CN108387875A - Time-division MIMO radar phase error antidote based on Two-dimensional FFT - Google Patents
Time-division MIMO radar phase error antidote based on Two-dimensional FFT Download PDFInfo
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- CN108387875A CN108387875A CN201810171672.7A CN201810171672A CN108387875A CN 108387875 A CN108387875 A CN 108387875A CN 201810171672 A CN201810171672 A CN 201810171672A CN 108387875 A CN108387875 A CN 108387875A
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses a kind of time-division MIMO radar phase error antidote based on Two-dimensional FFT, includes the following steps：Establish echo signal model；Two-dimensional FFT processing is carried out to echo-signal, two-dimensional matrix is obtained, corresponds to the range cell and speed unit of target respectively；According to compensation coefficient, each speed unit is corrected, DOA estimations, the angle measurement result after being corrected are carried out using the Two-dimensional FFT result after correction.The present invention can effectively correct phase error, without estimating the speed of moving-target, while the case where can handle multiple targets.
Description
Technical field
The present invention relates to radar phase error correcting technologies, and in particular to a kind of time-division MIMO radar based on Two-dimensional FFT
Phase error antidote.
Background technology
Multiple-input and multiple-output (MIMO) radar is a kind of completely new radar system proposed in recent years.MIMO radar has M
A transmitter and N number of receiver, it can send M orthogonal transmission waveforms and receive N number of echo-signal simultaneously, utilize waveform point
Collection technology generates Virtual array at double, is equivalent to the array aperture for increasing receiver, the parameter of aims of systems is improved with this
Estimate performance.Therefore compared to traditional radar, MIMO radar can obtain higher angular resolution and higher spatial discrimination
Rate.But this MIMO radar system is also required to a large amount of transmitter and receiver, equipment is complicated, and practical application cost is higher.
There is scholar to propose a kind of time division multiplexing (TDM) MIMO radar system working mechanism, by high speed electronic switch in receiver and receipts
The switching between array antenna unit is sent out, the quantity and complexity of MIMO radar is reduced, reduces cost, obtain than routine
The better direction of arrival of MIMO radar system (DOA) and angular resolution.
According to time-division MIMO radar system model, the emission array of MIMO radar antenna and receiving array are located at x-axis
On straight line, transmitting uses sparse uniform linear array antenna, receives and uses dense uniform linear array antenna, emission array
The interval of M array element is dt, and the interval of the N number of array element of receiving array is dr, and dt is N times of dr.TDM signals use FMCW
Wave, signal repetition period are Tr, and using time division emission technology, the time interval that transmitting antenna emits signal is Tr/2.Utilize hair
It penetrates array element and receives this geometry arrangement of array element, a Virtual array can be formed, the maximum virtual array number that receives is M*N.
Using this radar arrangement, we can obtain the virtual array aperture of bigger, realize better DOA estimations performance.MUSIC is calculated
Method is primarily directed to multiple element antenna direction finding problem, main thought：The correlation matrix of the output signal of even linear array is found out,
And correlation matrix is pressed Eigenvalues Decomposition, signal subspace and noise subspace are obtained, according to its orthogonality to space spectral function
Spectrum peak search is carried out, the angle of echo signal is obtained.MUSIC is a kind of underwater multiple targets method, with conventional wave beam shape
Being compared at method has superior resolution performance.But this superiority is based on the assumption that the exactly determined item of array signal model
It is obtained under part.
When MIMO radar being divided to detect moving-target when utilized, since target has certain speed, Doppler's frequency will produce
It moves, in this period in difference Tr/2 of transmitting antenna time division emission, signal just will produce additional phase difference in transmitting terminal.If
Target generate Doppler frequency it is larger, then caused by phase error increase therewith, can influence to a certain extent MUSIC calculation
The accuracy of method DOA estimations.Therefore we will correct this phase error.Have scholar and propose antidote, utilizes
Known target velocity calculates compensation coefficient, is directly corrected to echo-signal.But this method has certain lack
It falls into：1) it needs to estimate target velocity, and rate accuracy directly affects the accuracy of DOA estimations；2) it can only be directed to single
A moving target is corrected, and when the different moving target of the multiple speed of appearance, can not correct phase error simultaneously.
Invention content
The purpose of the present invention is to provide a kind of time-division MIMO radar phase error antidote based on Two-dimensional FFT.
