CN108387877B - Moving target phase correction method of multi-input multi-output radar - Google Patents
Moving target phase correction method of multi-input multi-output radar Download PDFInfo
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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
- 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
Abstract
The invention provides a moving target phase correction method of an MIMO radar. The technical scheme is that a virtual antenna array corresponding to a time division multiplexing frequency modulation continuous wave MIMO radar is arranged, the number of the virtual antenna array is from the 1 st array element to the MN antenna array element according to the virtual position of the space, and each round of received signals are obtained according to a specific time division multiplexing time sequence, namely: firstly, receiving signals by a 1 st array element of a virtual antenna array, and obtaining received signals of MN frequency modulation periods as a first time period of each round of received signals; then, the virtual antenna array receives signals according to the sequence from the 1 st array element to the MN array element, and the signals are used as a second time period for receiving signals in each round; in the signal processing, the phase of the received signal in the first period is subtracted from the phase of the received signal in the second period, and the phase of the received signal is corrected. The method does not need to calculate the target speed, does not need to design a redundant virtual array element, and realizes the phase correction of the moving target under the condition of not reducing the angular resolution of the radar.
Description
Technical Field
The invention belongs to the technical field of radar signal processing, and relates to a moving target phase correction method of an MIMO (Multiple Input Multiple output) radar.
Background
Compared with a single-input multi-output radar, the MIMO radar can utilize the antenna array with less scale to realize the virtual antenna array with larger caliber, thereby improving the angular resolution of the radar. The frequency modulation continuous wave radar has the characteristics of low cost, simple structure and small volume, can accurately measure the distance and the speed of a target, and can realize the angle measurement of the target by combining the application of an antenna array. The frequency modulated continuous wave MIMO radar integrates the advantages of the two radars, and the antenna array with a simpler structure is utilized to realize higher radar angle resolution.
A time division multiplexing frequency modulation continuous wave MIMO Radar [ R.Feger, C.Wagner, S.Schuster, S.Scheiblhofer, H.Jager, A.Stelzer, "A77-GHz FMCW MIMO radio Based on a SiGeSingle-Chip transceiver." IEEE Transactions on Microwave Theory & technique commands 57.5(2009): 1020-. However, this method has disadvantages in that: the phase of the received signal of the virtual antenna array is not only determined by the angle of the target, but also related to the target speed, and in general, the phase term introduced by the target motion is a fixed constant, which, if not compensated for, will result in an error in calculating the target angle.
Relevant research on a moving target phase correction method of a time division multiplexing frequency modulation continuous wave MIMO radar is carried out by domestic and foreign institutions, and the method mainly comprises the following methods:
1. through the design of redundant virtual array elements, the phase caused by the target Motion is extracted, and then the antenna array is subjected to phase compensation [ C.M.Schmid, R.Feger, C.Pfeffer, A.Stelzer. "Motion compensation and interference array design for TDMA FMCW MIMO radio systems." European conference conductor Antennas and Propagation IEEE 2012: 1746-. The method can recover the real phase of the target, but the existence of the redundant virtual array elements reduces the effective aperture of the virtual antenna array and reduces the angular resolution of the radar.
2. The method comprises the steps of detecting a target by using a received signal of a single antenna, calculating the motion speed of the target, calculating a phase term introduced by the motion of the target, and finally performing phase compensation on a target echo signal [ Z.dominik, and A.Ziroff. "phase migration effects in moving target localization using switched MIMO arrays." ear radio references (2015):85-88 ]. The disadvantages of this approach are: the target velocity needs to be accurately calculated, otherwise, the phase correction result of the target echo signal is inaccurate.
Disclosure of Invention
The invention aims to provide a moving target phase correction method of an MIMO radar, which is used for a time division multiplexing frequency modulation continuous wave MIMO radar to correct a received signal of a virtual antenna array, can avoid the problems in the prior art, and does not need to design a redundant virtual array element and calculate the speed of a target in the process.
