CN108387883A - Method for calculating angle of moving target of switched antenna array frequency modulation continuous wave radar - Google Patents
Method for calculating angle of moving target of switched antenna array frequency modulation continuous wave radar Download PDFInfo
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- CN108387883A CN108387883A CN201810517308.1A CN201810517308A CN108387883A CN 108387883 A CN108387883 A CN 108387883A CN 201810517308 A CN201810517308 A CN 201810517308A CN 108387883 A CN108387883 A CN 108387883A
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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
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Abstract
The invention provides a method for calculating a moving target angle of a switched antenna array frequency modulation continuous wave radar. The technical scheme is as follows: and adopting a working time sequence switched in sequence, and carrying out the following processing on signals obtained by each switching: the first step is to carry out range direction processing to obtain a range direction signal; secondly, performing first digital beam forming processing on the range direction signal to obtain an array synthesis range direction signal of a plurality of beams, extracting a false beam array synthesis range direction signal of a target by adopting a target detection method, and calculating the speed of the target; thirdly, constructing a phase compensation vector by using the calculated speed, and performing phase compensation on a range direction signal of the target; and fourthly, performing secondary digital beam forming processing on the target range direction signal after phase compensation, and then calculating the correct angle of the target. The invention can improve the calculation precision of the target angle.
Description
Technical field
The invention belongs to Radar Signal Processing Technology fields, are related to a kind of fortune of switched antenna array frequency modulated continuous wave radar
Moving-target angle computation method.
Background technology
Frequency modulated continuous wave radar have the characteristics that it is at low cost, simple in structure, small, meanwhile, can to the distance of target and
Speed is accurately measured, and in conjunction with the application of aerial array, the angle measurement to target may be implemented.In traditional aerial array
In frequency modulated continuous wave radar, each antenna needs an independent channel receiving signal, it is clear that the hardware that multichannel receives is set
Cost, power consumption, the volume of frequency modulated continuous wave radar hardware will be increased by applying.In order to reduce aerial array frequency modulated continuous wave radar at
This and its system complexity, scholar propose a kind of switched antenna array frequency modulated continuous wave radar [L.Yang and
F.Zhenghe,“Switch antenna array with single receiving channel for FMCW
radar,”in Proc.Int.Symp.Antennas Propagation,Fukuoka,Japan,2000,pp.1629–
1632.], in the radar, aerial array shares a receiving channel and realizes spacing wave by specific switching sequence
Acquisition.But the shortcomings that this method, is：The phase of antenna array receiver signal not only determines by the angle of target, also with
Target velocity is related, it is generally the case that the phase term that target movement introduces is a fixed constant, if not to the phase term
It compensates, it will target angle is caused to calculate mistake.
The domestic and international institutions conduct moving target angle calculation side of relevant switched antenna array frequency modulated continuous wave radar
Method research, during moving target angle calculation, the step of phase compensation is most critical, has disclosed the phase delivered and mends
Compensation method is mainly the following：
1, sequential [T.Yue, and are gated by comprehensive design frequency modulated continuous wave radar parameter or using being switched fast
Y.Lu.“Single transceiver-based time division multiplexing multiple-input-
multiple-output digital beamforming radar system:concepts and experiments.”
Iet Radar Sonar&Navigation 8.4(2013):368-375.], the phase term that target movement introduces is controlled in pole
In small range, or even level off to 0 so that influence of the phase term that target movement introduces to angle calculation can be ignored.But
It is that, with the raising of target speed, this method will be unable to be applicable in.