Realize that the technical solution of the object of the invention is：A kind of time-division MIMO radar phase error correction based on Two-dimensional FFT
Method includes the following steps：
Step 1, echo signal model is established；
Step 2, Two-dimensional FFT processing is carried out to echo-signal, obtains two-dimensional matrix, correspond to respectively the range cell of target with
Speed unit；
Step 3, according to compensation coefficient, each speed unit is corrected, using the Two-dimensional FFT result after correction into
Row DOA estimations, the angle measurement result after being corrected.
Compared with prior art, remarkable advantage of the invention is：The present invention be on the basis of time-division MIMO radar system,
When analyzing it and being detected to moving target, phase error is generated due to Doppler frequency shift, this error term estimates DOA
As a result precision has an impact；The present invention derives this error term, then by echo-signal according to Doppler frequency principle
Carry out Two-dimensional FFT processing, calculate each corresponding compensation coefficient of speed unit signal and corrected, finally to correction after
Echo-signal carry out MUSIC algorithms DOA estimation, obtain accurate angle measurement result；The present disclosure applies equally to multiple movements
The detection of target.
Description of the drawings
Fig. 1 is original signal MUSIC algorithm angle measurement result schematic diagrames.
Fig. 2 is to have conventional method to carry out the MUSIC algorithm angle measurement result schematic diagrames after error correction.
Fig. 3 is Two-dimensional FFT simulation result schematic diagram.
Fig. 4 is that the present invention carries out the MUSIC algorithm angle measurement result schematic diagrames after error correction using Two-dimensional FFT method.
Specific implementation mode
A kind of time-division MIMO radar phase error antidote based on Two-dimensional FFT, includes the following steps：
Step 1, echo signal model is established；Echo signal model is：
S (t)=exp { j [2 π (fr+fd)(t-nTr)+2πfdnTr]}
Wherein frThe frequency of distance for being target at n-th of repetition period, fdFor the acceleration Doppler frequency of target, t is big
In the arbitrary value of signal delay, TrFor frequency modulation period, t-nTrValue be less than frequency modulation cycle Tr。
Step 2, Two-dimensional FFT processing is carried out to echo-signal, obtains two-dimensional matrix, correspond to respectively the range cell of target with
Speed unit；Specially：
512 points of FFT is to the upper frequency sweep section of obtained echo-signal within a signal period, FFT result is most
It is f to be worth corresponding frequency greatlyr+fd；64 such frequency modulation periods continuously are taken, the result of 512 first dimension FFT is tried again
64 points of FFT obtains the second dimension FFT result.
Step 3, according to compensation coefficient, each speed unit is corrected, using the Two-dimensional FFT result after correction into
Row DOA estimations, the angle measurement result after being corrected.
Compensation coefficient calculation formula is：
Wherein fdFor the Doppler frequency of each speed unit, i.e.,V is target velocity, and c is the light velocity, f0
For signal carrier frequency, M indicates that total transmitting array number, m indicate m-th of transmitting array element, and n is periodicity.
The present invention is described in detail with reference to the accompanying drawings and examples.
Embodiment
According to time-division MIMO radar system model, antennas are received using two hairs ten, by the emission array of MIMO radar antenna and
Receiving array is located on the straight line of x-axis, and transmitting uses sparse uniform linear array antenna, receives linear using dense uniform
The interval dt of array antenna, 2 array elements of emission array is 5* λ, and the interval dr of 10 each array element of receiving array is λ/2, and wherein λ is wave
Long, dt is 10 times of dr.TDM signals use triangle LFMCW, carrier frequency f0=77GHz, signal repetition period Tr=20ms,
Using time division emission technology, the time interval that transmitting antenna emits signal is Tr/ 2, if sample frequency fs=50kHz, modulating bandwidth
B=100MHz, then the sampling number in a cycle is 1000.It is arranged using transmitting array element and this geometry for receiving array element
Row can form the even linear array that a Virtual array number is 20.
When detecting moving-target using this radar arrangement, since target has certain speed, Doppler's frequency will produce
It moves, in this period in difference Tr/2 of transmitting antenna time division emission, signal just will produce additional phase difference in transmitting terminal.If
Target generate Doppler frequency it is larger, caused by phase error also increase therewith.In next signal processing, if with
MUSIC algorithms carry out DOA estimations, then above-mentioned phase error can influence the precision of MUSIC algorithms, or even can obtain larger
Error.Therefore we will correct this phase error.The antidote of current existing phase error is using known
Target velocity derive and calculate compensation coefficient, directly to echo-signal carry out phase correction.But this method needs pair
Target velocity is estimated, and when the different moving target of the multiple speed of appearance, can not correct phase error simultaneously.
