3.
The sawtooth waveforms reception signal design based on multiple antennas of the present invention is described below.Consideration has NtRoot launches day
Line, NrRoot reception antenna, NtRoot transmitting antenna launches identical CW with frequency modulation (transmit cycle) in turn, and forms virtual
Array.Transmit cycle is N in one Coherent processing timesa1, then the reception signal 3-D graphic in a Coherent processing time is such as
Shown in Fig. 4.
Separately from formula (3), in the i-th (i=1 ..., Nsa) in individual transmit cycle, kth (k=1 ..., Nr) piece-root grafting receipts
The reception of antenna m (m=1 ..., Nt) the echo complex signal of root transmitting antenna transmission signal is：
Its sampled signal is designated asWherein Ns=fsT, then a coherent processing inteval
It is interior, kth (k=1 ..., Nr) root reception antenna receive m (m=1 ..., Nt) root transmitting antenna transmission signal sampling
Signal is：
By in a transmit cycle, the echo-signal for the different transmitting antenna transmission signals that identical reception antenna receives is carried out
Merge, form virtual arrayI-th (i=1 ..., Nsa) reception signal in individual transmit cycle is：
The method of the present invention is described in detail below with reference to the algorithm flow chart of Fig. 5 present invention.
Step c. carries out fast time dimension FFT
Reception signal is subjected to windowing FFT along fast time dimension, with theIn individual transmit cycle, kth (k=
1,...,Nr) root reception antenna reception signalExemplified by：
In formula, wqIt is N for window functionS× 1 column vector, symbol ⊙ represents the Hadamard products of two vectors, i.e., corresponding
Element multiplication, fft (), which refers to, does FFT computings to signal.
From formula (4), it is assumed that there are distance is r, and speed is v target, then after carrying out FFT to fast time dimension, mesh
Mark spectrum peak position is：
Because sawtooth waveforms frequency sweep cycle T is very small, fr,v≈2Br/cT.Therefore, fast time dimension can be equivalent to distance
Dimension, spectrum unit can be equivalent to range cell.
Windowing FFT is carried out to the reception signal of each transmit cycle, every antenna, obtained
NqFFTCounted for fast time dimension FFT.
Step d. carries out slow time dimension FFT
To YVFSlow time dimension FFT is carried out, with kth (k=1 ..., Nr) root reception antenna, l (l=1 ..., Ns) individual frequency
Compose cell dataExemplified by：
In formula, wsIt is N for window functionsa× 1 column vector.
From formula (5), it is assumed that there are distance is r, and speed is v target, then after carrying out FFT to fast time dimension, mesh
Mark spectrum peak position is：
After slow time dimension FFT, target spectrum peak value position is only relevant with speed, therefore slow time dimension can regard speed as
Degree dimension.To every reception antenna, the reception signal of different distance unit carries out slow time dimension FFT, obtainsNsFFTCounted for slow time dimension FFT.
Step e. virtual array phase compensations
Reception signal in one transmit cycle is combined to form N by considerationt×NrThe virtual receiving array of root antenna is to increase battle array
During row gain, virtual array is set to become known to geometry, it is necessary to carry out phase compensation due to the problem of target motion be present
Linear array so that beam forming obtains preferable effect.
As shown in Figure 6, it is assumed that Nt=2, Nr=4, exist an azimuth be θ far field objects, with transmitting antenna 1 away from
From for d1, the distance with reception antenna 1 is d2, it is assumed that signal reflex angle is identical with incidence angle, and target is within a triangle cycle
Angle change will not be caused by moving, and the relative velocity of target and radar is constant.
The relation of wave-path is as shown in the table between different transmitting antennas and reception antenna：
As seen from the above table, the wave path-difference in theory between the two neighboring antenna of virtual array is dsin θ, therefore can be by 2
The array of × 4 (2 hairs 4 are received) is changed into virtual 1 × 8 even linear array.
In practice, relative motion between target and radar be present, the move distance within a triangle cycle is believed intermediate frequency
The influence of number frequency can be ignored, but can not ignore the influence to wave path-difference (phase), i.e. virtual array reception antenna 4 and 5
Between wave path-difference Δ b ≠ d sin θs and unknown, be no longer uniform linear array.
It is assumed that only existing an echo signal in a distance-speed unit, Compensation Design is as follows.