2, using the work schedule of two-wheeled switching (containing the switching of wheel sequence and a wheel inverted sequence switching) [L.Yang and
F.Zhenghe,“Switch antenna array with single receiving channel for FMCW
radar,”in Proc.Int.Symp.Antennas Propagation,Fukuoka,Japan,2000,pp.1629–
1632.], angle calculation, then the angle calculation to the switching of this two-wheeled are carried out to sequence switching, inverted sequence switching received signal respectively
As a result matching primitives are carried out, the correct angle of target is found out.This method is for the faster target of movement velocity or working frequency
Higher frequency modulated continuous wave radar, the angle that the angle and inverted sequence switching that sequence switching calculates calculate will generate aliasing, cause
With calculating mistake [L.Yang, L.Liwan, P.Weifeng, C.Yaqin, and F.Zhenghe, " Signal processing
method for switch antenna array of the FMCW radar,”in Proc.IEEE Radar Conf.,
Atlanta,GA,May 2001,pp.289–293.]。
3, using the reception signal detection target of individual antenna, and target speed is calculated, to calculate target movement
The phase term of introducing finally carries out phase compensation [Z.Dominik, and A.Ziroff. " Phase to target echo signal
migration effects in moving target localization using switched MIMO arrays."
european radar conference(2015):85-88.].This method is during solving target speed, only
The echo-signal that individual antenna receives target, the target echo signal received for low signal-to-noise ratio target, individual antenna is utilized
Energy is smaller or even is submerged in noise, at this point, will be unable to detect target, thus can not carry out subsequent target velocity calculating
And phase compensation processing.
Invention content
The object of the present invention is to provide a kind of moving target angle calculation sides of switched antenna array frequency modulated continuous wave radar
Method proposes a kind of moving target phase compensating method of novelty, can solve existing during moving target angle calculation
The problem of technology includes the angle calculation to fast-moving target and low signal-to-noise ratio target.
To achieve the goals above, the present invention provides a kind of moving target angle of switched antenna array frequency modulated continuous wave radar
Computational methods are spent, using the work schedule of sequence switching successively, the signal obtained to each round switching carries out following processing：First
Step is to obtain distance to signal into row distance to processing；Second step is to adjust the distance to carry out first time digital beam froming to signal
Processing, the array for obtaining multiple wave beams are synthesized distance to signal, the false wave where target are extracted using object detection method
Beam array synthesizes distance to signal, and calculates the speed and distance of target；Third step is mended using the speed structure phase calculated
Vector is repaid, phase compensation is carried out to signal to the distance of target；4th step be to the target range after phase compensation to signal into
Second of digital beam froming processing of row, then calculates the correct angle of target.
Beneficial effects of the present invention：
The moving target angle computation method of switched antenna array frequency modulated continuous wave radar proposed by the present invention, using a wheel
The work schedule of sequence switching, has been saved processing time, the real-time of improvement method.Digital beam forming technology is applied two
It is secondary, it is used to improve target echo signal signal-to-noise ratio for the first time, promotes detectivity of the radar to low signal-to-noise ratio target, second of use
In calculating target angle.Meanwhile during calculating target angle, no matter the speed of velocity to moving target, may be by
The target velocity of calculating calculates the phase term that target movement introduces, to build phase compensation vector, to the distance of target to
Signal carries out phase compensation, improves the computational accuracy of target angle.
Description of the drawings
Fig. 1 is the principle schematic that the present invention is applied to switched antenna array frequency modulated continuous wave radar；
Fig. 2 is the switching sequence schematic diagram of the aerial array of the present invention；
Fig. 3 is to carry out the emulation knot of first time digital beam froming before and after the processing to signal to the distance of switched antenna array
Fruit；
Fig. 4 and Fig. 5 is the moving target angle calculation side using the switched antenna array frequency modulated continuous wave radar of the present invention
The target angle simulation result that method obtains；
Fig. 6 is the principle of the present invention flow diagram.
Specific implementation mode
Below in conjunction with drawings and examples, the present invention is described further.