Using above-mentioned radar system parameters, two moving-targets are detected.If the distance of target, speed, angle are respectively r1=
250m, r2=200m；V1=25m/s, v2=35m/s；θ 1=25 °, θ 2=30 °；Directly use MUSIC algorithms angle measurement result as schemed
Shown in 1.The phase official post DOA estimations that signal is generated in transmitting terminal it can be seen from angle measurement result generate large error.
Using existing phase correction method, calculating error correction coefficient is
δ=e-j2πfd(n+Tr/2)
But this method needs to estimate target velocity and can only calculate single moving target compensation coefficient to carry out
Correction can not correct phase error simultaneously when the different moving target of the multiple speed of appearance.Error is carried out using this method to rectify
After just, continue to carry out DOA estimations with MUSIC algorithms, obtain that the results are shown in Figure 2, the phase of only one of which target can
To be corrected, that is, it is only capable of obtaining an accurate angle measurement result.
The present invention proposes the phase error correcting technology based on Two-dimensional FFT thus, that is, utilizes the echo-signal of multicycle
Two-dimensional FFT processing is carried out, obtained two-dimensional matrix corresponds to the range cell and speed unit of target respectively.Calculate each speed
The corresponding compensation coefficient of degree cell signal is simultaneously corrected, that is, blind strong, and the signal of the speed unit where such target can
To be corrected.
Two-dimensional FFT is the common method of Radar Signal Processing, and it is exactly to be done twice to signal to do Two-dimensional FFT substantially to signal
FFT.Each FFT processing can extract echo signal in the information of a dimension, and signal can be extracted by Two-dimensional FFT
The information of two dimensions.Assuming that the difference frequency signal phase of receiving and transmitting signal can be expressed as phase in a frequency modulation period and multiple
The form that the phase in period is added is accumulated, then difference frequency signal can then be expressed as：
S (t)=exp { j [2 π (fr+fd)(t-nTr)+2πfdnTr]} (1)
Wherein frIndicate frequency of distance of the target at n-th of repetition period；fdIndicate the acceleration Doppler frequency of target；t
It is greater than the arbitrary value of signal delay, t-nTrValue be less than frequency modulation cycle Tr.It can be seen that by frCan obtain target away from
From information, by fdIt can obtain the velocity information of target.2π(fr+fd)(t-nTr) change within Xiang Yi frequency modulation period, 2 π
fdnTrXiang Yiyi frequency modulation period is interval variation.
In the time-division MIMO radar system of the present embodiment, according to given parameter, the monocycle adopts 1000 point datas, continuously adopts
64 periods.Upper frequency sweep section first to obtained difference frequency signal within a signal period is 512 points of FFT, FFT result
The corresponding frequency of maximum value is fr+fd.64 such frequency modulation periods continuously are taken, the result of 512 first dimension FFT is done one again
Secondary 64 points of FFT obtains the second dimension FFT result.Simulation result is as shown in Figure 3.Because the second dimension FFT result is in 64 frequency modulation
It is obtained during week, so the corresponding frequency of its value is fd.Two-dimensional FFT processing is carried out using the echo-signal of multicycle,
Obtained two-dimensional matrix corresponds to the range cell and speed unit of target respectively.
Since the speed corresponding to target is unknown, the present invention uses blind strong method.Each speed list is calculated first
The compensation coefficient of first signal
M indicates that total transmitting array number, m represent m-th of transmitting array element, and n represents periodicity.fdFor each speed unit
Doppler frequency, i.e.,
Each corresponding compensation coefficient of speed unit signal is calculated using formula (2) to be corrected, where such target
The signal of speed unit can be corrected, though other units are also multiplied by the compensation coefficient of itself, simultaneously to DOA estimated results
It does not have an impact.Data after being corrected using Two-dimensional FFT method bring angle measurement result that MUSIC algorithms obtain into as shown in figure 4, from
The angle measurement result of it can be seen from the figure that, two targets is accurate.