Consideration i-th (i=1 ..., NqFFT) individual apart from dimension unit, l (l=1 ..., NsFFT) individual speed dimension element memory
In a target, the complex vector of spectrum unit where taking target：
Take outWithPhase beWithObtain phase difference：
In formula, α is phase difference caused by antenna spacing, and β is the phase caused by target range change within a triangle time
Potential difference.Obtained by formula (14) and (15), the phase of compensation is
AlthoughThe fuzzy of 2 π integral multiples is there may be, but not influences last result.
Signal after phase compensation is：
Wherein,
To YVFFEach distance-speed unit carry out phase compensation, obtain
Step f. carries out non-self-adapting Wave beam forming
Assuming that beam center azimuth is θ0, consider the system transmitting receiving array structure, spatial domain steering vector is：
Can by i-th (i=1 ..., NqFFT) individual apart from dimension unit, l (l=1 ..., NsFFT) individual speed dimension unit
Nt×NrThe virtual reception antenna array element signal of root is weighted summation, and conventional non-self-adapting beamformer output signal is：
In formula, H represents conjugate transposition, and window function w is NtNr× 1 column vector, there is provided the data of angle domain Sidelobe Suppression add
Power, steering vector as(θ0) provide to from θ0All distance-speed units are entered traveling wave by the maximum coherence accumulation of direction signal
Beam shaping, obtain
To disclosed herein signal, each distance-speed unit signal of the reception antenna after Two-dimensional FFT can be carried out incoherent
Accumulation, accumulation gain is obtained, while reduce algorithm complex, such as following formula：
Step g. carries out CFAR detections
Data after beam forming are carried out with CFAR (CFAR) detection, wherein noise range and clutter area use different criterions
CFAR.
It is larger that CFAR detections amount of calculation is carried out to all distances-speed unit, first judges the distance before CFAR detections
Whether the range value of unit is plots peak, can avoid the processing to garbage signal.
CFAR detection principle diagrams are as shown in Figure 7.
In Fig. 7, input block signal is Zc=Z ⊙ Z*, the conjugation of symbol * expression vectors.By ZcEach distance-speed unit
Value compared with threshold value, if being more than threshold value, then it is assumed that the point is with the presence of target.
Due to radar itself speed known a priori, therefore the quiet of different distance unit in range of interest can be calculated
The only speed unit residing for clutter, two dimensional surface is divided into noise range and clutter area, is utilized respectively different CFAR criterions and enters
Row target detection.
For noise range CFAR
The average apart from peacekeeping speed dimension reference unit data is calculated respectively, obtains the noise power apart from peacekeeping speed dimension
EstimateWithTake smaller valueAs noise power estimation value.
For clutter area CFAR
The average that left and right (upper and lower) reference unit data are tieed up apart from peacekeeping speed is calculated respectively, takes higher value to be used as distance to tie up
With the clutter power estimate of speed dimensionWithHigher value is taken againAs clutter power estimate.
Step h. carries out speed distance parameter estimation
Bring CFAR detection result into formula (4) and formula (5), you can obtain speed and distance parameter.
On angle parameter
Phase method angle measurement carries out angle measurement using the phase difference between multiple antenna institutes receives echo-signal.
As shown in Figure 8, it is assumed that have far field target in θ directions, then it is approximately plane wave that the target of arrival receiving point, which reflects,.
Because two antenna spacing are d, received signal produces phase difference due to wave path-difference Δ R be present
Measure phase difference, you can determine target direction θ.
Phase method in good signal to noise situations, angle measurement better performances, while amount of calculation is small.It is but relatively low in signal to noise ratio
In the case of, angle measurement poor-performing, while angle information more than two targets can not be differentiated.
The general principle of Estimation of Spatial Spectrum method is, by the way of spectrum peak search, with the steric direction vector of different angle
Beam forming is carried out to signal.When trying to achieve energy maximum after beam forming, the angle of the angle corresponding to steering vector, as target
Spend estimate.
According to CFAR detection result, corresponding frequency spectrum complex vector in Two-dimensional FFT data is taken out, its covariance is tried to achieve, enters
Row spectrum peak search, estimate angle on target.
Angle is estimated using Estimation of Spatial Spectrum method：
In formula, steering vectorBy certain angle interval (by
Angle measurement accuracy requires to determine) search modulus value maximum, and angle corresponding to calculating.