In order to achieve the above object, the present invention provides a moving target phase correction method for a MIMO radar, which is used for a time division multiplexing frequency modulated continuous wave MIMO radar, and is characterized in that the time division multiplexing frequency modulated continuous wave MIMO radar is provided with M transmitting antenna array elements and N receiving antenna array elements, a corresponding virtual antenna array is a uniform linear array, and the virtual antenna array is provided with MN antenna array elements, which are sequentially numbered from 1 st antenna array element to MN th antenna array element according to a virtual position of a space, and each round of receiving signals are obtained by the virtual antenna array according to a specific time division multiplexing timing sequence of the transmitting antenna array elements and the receiving antenna array elements, and each round of receiving signals includes two time periods, that is: firstly, receiving signals by a 1 st array element of a virtual antenna array, and obtaining received signals of MN frequency modulation periods as a first time period of each round of received signals; then, the virtual antenna array receives signals according to the sequence of the 1 st array element, the 2 nd array element, the 3 rd array element, the 4 th array element, … and the MN th array element, and obtains received signals of MN frequency modulation periods as a second time period of each round of received signals. A total of 2MN fm cycles of received signal are obtained.
In the signal processing process, the phase of the received signal in the first time period is subtracted from the phase of the received signal in the second time period of each round of virtual antenna array, the phase term introduced by the target motion is eliminated, and the phase of the received signal is corrected.
The invention has the beneficial effects that:
the invention provides a method for correcting the phase of a moving target of an MIMO radar, which adopts the time division multiplexing time sequence of the invention to carry out 2MN times switching gating on array elements of a transmitting antenna array and a receiving antenna array, carries out operation processing on a receiving signal of a virtual antenna array and directly eliminates a phase item introduced by target movement. The method does not need to calculate the target speed, does not need to design a redundant virtual array element, and realizes the phase correction of the moving target under the condition of not reducing the angular resolution of the radar.
Drawings
FIG. 1 is a schematic diagram of the present invention applied to a time division multiplexed frequency modulated continuous wave MIMO radar;
FIG. 2 is a schematic diagram of the aperture distribution of an antenna array applied to a time division multiplexing frequency modulated continuous wave MIMO radar according to the present invention;
FIG. 3 is a schematic diagram of a virtual antenna array for a time division multiplexed FM continuous wave MIMO radar according to the present invention;
FIG. 4 is a schematic diagram of the time division multiplexing timing sequence of the present invention applied to a time division multiplexing FM continuous wave MIMO radar;
fig. 5 is a phase simulation result of a virtual antenna array obtained by using the present invention;
FIG. 6 is a simulation result of calculating a target angle using results obtained by the present invention;
fig. 7 is a schematic flow diagram of the principle of the present invention.
Detailed Description
The invention will be further described with reference to the following figures and examples.
Fig. 1 is a schematic diagram of the principle of a time division multiplexing fm continuous wave MIMO radar (hereinafter referred to as a radar), in which a transmitting end of the radar includes an fm continuous wave signal generating module, a single channel transmitting module, a transmitting antenna array rf switch module and a transmitting antenna array, and a receiving end of the radar includes a receiving antenna array, a receiving antenna array rf switch module, a single channel receiving module, a phase correction module and a radar signal processing module, wherein the transmitting antenna array rf switch module is used to switch and gate the array elements of the transmitting antenna array, the number of the array elements of the transmitting antenna array is M, and T is TmRepresents the M-th transmitting antenna element, M is 1,2, …, M; the receiving antenna array radio frequency switch module is used for switching and gating the array elements of the receiving antenna array, the number of the array elements of the receiving antenna array is N, RnDenotes the nth receiving antenna element, N is 1,2, …, N; the single-channel receiving module is used for receiving and collecting signals of the receiving antenna array, the phase correction module is used for correcting the received signals of the virtual antenna array, and the radar signal processing module is used for processing the signals after the method and calculating the distance, the speed and the angle of a target.
Fig. 2 is a schematic diagram of the aperture distribution of the antenna array applied to radar, where M is 4 for the transmitting antennaThe line array and the receiving antenna array with the N being 8 are taken as examples, the open circle represents the transmitting antenna array, the open square represents the receiving antenna array, the 8-element receiving antenna array has the array element spacing of drThe 4-element transmitting antenna array consists of two groups of sub-arrays. The number of array elements of each subarray is
Array element spacing of
The two groups of sub-arrays are distributed at two sides of the receiving antenna array, and the distance between the last array element of the left sub-array and the first array element of the receiving antenna array is
The distance between the first array element of the right side subarray and the last array element of the receiving antenna array is also dtrThe antenna array satisfying the aperture distribution can be equivalent to an array element spacing of dtAs shown in fig. 3, the M × N ═ 32 element virtual antenna array. In fig. 3, array elements are numbered according to the array element arrangement sequence, namely, the 1 st array element, the 2 nd array element to the 32 th array element in sequence, and the space interval between the array elements adjacent to the array elements with the numbers is dt. The virtual antenna array in fig. 3 is a uniform linear array, and may be implemented by using the antenna array shown in fig. 2, or by using antenna arrays in other aperture distribution manners, such as a manner that a transmitting antenna array is on the left, and a receiving antenna array is on the right.