Claims (4)
1. a kind of time-division MIMO radar phase error antidote based on Two-dimensional FFT, which is characterized in that include the following steps：
Step 1, echo signal model is established；
Step 2, Two-dimensional FFT processing is carried out to echo-signal, obtains two-dimensional matrix, corresponds to the range cell and speed of target respectively
Unit；
Step 3, according to compensation coefficient, each speed unit is corrected, is carried out using the Two-dimensional FFT result after correction
DOA estimations, the angle measurement result after being corrected.
2. the time-division MIMO radar phase error antidote according to claim 1 based on Two-dimensional FFT, feature exist
In step 1 echo signal model is：
S (t)=exp { j [2 π (fr+fd)(t-nTr)+2πfdnTr]}
Wherein frThe frequency of distance for being target at n-th of repetition period, fdFor the acceleration Doppler frequency of target, t is more than letter
Number delay arbitrary value, TrFor frequency modulation period, t-nTrValue be less than frequency modulation cycle Tr。
3. the time-division MIMO radar phase error antidote according to claim 1 based on Two-dimensional FFT, feature exist
In step 2 is specially：
512 points of FFT, the maximum value of FFT result are done to the upper frequency sweep section of obtained echo-signal within a signal period
Corresponding frequency is fr+fd；64 such frequency modulation periods continuously are taken, the result of 512 first dimension FFT is tried again 64 points
FFT, obtain the second dimension FFT result.
4. the time-division MIMO radar phase error antidote according to claim 1 based on Two-dimensional FFT, feature exist
In compensation coefficient calculation formula is in step 3：
Wherein fdFor the Doppler frequency of each speed unit, i.e.,V is target velocity, and c is the light velocity, f0For letter
Number carrier frequency, M indicate that total transmitting array number, m indicate m-th of transmitting array element, and n is periodicity.
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Cited By (7)
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| CN109597021A (en) * | 2018-11-05 | 2019-04-09 | 北京航天控制仪器研究所 | A kind of Wave arrival direction estimating method and device |
| CN109669166A (en) * | 2019-01-08 | 2019-04-23 | 长沙莫之比智能科技有限公司 | The small-sized MIMO radar sensor of short distance in high-precision wide wave beam |
| CN109975806A (en) * | 2019-04-15 | 2019-07-05 | 西安中电科西电科大雷达技术协同创新研究院有限公司 | Time-division MIMO radar motion compensation process based on array element phase difference |
| CN110488270A (en) * | 2019-07-31 | 2019-11-22 | 电子科技大学 | One kind being used for vehicle-mounted LFMCW radar solution velocity ambiguity angle-measuring method |
| CN111157995A (en) * | 2020-01-06 | 2020-05-15 | 电子科技大学 | Side view angle super-resolution imaging method for automobile radar |
| CN112198485A (en) * | 2020-10-16 | 2021-01-08 | 无锡威孚高科技集团股份有限公司 | Automatic calibration system and method for millimeter wave radar |
| CN112649801A (en) * | 2020-12-10 | 2021-04-13 | 北京工业大学 | Millimeter wave multi-antenna distance measuring system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109597021A (en) * | 2018-11-05 | 2019-04-09 | 北京航天控制仪器研究所 | A kind of Wave arrival direction estimating method and device |
| CN109669166A (en) * | 2019-01-08 | 2019-04-23 | 长沙莫之比智能科技有限公司 | The small-sized MIMO radar sensor of short distance in high-precision wide wave beam |
| CN109975806A (en) * | 2019-04-15 | 2019-07-05 | 西安中电科西电科大雷达技术协同创新研究院有限公司 | Time-division MIMO radar motion compensation process based on array element phase difference |
| CN109975806B (en) * | 2019-04-15 | 2023-04-07 | 西安中电科西电科大雷达技术协同创新研究院有限公司 | Time division MIMO radar motion compensation method based on array element phase difference |
| CN110488270A (en) * | 2019-07-31 | 2019-11-22 | 电子科技大学 | One kind being used for vehicle-mounted LFMCW radar solution velocity ambiguity angle-measuring method |
| CN111157995A (en) * | 2020-01-06 | 2020-05-15 | 电子科技大学 | Side view angle super-resolution imaging method for automobile radar |
| CN112198485A (en) * | 2020-10-16 | 2021-01-08 | 无锡威孚高科技集团股份有限公司 | Automatic calibration system and method for millimeter wave radar |
| CN112649801A (en) * | 2020-12-10 | 2021-04-13 | 北京工业大学 | Millimeter wave multi-antenna distance measuring system |
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