The advantages of Estimation of Spatial Spectrum method is that certain angle measurement performance can be kept in the case where signal to noise ratio is relatively low, while can
Differentiate angle informations more than two targets.It is but larger compared to phase comparing method, amount of calculation.
Velocity ambiguity is solved on multiple PRF
Consider the target that a speed is v, Doppler frequency shift f in front of radar be presentd, radar frequency sweep repetition rate is fT
=1/T, when Doppler frequency shift is more than 1/T, it can be seen from sampling thheorem, doppler frequency measurement, which exists, to be obscured, actual how general
Strangling frequency can represent as follows：
In formula,For apparent Doppler shift, m is integer.
In order to carry out Ambiguity resolution, the more repetition (f of radar generally useT1,fT2,...,fTN) working method, choose repetition with
A certain cps are coprime, and to frequency consolidationization processing, no ambiguous Doppler frequency range is its least common multiple
It is f to actual Doppler frequency shiftdTarget, apparent Doppler frequency is respectively corresponding to different repetitions：Should then have：
Specific solution velocity ambiguity step is as follows：
(1) range-to-go is obtained according to data 1With fuzzy speedThe not fuzzy scope that tests the speed is 0~Vu(put aside
Negative value), the not fuzzy scope that tests the speed of system is 0~Vmax, then the possible speed of target be：
Wherein,To round downwards.
According to vmDFT twiddle factors are calculated：
(2) data 2 are carried out with fast time dimension FFT, is obtainedAccording to target rangeTarget is calculated
Residing range cellObtain the slow time complex vector of range cell residing for target
(3) target velocity is calculated：
Emulation testing, discovery pair are carried out to the sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars of the present invention
An at a fairly low numerical value level, including target range flase drop are held in the detection error of target (single goal or multiple target)
Rate, target range mean error, target velocity false drop rate, target velocity mean error, angle on target false drop rate, angle on target are put down
Equal error etc..For example, in the case of single goal, single goal is zero apart from false drop rate, single goal range error 0.05m~
Between 0.15m, single goal speed false drop rate is zero, and single goal velocity error is between 0.04~0.08m/s；The situation of multiple target
Under, multiple target range error is between 0.04m~0.08m, and velocity error is between 0.04~0.08m/s.In addition, in multiple target
In the case of, false alarm rate and false dismissed rate are substantially zero.Wherein, false alarm rate defines：Detect the probability of false target.False dismissed rate
Definition：The probability of goal-selling is not detected.When target range error is more than 1m, either velocity error is more than 1m/s or angle
When spending error more than 2 degree, as missing inspection.
Obviously, those of ordinary skill in the art is it should be appreciated that the embodiment of the above is intended merely to explanation originally
Invention, and be not used as limitation of the invention, as long as in the spirit of the present invention, to embodiment described above
Change, modification will all fall in claims of the present invention scope.
Claims (6)
- A kind of 1. sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars, it is characterised in that comprise the following steps：a.NtRoot transmitting antenna launches the continuous sawtooth waveforms transmission signal of identical frequency modulation and composition virtual array successively, the multiple Transmitting antenna uses different swept bandwidths and sawtooth waveforms quantity；b.NrRoot reception antenna receives the echo-signal of the transmission signal, and by a transmit cycle, identical reception antenna receives The echo-signals of different transmitting world transmission signals merge, form virtual arrayWherein, Ns= fsT, Nsa1For transmit cycle；C. windowing FFT is carried out along fast time dimension to the reception signal of each transmit cycle, every antenna, obtainedNqFFTCounted for fast time dimension FFT；D. are carried out by slow time dimension FFT, is obtained for every reception antenna, the reception signal of different distance unitNsFFTCounted for slow time dimension FFT；E. to YVFFEach distance-speed unit carry out phase compensation, obtainF. beam forming is carried out to all distances-speed unit, obtainedG. CFAR CFAR detections are carried out to the data after beam forming, obtains CFAR detection result；AndH. bring CFAR detection result into following formula (4) and formula (5), obtain speed v and distance parameter r<mrow> <msub> <mi>f</mi> <mrow> <mi>r</mi> <mo>,</mo> <mi>v</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <mi>&mu;</mi> <mi>r</mi> </mrow> <mi>c</mi> </mfrac> <mo>-</mo> <mfrac> <mrow> <mn>2</mn> <mi>v</mi> </mrow> <mi>c</mi> </mfrac> <msub> <mi>f</mi> <mn>0</mn> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>4</mn> <mo>)</mo> </mrow> </mrow><mrow> <msub> <mi>f</mi> <mi>v</mi> </msub> <mo>=</mo> <mo>-</mo> <mfrac> <mrow> <mn>2</mn> <mi>v</mi> </mrow> <mi>c</mi> </mfrac> <msub> <mi>f</mi> <mn>0</mn> </msub> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>5</mn> <mo>)</mo> </mrow> </mrow>Wherein, f0For centre carrier frequency, μ=B/T is frequency sweep slope, and B and T is respectively swept bandwidth and upper frequency sweep cycle, and c is Spread speed of the electromagnetic wave in free space.
