CN108318864B - Method and device for eliminating multipath target in radar target detection - Google Patents
Method and device for eliminating multipath target in radar target detection Download PDFInfo
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- CN108318864B CN108318864B CN201810117787.8A CN201810117787A CN108318864B CN 108318864 B CN108318864 B CN 108318864B CN 201810117787 A CN201810117787 A CN 201810117787A CN 108318864 B CN108318864 B CN 108318864B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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Abstract
The invention discloses a method and a device for eliminating multipath targets in radar target detection, wherein the method comprises the following steps: s1, when target detection is finished according to radar detection signals each time, position information of all detected targets is obtained; s2, respectively comparing the position information of all targets, searching out multipath targets according to the position information comparison result of each target, and removing the multipath targets to obtain a final target detection result and output the final target detection result; the device comprises a target position information acquisition module and a multipath target elimination module. The invention can eliminate the multipath target interference in radar target detection and has the advantages of simple realization method, low realization cost, high elimination efficiency and precision and the like.
Description
Technical Field
The invention relates to the technical field of radar signal processing, in particular to a method and a device for eliminating multipath targets in radar target detection.
Background
When a reflector for electromagnetic waves in a certain wave band exists around an object due to the phenomenon of electromagnetic wave reflection, the object will generate a reflection mirror image in the reflector, and the existence of the mirror image is harmful to radar detection of the target, and a plurality of false targets are generated due to the diversity of reflection, for example, even if only one reflector exists, a plurality of reflection paths exist, and the adverse effect caused by the reflection is multipath. If a person walks into a room with a large mirror mounted on the entire wall, an illusion of a large room is created, which is a particular manifestation of the multipath effect.
The image in the multipath has the same signal characteristics as the real target, and is only in a symmetrical relation with the real target in the spatial position, and if the multipath image is not screened, a plurality of useless results appear in the output result of the real target signal detection. When the radar receives the detection signal, the reflection can lead to the radar echo to return to the radar from two different directions, and there are a plurality of mirror image distances to produce simultaneously for a large amount of "unreal images" of radar output, these targets of coming out by the way are that the multipath arouses promptly, can greatly reduce the reliability that radar signal detected, seriously influence radar user's experience. For some wave band radar emission signals, a common cement building wall is a strong reflector, and reflection can generate a strong mirror image target in the wall, so that the radar can detect a strong target signal in a place where the target should not appear originally.
In order to eliminate radar multipath interference, a side lobe cancellation mode is usually adopted at present, that is, a plurality of auxiliary antennas are simultaneously arranged on a main antenna, the auxiliary antennas and the main antenna simultaneously receive interference signals, all signal echoes include expected signals with higher intensity and unnecessary multipath signals, after weighted summation processing is carried out on the auxiliary antennas, signals with the same characteristics as the main antenna interference signals are obtained, and after the signals and the main antenna interference signals are cancelled, the interference signals of side lobes entering a radar can be inhibited, and the elimination of the multipath interference is realized. However, the above-mentioned multipath interference cancellation method must additionally provide an auxiliary antenna, which increases the hardware implementation cost, and at the same time, the computation process for realizing the sidelobe cancellation between the auxiliary antenna and the main antenna is very complicated, so that the whole multipath cancellation process needs to consume a large amount of software and hardware resources, and the implementation efficiency is low.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a method and a device for eliminating multipath targets in radar target detection, which can eliminate multipath target interference in radar target detection, and have the advantages of simple implementation method, low implementation cost, high elimination efficiency and high precision.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a method for canceling multipath objects for radar object detection, the steps comprising:
s1, when target detection is finished according to radar detection signals each time, position information of all detected targets is obtained;
and S2, respectively comparing the position information of all the targets, searching the multipath targets according to the position information comparison result of each target, and removing the multipath targets to obtain the final target detection result and output the final target detection result.
As a further improvement of the process of the invention: the position information includes distance information and angle information.
As a further improvement of the method of the present invention, the specific steps of step S1 are: defining a data structure targetinfo for storing position information of the target, and storing the distance information and angle information of each detected target into the data structure targetinfo correspondingly every time the target detection is finishedi＝(rangei,thetai) In (2), the data structure targetinfo corresponding to all targetsiStoring the data into a set S; in step S2, the final target detection result is obtained by updating the set S each time to remove the multipath target.