The time division multiplexing timing sequence of the radar of the present invention is shown in fig. 4, and through the time division multiplexing timing sequence of the specific transmitting antenna array element and the specific receiving antenna array element, the virtual antenna array receives signals according to the specific time division multiplexing timing sequence, and each round of received signals includes two time periods, that is: firstly, receiving signals by a 1 st array element of a virtual antenna array, and obtaining received signals with 32 frequency modulation periods as a first time period of each round of received signals; then, the virtual antenna array receives signals according to the sequence of the 1 st array element, the 2 nd array element, the 3 rd array element, the 4 th array element, … and the 32 nd array element, and obtains the received signals of 32 frequency modulation periods as the received signalsA second time period for each round of received signals. In order to obtain the received signals of the virtual antenna array, the time division multiplexing timing of the first time period is selected to be T1/R1Receiving 32 frequency modulation period signals; selecting the time division multiplexing timing of the second time period as T1/R1、T2/R1、T1/R2、T2/R2、T1/R3、T2/R3、T1/R4、T2/R4、T1/R5、T2/R5、T1/R6、T2/R6、T1/R7、T2/R7、T1/R8、T2/R8、T3/R1、T4/R1、T3/R2、T4/R2、T3/R3、T4/R3、T3/R4、T4/R4、T3/R5、T4/R5、T3/R6、T4/R6、T3/R7、T4/R7、T3/R8、T4/R8(ii) a And circularly receiving the echo signal of the target by taking the time division multiplexing time sequence as the time sequence of one round of receiving signals. T is1/R1The combination of (1) th transmitting antenna array element T is switched and gated by the transmitting antenna array radio frequency switch module1Carrying out signal transmission, and simultaneously switching and gating the 1 st receiving antenna array element R by the receiving antenna array radio frequency switch module1And receiving echo signals. And if the one-time switching gating period is equal to the frequency modulation period T of the frequency modulation continuous wave signal, the period of one round of receiving signals is 64T. Different antenna arrays correspond to different transmitting/receiving combinations, but the virtual antenna array can obtain each round of receiving signals according to a specific time division multiplexing time sequence.
According to the time division multiplex sequence of the invention, it is assumed that the signal S received by the radar is within a certain cycle of the received signalcycle(i) The method comprises the following steps:
Scycle(i)＝[s1_1(i) s1_1(i) L s1_1(i) s2_1(i) s2_2(i) L s2_32(i)]
wherein s is1_1(i)＝[s1_1(1) s1_1(2) … s1_1(i) … s1_1(I)]HRepresenting 1 FM periodic signal received by the 1 st element of the virtual antenna array, i.e. the switching strobe T1/R1Receiving 1 frequency-modulated periodic signal]HIndicating transposition, I-1, 2, …, I indicating the number of samples in a switching strobe period T, and so on, may indicate the signals received by the remaining array elements. For convenience of representation, S is definedcycle_1(i)＝[s1_1(i) s1_1(i) L s1_1(i)]Receiving signals of 32 frequency modulation periods for the 1 st array element of the virtual antenna array, namely receiving signals in a first time period in a round of receiving signal periods; scycle_2(i)＝[s2_1(i) s2_2(i) L s2_32(i)]The signals of 32 frequency modulation cycles received by the 1 st to 32 th array elements of the virtual antenna array are signals received in the second time period in one round of received signal cycle.
Separately aligning the signals S by fast Fourier transformcycle_1(i)、Scycle_2(i) Processing to obtain distance direction signal S with distance rcycle_1(r)、Scycle_2(r), expressed as:
Scycle_1(r)＝[s1_1(r) s1_1(r) L s1_1(r)]
Scycle_2(r)＝[s2_1(r) s2_2(r) L s2_32(r)]
wherein R is ∈ [0, R ∈]And R represents the farthest distance of radar detection. Extracting the phase psi of the two range-wise signalscycle_1(r)、ψcycle_2(r), expressed as:
will phicycle_2(r) subtracting psicycle_1(r) obtaining the phase ψ of the corrected virtual antenna array distance direction signalre(r), expressed as:
corrected range signal S of virtual antenna arrayarray(r) is expressed as:
wherein ". x" denotes multiplication of corresponding elements of the matrix, acycle_2(r)＝[a2_1(r) a2_2(r) L a2_32(r)]Signal S representing the direction of distancecycle_2(r) amplitude.