- 2. according to the method for claim 1, it is characterised in that in step a, in multiple transmitting antennas, closely examined The transmitting antenna of survey uses high swept bandwidth, and the transmitting antenna detected at a distance uses small swept bandwidth.
- 3. according to the method for claim 1, it is characterised in that, can be by after Two-dimensional FFT to disclosed herein signal in step f Reception antenna each distance-speed unit signal carry out no-coherence cumulating, obtain accumulation gain.
- 4. according to the method for claim 1, it is characterised in that in step g, noise range and clutter area are using different criterions CFAR is detected.
- 5. according to the method for claim 1, it is characterised in that in step h, in addition to carry out the measurement of angle parameter.
- 6. according to the method for claim 1, it is characterised in that after step h, also there is solution velocity ambiguity step, including it is near Apart from speed ambiguity solution step and remote speed ambiguity solution step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710740727.7A CN107688178A (en) | 2017-08-25 | 2017-08-25 | A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710740727.7A CN107688178A (en) | 2017-08-25 | 2017-08-25 | A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107688178A true CN107688178A (en) | 2018-02-13 |
Family
ID=61154998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710740727.7A Pending CN107688178A (en) | 2017-08-25 | 2017-08-25 | A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107688178A (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614267A (en) * | 2018-07-09 | 2018-10-02 | 南京普陆康电子科技有限公司 | A kind of Anticollision Radar design method based on 77GHz millimeter-wave technologies |
| CN108872954A (en) * | 2018-06-15 | 2018-11-23 | 深圳市华讯方舟雷达技术装备有限公司 | CFAR detection method based on relevant treatment in same period |
| CN108923131A (en) * | 2018-07-09 | 2018-11-30 | 南京普陆康电子科技有限公司 | 2 hair 4 of one kind receives 77GHz millimeter wave array antenna and its algorithm |
| CN109343053A (en) * | 2018-11-26 | 2019-02-15 | 上海瀚唯科技有限公司 | 4D millimetre-wave radar system space information sensing method |
| CN109343052A (en) * | 2018-11-08 | 2019-02-15 | 湖南铁路科技职业技术学院 | Millimetre-wave radar tramcar anticollision method for early warning and system based on MIMO |
| CN109633651A (en) * | 2019-01-14 | 2019-04-16 | 长沙莫之比智能科技有限公司 | 77G unmanned plane avoidance radar |
| CN109932727A (en) * | 2019-04-19 | 2019-06-25 | 洛阳顶扬光电技术有限公司 | A method of improving laser ranging system medium and long distance range accuracy |
| CN109946659A (en) * | 2019-03-07 | 2019-06-28 | 东南大学 | A kind of vehicle-mounted millimeter wave radar linear frequency modulation continuous wave motion frequency spread corrections method |
| CN109975807A (en) * | 2019-03-27 | 2019-07-05 | 东南大学 | A kind of reduced order subspace angle-measuring method suitable for millimeter wave trailer-mounted radar |
| CN110133630A (en) * | 2019-04-26 | 2019-08-16 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of radar target detection method and the radar using it |
| CN110895333A (en) * | 2019-12-05 | 2020-03-20 | 电子科技大学 | Rapid 77G vehicle-mounted radar data clustering method based on Doppler frequency |
| CN111103580A (en) * | 2018-10-26 | 2020-05-05 | 华为技术有限公司 | Radar signal processing method and device |
| CN111257861A (en) * | 2018-12-03 | 2020-06-09 | 北京华航无线电测量研究所 | 24GHz continuous wave radar angle measurement method |
| CN111308458A (en) * | 2020-02-21 | 2020-06-19 | 北京理工睿行电子科技有限公司 | Vehicle speed estimation method based on vehicle-mounted millimeter wave radar |