As a further improvement of the process of the invention: in step S2, a suspected multipath target is found out specifically according to the comparison result of the angle information between the targets, and all final multipath targets are determined according to the comparison result of the distance information between the suspected multipath target and other targets.
As a further improvement of the method of the present invention, the specific steps of step S2 are:
s21, searching whether a difference value of angle information between two targets is in a specified range in all the detected targets, and if so, determining one target as a suspected multipath target to be searched;
s22, searching whether targets with the difference value of the distance information between the suspected multipath target and the target in the designated range exist in all the detected targets, and if the targets are found, determining the suspected multipath target and the found targets as multipath targets.
As a further improvement of the process of the invention: in step S21, the target with the larger distance information among the two searched targets is determined as a suspected multipath target.
As a further improvement of the process of the invention: in step S1, the target detection is specifically completed by using a CFAR constant false alarm detection method according to the radar detection signal.
An apparatus for canceling multipath objects for radar object detection, comprising:
the target position information acquisition unit is used for acquiring the position information of all detected targets when target detection is completed according to the radar detection signal each time;
and the multipath target eliminating unit is used for respectively comparing the position information of all targets, searching the multipath targets according to the position information comparison result of each target, and removing the multipath targets to obtain the final target detection result and output the final target detection result.
As a further improvement of the device of the invention: the multipath target eliminating module finds out suspected multipath targets according to the comparison result of the angle information among the targets, and determines all final multipath targets according to the comparison result of the distance information between the suspected multipath targets and other targets.
As a further improvement of the device of the invention: the multipath object canceling module includes:
the first searching unit is used for searching whether the difference value of the angle information between the two targets is in a specified range in all the detected targets, and if the difference value is found, determining one target as a suspected multipath target to be searched;
and the second searching unit is used for searching whether targets with the difference value of the distance information between the suspected multipath target and the target within the specified range exist in all the detected targets, and if the targets are found, determining the suspected multipath target and the found targets as the multipath targets.
Compared with the prior art, the invention has the advantages that:
1) the invention utilizes the characteristics between the multipath target and the real target in the radar target detection, acquires the position information of all the detected targets after the radar finishes the target detection each time, finds out the multipath target meeting the required position characteristics according to the comparison result between the position information of each target, eliminates the multipath target, and only keeps the information of the real target, so that the radar has the capability of inhibiting the multipath target, and effectively enhances the reliability of the radar for processing the target in a complex environment.
2) The invention only needs to compare the position information of each target one by one, and determines which targets are multipath targets according to the comparison result, thereby completing the elimination of the multipath targets, the realization process is simple, no other hardware structure is needed to be added, the engineering realization is easy, the calculation process is simple, the realization efficiency is high, the image capture effect is good, and two multipath targets with large influence can be accurately and efficiently eliminated.
3) The invention realizes the elimination of the multipath target through the position information comprising the distance information and the angle information, does not need a complex processing process, and can fully utilize the rule that the angle and the distance exist between the multipath target and the real target to search the mirror image of the real target, thereby accurately eliminating two multipath targets with large influence.
Drawings
Fig. 1 is a schematic flow chart of an implementation of the method for canceling a multipath target in radar target detection according to the embodiment.
Fig. 2 is a schematic diagram of the generation principle of a specific source of the multipath phenomenon.
Fig. 3 is a schematic diagram of the principle of the detected objects.
Fig. 4 is a schematic diagram illustrating radar target detection performed in an embodiment of the present invention.
Fig. 5 is a flow chart illustrating the implementation of the multipath object cancellation in an embodiment of the present invention.
Fig. 6 is a schematic diagram of a simulation result obtained in the embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
As shown in fig. 1, the method for eliminating a multipath target in radar target detection of the present embodiment includes the steps of:
s1, when target detection is finished according to radar detection signals each time, position information of all detected targets is obtained;
and S2, respectively comparing the position information of all the targets, searching the multipath targets according to the position information comparison result of each target, and removing the multipath targets to obtain the final target detection result and output the final target detection result.