Utilizing inverse Fourier transform method to correct distance direction signal S of virtual antenna arrayarray(r) processing to obtain the corrected signal S of the virtual antenna arrayarray(i) Expressed as:
Sarray(i)＝[sar_1(i) sar_2(i) L sar_32(i)]
after the method for correcting the phase of the moving target of the radar is adopted, the existing digital beam forming method [ Van Trees, H.Optimum Array processing.New York: Wiley-Interscience,2002 is utilized.]For the modified signal S of the virtual antenna arrayarray(i) And processing is carried out, so that the angle of the target can be correctly calculated.
The following description will be made in detail with reference to the simulation examples.
The radar parameters set by simulation are as follows: the frequency modulation period T is 50 us; the number of sampling points I is 1000; the number M of array elements of the transmitting antenna array is 4, and the number N of array elements of the receiving antenna array is 8; the farthest distance R of radar detection is 1500 m. The simulation sets a point target at an angle of 0 deg. and a speed of 15 m/s.
Fig. 5 is a phase simulation result obtained by using the method for correcting the phase of the moving target of the radar of the present invention, in which the abscissa represents an array element, the ordinate represents a normalized phase, a hollow dot represents a theoretical value of the phase of the moving target of the frequency modulated continuous wave MIMO radar, and a dotted line and a solid line represent phase values of the moving target of the radar before and after phase correction, respectively. The observation shows that the theoretical value of the phase of the moving target of the frequency modulation continuous wave MIMO radar is 0 degree, when the method of the invention is not adopted for phase correction, the phase of the moving target of the radar changes linearly along with the array elements, and the phase difference between the array elements is a fixed value, namely, a phase term introduced by the target motion. After the method is adopted for phase correction, the phase of the moving target of the radar is superposed with a theoretical value. The accuracy of the phase correction results of the present invention is illustrated.
Fig. 6 is a simulation result of calculating a target angle using the result obtained by the present invention, in which the abscissa represents an angle, the ordinate represents a normalized directional diagram, and the dotted line and the solid line represent the simulation results of the target angle before and after phase correction of a moving target of a radar, respectively. It can be observed that, when the phase correction is not performed by the method of the present invention, the calculated target beam angle is 5.5 °, and after the phase correction is performed by the method of the present invention, the target beam angle calculated by using the received signal of the virtual antenna array after the phase correction is 0 °, which indicates that the received signal of the virtual antenna array can be used for accurately calculating the target angle after the phase correction is performed by the method of the present invention.
Furthermore, the principle of the present invention for eliminating the phase term introduced by the object motion is worth further explanation. Because the invention carries out 2MN switching gating on the transmitting antenna array and the receiving antenna array, and directly eliminates the phase term introduced by the target motion by carrying out operation processing on the receiving signals of 2MN frequency modulation periods of the virtual antenna array, the calculation process is simple and easy to implement.
Still taking the example of the transmitting antenna array with M-4 and the receiving antenna array with N-8 as examples, it is assumed that the moving speed of one object is v and the angle is θt. When the time division multiplexing time sequence of the invention is adopted to transmit and receive signals of each round, the virtual antenna array only transmits and receives signals in the first time periodWith 1 st array element receiving signal, signal phase
Expressed as:
wherein the content of the first and second substances,
the natural phase of the echo signal as determined by the target distance,
the phase term introduced for the motion of the object.
The virtual antenna array receives signals from the 1 st array element to the 32 nd array element in the second time period, and the signal phase
Expressed as:
wherein the content of the first and second substances,
and determining the phase difference of adjacent array elements of the virtual antenna array for the target angle.
The phase of the second time segment signal
Subtracting the phase of the first time period signal
After that, the following results can be obtained:
observation of
It can be seen that there is a fixed constant between the phases of the received signals of the 1 st to 32 nd virtual array elements
The phase difference between adjacent array elements of the quasi-antenna array is
Determined only by the target angle. If it is paired with
All elements of (1) minus
1 st element of (1)
From the obtained results
The above conclusions can be clearly seen in:
observation of
It can be seen that the phases of the received signals of the 1 st to 32 nd virtual array elements
In the phase term introduced by the motion of the object
Is completely eliminated.
Based on the principle, the invention can directly eliminate the phase term introduced by the target motion by carrying out operation processing on the received signals of 2MN frequency modulation periods of the virtual antenna array. Fig. 7 is a schematic flow diagram of the principle of the present invention.