| CN111522010A (en) * | 2020-06-04 | 2020-08-11 | 四川九洲电器集团有限责任公司 | Method and system for processing automobile anti-collision radar signals |
| CN111650564A (en) * | 2020-02-26 | 2020-09-11 | 惠州市德赛西威智能交通技术研究院有限公司 | Vehicle-mounted radar failure detection method based on CFAR post-peak point statistics |
| CN111722212A (en) * | 2020-06-29 | 2020-09-29 | 江苏集萃深度感知技术研究所有限公司 | Radar speed measurement method based on sawtooth wave and single-frequency signal |
| CN112204422A (en) * | 2019-08-26 | 2021-01-08 | 深圳市大疆创新科技有限公司 | Speed measurement method, multi-input multi-output radar and movable platform |
| CN112578342A (en) * | 2019-09-30 | 2021-03-30 | 华为技术有限公司 | Signal sending method, signal processing method and radar device |
| CN112612020A (en) * | 2020-11-13 | 2021-04-06 | 北京理工睿行电子科技有限公司 | Novel millimeter wave radar signal processing method |
| CN112710993A (en) * | 2019-10-25 | 2021-04-27 | 深圳开阳电子股份有限公司 | TDM-MIMO radar space spectrum estimation compensation method |
| CN112816960A (en) * | 2021-02-03 | 2021-05-18 | 森思泰克河北科技有限公司 | In-vehicle life detection method, device, equipment and storage medium |
| CN113341404A (en) * | 2020-03-02 | 2021-09-03 | 加特兰微电子科技(上海)有限公司 | Constant false alarm detection method and device, integrated circuit and radio device |
| WO2022160277A1 (en) * | 2021-01-29 | 2022-08-04 | 深圳市大疆创新科技有限公司 | Target detection method and device, and movable platform and storage medium |
| WO2023137682A1 (en) * | 2022-01-21 | 2023-07-27 | 华为技术有限公司 | Data processing method and apparatus, and vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102680963A (en) * | 2011-03-16 | 2012-09-19 | 韩国电子通信研究院 | Radar apparatus supporting short and long range radar operation |
| CN105785325A (en) * | 2016-03-15 | 2016-07-20 | 东南大学 | Variable-period frame structure of automotive anti-collision radar and design method thereof |
| CN106842166A (en) * | 2017-03-31 | 2017-06-13 | 东南大学 | A kind of solution velocity ambiguity method suitable for LFMCW radar system |
-
2017
- 2017-08-25 CN CN201710740727.7A patent/CN107688178A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102680963A (en) * | 2011-03-16 | 2012-09-19 | 韩国电子通信研究院 | Radar apparatus supporting short and long range radar operation |
| CN105785325A (en) * | 2016-03-15 | 2016-07-20 | 东南大学 | Variable-period frame structure of automotive anti-collision radar and design method thereof |
| CN106842166A (en) * | 2017-03-31 | 2017-06-13 | 东南大学 | A kind of solution velocity ambiguity method suitable for LFMCW radar system |
Non-Patent Citations (2)
| Title |
|---|
| 严鑫 等: "《LFMCW车载防撞雷达信号处理模块研究》", 《雷达科学与技术》 * |
| 周立: "《汽车防撞雷达的研究》", 《中国优秀硕士学位论文全文数据库 工程科技II辑》 * |
Cited By (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108872954A (en) * | 2018-06-15 | 2018-11-23 | 深圳市华讯方舟雷达技术装备有限公司 | CFAR detection method based on relevant treatment in same period |
| CN108923131A (en) * | 2018-07-09 | 2018-11-30 | 南京普陆康电子科技有限公司 | 2 hair 4 of one kind receives 77GHz millimeter wave array antenna and its algorithm |
| CN108614267A (en) * | 2018-07-09 | 2018-10-02 | 南京普陆康电子科技有限公司 | A kind of Anticollision Radar design method based on 77GHz millimeter-wave technologies |
| US11982731B2 (en) | 2018-10-26 | 2024-05-14 | Huawei Technologies Co., Ltd. | Radar signal processing method and apparatus |
| CN111103580A (en) * | 2018-10-26 | 2020-05-05 | 华为技术有限公司 | Radar signal processing method and device |
| CN109343052A (en) * | 2018-11-08 | 2019-02-15 | 湖南铁路科技职业技术学院 | Millimetre-wave radar tramcar anticollision method for early warning and system based on MIMO |
| CN109343052B (en) * | 2018-11-08 | 2024-04-19 | 湖南铁路科技职业技术学院 | MIMO-based millimeter wave radar tramcar anti-collision early warning method and system |