In this embodiment, a specific source of the multipath phenomenon is firstly analyzed, as shown in fig. 2, there are four cases (a) to (d) of the multipath object, and as can be seen from fig. 2, when the object moves, in addition to the detection of the object itself, at most 3 multipath objects appear, as shown in fig. 3(a), the real object has the following characteristics:
the real target comes from: radar signal-target-radar;
target ranging: 2r1；
Angle: theta1；
Speed: depending on the target angle, the direction of the speed of movement.
As shown in fig. 3(b) to (d), each multipath object has the following characteristics:
(1) multipath object
As shown in fig. 3(b), the multipath object 1 has the following characteristics:
target ranging: r is1+r2+r3；
Angle: theta2；
Speed: depending on the target angle, the direction of the speed of movement and the position of the strong reflector.
② multipath object 2
As shown in fig. 3(c), the multipath object 2 has the following characteristics:
multipath object 2 comes from: radar-strong reflector-target-radar.
TargetRanging: r is1+r2+r3。
Angle: theta1。
Speed: depending on the target angle, the direction of the speed of movement and the position of the strong reflector.
③ multipath object 3
Multipath object 3 is generally weak and often untestable;
target ranging: 2 (r)2+r3)。
Angle: theta1。
From the above, the distance and angle comparison between each multipath target and the real target is:
the real target: distance 2r1Angle theta1。
Multipath object 1: measuring distance r1+r2+r3Angle of theta2。
Multipath object 2: distance r1+r2+r3Angle theta1。
Multipath object 3: 2 (r)2+r3) Angle theta2。
Namely, in the radar target detection, one real target generates three multipath images, and since the distance is long and the signal-to-noise ratio is seriously reduced after multiple reflections, one of the multipath images is usually not detected (multipath target 3), only two images (multipath targets 1 and 2) with larger influence are provided, the target distance of the two images (multipath target 1 and multipath target 2) with the largest influence is the same, only the angle is different, and the angle of one multipath target (multipath target 2) is the same as that of the real target.
According to the embodiment, by utilizing the characteristics between the multipath targets and the real targets in radar target detection, after the radar completes target detection every time, the position information of all the detected targets is obtained, the multipath targets meeting the required position characteristics are found out according to the comparison result between the position information of all the targets and eliminated, and only the information of the real targets is reserved, so that the realization efficiency is high, the image capturing effect is good, the radar has the capability of inhibiting the multipath targets, and the reliability of the radar for processing the targets in a complex environment is effectively enhanced.
In this embodiment, in step S1, the CFAR constant false alarm detection method is specifically used to complete target detection according to the radar detection signal, so that the CFAR constant false alarm detection has high detection efficiency and precision, and all targets can be accurately detected, and accurate target detection can be achieved by combining with subsequent multi-path target elimination.
In this embodiment, the position information specifically includes distance information and angle information, that is, the mirror image of the real target is searched by using the rule that the angle and the distance exist between the multipath target and the real target, so that two multipath targets (the multipath target 1 and the multipath target 2) having large influence are accurately eliminated.
For an extended target, as mentioned above, the difference between the velocity values of the multipath targets is small, the velocity information can be used as the reference information for searching the multipath target, and for a point target, the velocity information can be further introduced to search the multipath target, so as to further improve the searching precision.
In this embodiment, the specific steps of step S1 are as follows: defining a data structure targetinfo for storing position information of the target, and storing the distance information and angle information of each detected target into the data structure targetinfo correspondingly every time the target detection is finishedi＝(rangei,thetai) In (2), the data structure targetinfo corresponding to all targetsiStored in the set S.
In this embodiment, in step S2, the suspected multipath target is found out specifically according to the comparison result of the angle information between the targets, and all final multipath targets are determined according to the comparison result of the distance information between the suspected multipath target and other targets. And comparing and searching the data of all the targets in the set S in sequence, removing the searched multipath targets and updating the set S after the multipath targets are searched, so as to obtain the final target detection result for eliminating the multipath targets.