The foregoing description of the preferred embodiments of the present invention has been included to describe the features of the invention in detail, and is not intended to limit the inventive concepts to the particular forms of the embodiments described, as other modifications and variations within the spirit of the inventive concepts will be protected by this patent. The subject matter of the present disclosure is defined by the claims, not by the detailed description of the embodiments.
Claims (1)
1. A method for correcting the phase of moving target of MIMO radar, MIMO refers to multiple inputs and outputs, and is characterized by that it has M transmitting antenna elements and N receiving antenna elements, the correspondent virtual antenna array is uniform linear array and has MN antenna elements, in which, the receiving antenna array is an array element spacing drThe transmitting antenna array consists of two groups of sub-arrays; the number of array elements of each subarray is
Array element spacing of
The two groups of sub-arrays are distributed at two sides of the receiving antenna array, and the distance between the last array element of the left sub-array and the first array element of the receiving antenna array is
The distance between the first array element of the right side subarray and the last array element of the receiving antenna array is also dtr(ii) a The distributed antenna array is equivalent to an array element spacing of dtThe M multiplied by N element virtual antenna array is numbered from the 1 st array element to the MN antenna array element in sequence according to the virtual position of the space, and each round of received signals are obtained by the virtual antenna array according to the specific time division multiplexing time sequence through the specific transmitting antenna array element and the specific receiving antenna array element, and each round of received signals comprise two time periodsNamely: firstly, receiving signals by a 1 st array element of a virtual antenna array, and obtaining received signals of MN frequency modulation periods as a first time period of each round of received signals; then, the virtual antenna array receives signals according to the sequence of the 1 st array element, the 2 nd array element, the 3 rd array element, the 4 th array element, … and the MN array element, and obtains received signals of MN frequency modulation cycles as a second time period of each round of received signals;
in order to obtain the received signals of the virtual antenna array, the time division multiplexing timing of the first time period is selected to be T1/R1Receiving signals of MN frequency modulation periods; selecting the time division multiplexing timing of the second time period as T1/R1、T2/R1、…、TM/2/R1、T1/R2、T2/R2、…、TM/2/R2、T1/R3、T2/R3、…、TM/2/R3、…、T1/RN、T2/RN、…、TM/2/RN、TM/2+1/R1、TM/2+2/R1、…、TM/R1、TM/2+1/R2、TM/2+2/R2、…、TM/R2、TM/2+1/R3、TM/2+2/R3、…、TM/R3、…、TM/2+1/RN、TM/2+2/RN、…、TM/RN(ii) a Circularly receiving the echo signal of the target by taking the time division multiplexing time sequence as the time sequence of one round of receiving signals; wherein, T1/R1The combination of (1) th transmitting antenna array element T is switched and gated by the transmitting antenna array radio frequency switch module1Carrying out signal transmission, and simultaneously switching and gating the 1 st receiving antenna array element R by the receiving antenna array radio frequency switch module1Receiving echo signals;
in the signal processing process, the phase of the received signal in the first time period is subtracted from the phase of the received signal in the second time period of each round of virtual antenna array, the phase term introduced by the target motion is eliminated, and the phase of the received signal is corrected.
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| CN109116339B (en) * | 2018-10-19 | 2020-10-27 | 海鹰企业集团有限责任公司 | Beam forming method and device based on aerial sonar lifting |
| 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 |
| JP2022545002A (en) * | 2019-08-19 | 2022-10-24 | 華為技術有限公司 | Signal transmission method and apparatus, signal processing method and apparatus, and radar system |
| WO2021056187A1 (en) * | 2019-09-24 | 2021-04-01 | 华为技术有限公司 | Transmitting method and receiving method of speed measurement signal |
| CN112313837A (en) * | 2019-11-04 | 2021-02-02 | 深圳市大疆创新科技有限公司 | VMIMO antenna, microwave radar and movable platform |
| CN111541015B (en) * | 2020-04-07 | 2023-01-24 | 南京市德赛西威汽车电子有限公司 | Method for improving angular resolution of antenna and antenna |
| CN115917355A (en) * | 2020-06-23 | 2023-04-04 | 华为技术有限公司 | Signal processing method and device, radar device, and storage medium |
| CN113009584B (en) * | 2021-02-06 | 2022-05-17 | 中国人民解放军国防科技大学 | Ultra-wideband MIMO radar vital sign detection positioning method |
| CN113608188B (en) * | 2021-06-21 | 2023-12-29 | 西安空间无线电技术研究所 | Space debris angle measurement method and system based on space-based TDM-MIMO radar |
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