| CN109343053A (en) * | 2018-11-26 | 2019-02-15 | 上海瀚唯科技有限公司 | 4D millimetre-wave radar system space information sensing method |
| CN111257861A (en) * | 2018-12-03 | 2020-06-09 | 北京华航无线电测量研究所 | 24GHz continuous wave radar angle measurement method |
| CN111257861B (en) * | 2018-12-03 | 2023-06-13 | 北京华航无线电测量研究所 | 24GHz continuous wave radar angle measurement method |
| CN109633651A (en) * | 2019-01-14 | 2019-04-16 | 长沙莫之比智能科技有限公司 | 77G unmanned plane avoidance radar |
| CN109946659A (en) * | 2019-03-07 | 2019-06-28 | 东南大学 | A kind of vehicle-mounted millimeter wave radar linear frequency modulation continuous wave motion frequency spread corrections method |
| CN109975807A (en) * | 2019-03-27 | 2019-07-05 | 东南大学 | A kind of reduced order subspace angle-measuring method suitable for millimeter wave trailer-mounted radar |
| CN109975807B (en) * | 2019-03-27 | 2022-03-18 | 东南大学 | Dimension reduction subspace angle measurement method suitable for millimeter wave vehicle-mounted radar |
| CN109932727B (en) * | 2019-04-19 | 2021-11-19 | 洛阳顶扬光电技术有限公司 | Method for improving long-distance measurement precision in laser distance measurement system |
| CN109932727A (en) * | 2019-04-19 | 2019-06-25 | 洛阳顶扬光电技术有限公司 | A method of improving laser ranging system medium and long distance range accuracy |
| CN110133630A (en) * | 2019-04-26 | 2019-08-16 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of radar target detection method and the radar using it |
| CN112204422B (en) * | 2019-08-26 | 2024-03-15 | 深圳市大疆创新科技有限公司 | Speed measuring method, multiple input multiple output radar and movable platform |
| CN112204422A (en) * | 2019-08-26 | 2021-01-08 | 深圳市大疆创新科技有限公司 | Speed measurement method, multi-input multi-output radar and movable platform |
| CN112578342A (en) * | 2019-09-30 | 2021-03-30 | 华为技术有限公司 | Signal sending method, signal processing method and radar device |
| CN112710993B (en) * | 2019-10-25 | 2024-05-14 | 深圳开阳电子股份有限公司 | TDM-MIMO radar space spectrum estimation compensation method |
| CN112710993A (en) * | 2019-10-25 | 2021-04-27 | 深圳开阳电子股份有限公司 | TDM-MIMO radar space spectrum estimation compensation method |
| CN110895333A (en) * | 2019-12-05 | 2020-03-20 | 电子科技大学 | Rapid 77G vehicle-mounted radar data clustering method based on Doppler frequency |
| CN110895333B (en) * | 2019-12-05 | 2022-06-03 | 电子科技大学 | Rapid 77G vehicle-mounted radar data clustering method based on Doppler frequency |
| CN111308458B (en) * | 2020-02-21 | 2023-06-02 | 北京理工睿行电子科技有限公司 | Vehicle speed estimation method based on vehicle millimeter wave radar |
| CN111308458A (en) * | 2020-02-21 | 2020-06-19 | 北京理工睿行电子科技有限公司 | Vehicle speed estimation method based on vehicle-mounted millimeter wave radar |
| CN111650564A (en) * | 2020-02-26 | 2020-09-11 | 惠州市德赛西威智能交通技术研究院有限公司 | Vehicle-mounted radar failure detection method based on CFAR post-peak point statistics |
| CN113341404A (en) * | 2020-03-02 | 2021-09-03 | 加特兰微电子科技(上海)有限公司 | Constant false alarm detection method and device, integrated circuit and radio device |
| CN111522010B (en) * | 2020-06-04 | 2022-02-11 | 四川九洲电器集团有限责任公司 | Method and system for processing automobile anti-collision radar signals |
| CN111522010A (en) * | 2020-06-04 | 2020-08-11 | 四川九洲电器集团有限责任公司 | Method and system for processing automobile anti-collision radar signals |
| CN111722212A (en) * | 2020-06-29 | 2020-09-29 | 江苏集萃深度感知技术研究所有限公司 | Radar speed measurement method based on sawtooth wave and single-frequency signal |
| CN112612020B (en) * | 2020-11-13 | 2024-03-22 | 北京理工睿行电子科技有限公司 | Novel millimeter wave radar signal processing method |