In this embodiment, the specific steps of step S2 are as follows:
s21, searching whether a difference value of angle information between two targets is in a specified range in all the detected targets, and if so, determining one target as a suspected multipath target to be searched;
s22, searching whether targets with the difference value of the distance information between the suspected multipath targets and the target in the designated range exist in all the detected targets, and if the targets are found, determining the suspected multipath targets and the found targets as the multipath targets.
In this embodiment, in step S21, the target with larger distance information among the two searched targets is specifically determined as a suspected multipath target. Because of the existence of reflection, the object with a long distance between two objects with the same angle is the suspected multipath object, and this embodiment may determine one of the possible multipath objects first by using the characteristic, and then further perform matching search by using the possible multipath object, so that all the multipath objects can be determined and obtained.
In a specific application embodiment, the data of all the targets in the set S are sequentially compared one by one, if the angles of the two targets are found to be the same, the distances of all the targets with the same angles are continuously compared, if the distances of the two targets are the same, the two targets are judged to be multipath targets, the multipath target data are removed, and the data set S is updated.
Through the steps, the multipath target 1 and the multipath target 2 which have larger influence can be found after the radar target detection is finished each time, and the multipath target 3 can be removed by setting the boundary of the monitoring area because the multipath target 3 is outside the monitoring area.
As shown in fig. 4, in a specific application embodiment, a radar signal is first transmitted to a space through a radar transmitting antenna, and finally returns to a radar receiving antenna after being reflected by a reflecting object, the radar receiving antenna enters a signal detection link after being subjected to preprocessing such as low noise amplification, frequency mixing, sampling, FFT and the like, all received signals are detected through CFAR constant false alarm detection, all targets are obtained, only 4 targets are detected by the radar, and up to 10 targets are obtained after the signal detection, wherein false targets generated due to multipath are included, as shown in fig. 5, multipath targets are eliminated according to the following steps:
step 1: after one signal detection is finished, the distance and angle information of the n detected targets is stored in a data structure targetinfon＝(rangen,thetan) Then, all the target data targetinfo is stored into the set S, and the set S { (range) is obtained1,theta1),(range2,theta2),...,(rangeN,thetaN)}；
Step 2: searching circularly in the set S, firstly finding out the targets with the same azimuth angle, and if two targets are targetinfoi＝(rangei,thetai) And targetinfoj＝(rangej,thetaj) Are at the same angle, i.e. thetai＝thetajAnd rangej>rangeiThen, the object j with large distance is determined as the suspected multipath object, and the range value is usedjComparing with the distance values of all the targets, and if the distance range of the target k is larger than the target kk＝rangejThen the target k and the target j can be determined as the multipath target,
and step 3: and (5) rejecting multipath targets k and j, updating the data set S, and entering next target detection and multipath target screening.
The test results obtained by the method of the present embodiment are shown in fig. 6, where diagram (a) is the results of all targets detected by the radar, and diagram (B) is the result of the implementation of eliminating the multipath target, which can be obtained from fig. 6.
The embodiment further provides an apparatus for eliminating a multipath target in radar target detection, including:
the target position information acquisition unit is used for acquiring the position information of all detected targets when target detection is completed according to the radar detection signal each time;
and the multipath target eliminating unit is used for respectively comparing the position information of all targets, searching the multipath targets according to the position information comparison result of each target, and removing the multipath targets to obtain the final target detection result and output the final target detection result.
In this embodiment, the position information specifically acquired by the target position information acquiring unit includes distance information and angle information, the multipath target eliminating module specifically finds out a suspected multipath target according to a comparison result of the angle information between the targets, and determines all final multipath targets according to a comparison result of the distance information between the suspected multipath target and other targets.
In this embodiment, the multipath target cancellation module includes:
the first searching unit is used for searching whether the difference value of the angle information between the two targets is in a specified range in all the detected targets, and if the difference value is found, determining one target as a suspected multipath target to be searched;
and the second searching unit is used for searching whether targets with the difference value of the distance information between the suspected multipath target and the target within the specified range exist in all the detected targets, and if the targets are found, determining the suspected multipath target and the found targets as the multipath targets.
The above-mentioned devices of this embodiment correspond to the above-mentioned method for removing multipath targets one by one, and have the same principle, and are not described herein again one by one.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (7)
1. A method for canceling multipath objects for radar object detection, comprising the steps of:
s1, when target detection is finished according to radar detection signals each time, position information of all detected targets is obtained;
s2, respectively comparing the position information of all targets, searching out multipath targets according to the position information comparison result of each target, and removing the multipath targets to obtain a final target detection result and output the final target detection result;
the specific steps of step S2 are:
s21, searching whether a difference value of angle information between two targets is in a specified range in all the detected targets, and if so, determining one target as a suspected multipath target to be searched;
s22, searching whether targets with the difference value of the distance information between the suspected multipath target and the target in the designated range exist in all the detected targets, and if the targets are found, determining the suspected multipath target and the found targets as multipath targets.
2. The method for canceling multipath objects for radar target detection as recited in claim 1, wherein the location information comprises range information and angle information.
3. The method for eliminating the multipath object in the radar target detection as recited in claim 2, wherein the step S1 comprises the following steps: defining a data structure targetinfo for storing position information of the target, and storing the distance information and angle information of each detected target into the data structure targetinfo correspondingly every time the target detection is finishedi＝(rangei,thetai) In (2), the data structure targetinfo corresponding to all targetsiStoring the data into a set S; in step S2, the final target detection result is obtained by updating the set S each time to remove the multipath target.
4. The method for eliminating multipath targets for radar target detection as recited in claim 1, wherein the target with larger distance information in the two searched targets is specifically determined as the suspected multipath target in step S21.
5. The method for eliminating the multipath target in the radar target detection as recited in claim 2 or 3, wherein the step S1 is implemented by using a CFAR constant false alarm detection method according to the radar detection signal.
6. An apparatus for canceling multipath objects for radar object detection, comprising:
the target position information acquisition unit is used for acquiring the position information of all detected targets when target detection is completed according to the radar detection signal each time;
the multi-path target eliminating unit is used for respectively comparing the position information of all targets, searching the multi-path target according to the position information comparison result of each target, and removing the multi-path target to obtain the final target detection result and output the final target detection result;
the multipath object canceling unit includes:
the first searching unit is used for searching whether the difference value of the angle information between the two targets is in a specified range in all the detected targets, and if the difference value is found, determining one target as a suspected multipath target to be searched;
and the second searching unit is used for searching whether targets with the difference value of the distance information between the suspected multipath target and the target within the specified range exist in all the detected targets, and if the targets are found, determining the suspected multipath target and the found targets as the multipath targets.
7. The apparatus for canceling multipath objects for radar target detection according to claim 6, wherein the position information specifically acquired by the target position information acquiring unit includes distance information and angle information.
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| CN111699404B (en) * | 2019-05-30 | 2024-04-30 | 深圳市大疆创新科技有限公司 | Driving auxiliary target acquisition method and device, radar, driving system and vehicle |
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| CN110940980B (en) * | 2019-11-22 | 2022-12-27 | 惠州市德赛西威汽车电子股份有限公司 | Mirror image target removing method based on vehicle-mounted angle radar |
| CN111220959B (en) * | 2019-12-30 | 2022-01-11 | 广州市番禺奥莱照明电器有限公司 | Indoor multipath false target identification method and device, electronic equipment and storage medium |
| CN113687342B (en) * | 2021-07-23 | 2023-08-29 | 西安空间无线电技术研究所 | Millimeter wave radar real-time ranging method in close-range complex multipath environment |
| CN114779180A (en) * | 2022-06-20 | 2022-07-22 | 成都瑞达物联科技有限公司 | Multipath interference mirror image target filtering method for vehicle-road cooperative radar |
| CN115079121B (en) * | 2022-07-19 | 2022-11-01 | 南京隼眼电子科技有限公司 | Multipath target identification method and device for vehicle-mounted radar and storage medium |
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| CN102904605B (en) * | 2012-09-25 | 2014-10-15 | 京信通信系统（中国）有限公司 | Method and device for determining multipath information and rake receiver |
| CN103197290B (en) * | 2013-04-03 | 2014-10-15 | 电子科技大学 | Method for suppressing multipath clutters of through-the-wall radar |
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