| CN112612020A (en) * | 2020-11-13 | 2021-04-06 | 北京理工睿行电子科技有限公司 | Novel millimeter wave radar signal processing method |
| WO2022160277A1 (en) * | 2021-01-29 | 2022-08-04 | 深圳市大疆创新科技有限公司 | Target detection method and device, and movable platform and storage medium |
| CN112816960A (en) * | 2021-02-03 | 2021-05-18 | 森思泰克河北科技有限公司 | In-vehicle life detection method, device, equipment and storage medium |
| WO2023137682A1 (en) * | 2022-01-21 | 2023-07-27 | 华为技术有限公司 | Data processing method and apparatus, and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107688178A (en) | A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars | |
| US9746554B2 (en) | Radar imaging system and related techniques | |
| US7038618B2 (en) | Method and apparatus for performing bistatic radar functions | |
| Rohling | Some radar topics: waveform design, range CFAR and target recognition | |
| CN105487060B (en) | A kind of multiple target extracting method of four Slope Modulation of binary channels | |
| Huang et al. | Radar high speed small target detection based on keystone transform and linear canonical transform | |
| CN110297233B (en) | LFMCW array radar signal parallel pipelining processing method | |
| US4339754A (en) | Spatially adaptive moving target indicator system for radar equipment | |
| CN102156279A (en) | Method for detecting moving target on ground by utilizing bistatic radar based on MIMO (Multiple Input Multiple Output) | |
| CN110632587A (en) | Weak moving object monitoring method based on rapid FMCW radar | |
| EP4163671A1 (en) | Target detection method and apparatus, radar, and vehicle | |
| CN103529437A (en) | Method used for captive-balloon-borne phased array radar to distinguish open space targets under multi-target condition | |
| CN108535730A (en) | A kind of Doppler weather radar solution velocity ambiguity method and system | |
| RU2704789C1 (en) | Method for adaptive signal processing in survey coherent-pulse radar stations | |
| CN109212489A (en) | A kind of fuzzy clutter suppression method of the FDA-MIMO radar based on false impulse | |
| Rajkumar et al. | Design and Development of DSP Interfaces and Algorithm for FMCW Radar Altimeter | |
| CN101943753B (en) | Method for measuring microwave radar beam central transverse velocity | |
| Ahearn et al. | Tests of remote skywave measurement of ocean surface conditions | |
| CN106093927B (en) | Target based on the big pulse width signal of radar tests the speed distance measuring method | |
| Kong et al. | Ambiguity clutter suppression via pseudorandom pulse repetition interval for airborne radar system | |
| CN108490425A (en) | A kind of angle-measuring method of bistatic MIMO radar | |
| Wang | Design of the Frequency Modulated Continuous Wave (FMCW) Waveforms, Simulation of the Real Road Scenario and Signal Processing for the Automotive Adaptive Cruise Control | |
| CN102998659B (en) | Doppler frequency spectrum shaping method and system based on interpulse modulation | |
| Makhoul et al. | Evaluation of state-of-the-art GMTI techniques for future spaceborne SAR systems-Simulation validation | |
| CN114200411A (en) | Multi-target speed measurement extension method for MIMO radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20181108 Address after: 200000 Xuhui District, Shanghai Huaihai Road 55, Shentong Information Plaza, 26 floor, E-H Applicant after: Shanghai Mogina intelligent Mdt InfoTech Ltd Address before: 201801 J599 room 14, 655 Feng Zhou road, Jiading District, Shanghai. Applicant before: Shanghai Tong fun Technology Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180213 |
|
| WD01 | Invention patent application deemed withdrawn after publication |