Fig. 1 is the principle signal that the present invention is applied to switched antenna array frequency modulated continuous wave radar (hereinafter referred to as radar)
Figure, as shown, the transmitting terminal of radar includes CW with frequency modulation signal generator module and transmitting antenna, the receiving terminal packet of radar
Switched antenna array, single channel receiving module and digital signal processing module are included, wherein switched antenna array includes a N
First uniform linear array row and a RF switch, RF switch are used to control the switching gating of the array element of aerial array, this
The switching sequence schematic diagram of the aerial array of invention is as shown in Fig. 2, the array element of aerial array is the switching choosing of progress sequence from 1 to N
Logical, the switching sequence cycle that signal is received in this, as a wheel receives the echo-signal of target.Wherein, the switching gating between array element
Period is equal to the frequency modulation cycle T of CW with frequency modulation signal, and that wheel sequence switching indicates is N of the array element of aerial array from 1 to N
Secondary switching gating.Single channel receiving module is used to receive and acquire the signal of switched antenna array, and digital signal processing module is used
In the signal of process switching aerial array, the distance, speed and angle of target are calculated.
Assuming that the signal So for a certain wheel that switched antenna array receivesrigin(i) it is：
Sorigin(i)=[s1(i) s2(i) L sN(i)]
Wherein, s1(i)=[s1(1) s1(2) … s1(i) … s1(I)]HIndicate switching gating receiving antenna array
Received signal when 1 array element, []HIndicate that transposition, i=1,2 ..., I, I indicate to switch the sampling in strobe cycle T at one
Points, and so on, it can indicate remaining array element received signal.Using Fast Fourier Transform (FFT) method to Sorigin(i) it carries out
Processing, obtain distance to distance be the distance of r to signal Srange(r), it is expressed as：
Srange(r)=[s1(r) s2(r) L sN(r)]
Wherein, [0, R] r ∈, R indicate the maximum distance of radar detection.
It adjusts the distance to signal Srange(r) first time digital beam froming processing [Van Trees, H.Optimum are carried out
Array Processing.New York:Wiley-Interscience, 2002.], obtain the array synthesis of multiple wave beams away from
Descriscent signal, in the process, the wave beam where the phase term that target movement introduces will lead to target generate offset, still, adopt
The signal-to-noise ratio of target echo signal can be made to be improved with this step, to be conducive to subsequent target detection.To not have below
Wave beam where having the target for carrying out phase compensation processing is known as false wave beam.
Utilize existing object detection method [Richards, M.A.Fundamentals of Radar Signal
Processing.New York:McGraw-Hill, 2005.] the array synthesis distance of multiple wave beams is detected to signal,
Assuming that detecting K target, the false beam array where kth (k=1,2 ..., K) a target synthesizes distance to signalIt is expressed as：
Wherein：
Indicate the false beam array weighting complex valued matrices where k-th of target, dtIndicate switched antenna array
Spacing between adjacent array element,Indicate the false beam angle for k-th of target being calculated；Indicate radar electricity
Magnetic wave phase constant, f indicate that radar operating frequency, c indicate the light velocity.
Utilize existing CW with frequency modulation signal processing method [W.Volker. " Range Doppler detection
for automotive FMCW radars."european microwave conference(2007):166-169.], it is right
The array of false wave beam where k-th of target synthesizes distance to signalIt is handled, k-th target is calculated
Speed isDistance is
Phase compensation vector, the phase compensation vector of k-th of target are built using the target velocity of calculatingIt is expressed as：
From distance to signal Srange(r) distance is extracted in isRow vector, i.e. the corresponding distance of k-th of target is to letter
Number
By the phase compensation vector of k-th of targetDistance corresponding with k-th of target is to signalCarry out member
The corresponding multiplication processing of element, the distance of the switched antenna array after the phase compensation of k-th obtained of target is to signal
I.e.：
It adjusts the distance to signalSecond of digital beam froming processing is carried out, the normalization of k-th of target is obtained
Directional diagram, the angle where normalized radiation pattern peak value are the correct angle of k-th of target, k=1,2 ..., K.
Fig. 3 to Fig. 5 is the moving target angle calculation side using the switched antenna array frequency modulated continuous wave radar of the present invention
The simulation result that method obtains, emulating the switched antenna array frequency modulated continuous wave radar parameter of setting is：Frequency modulation cycle T=50us；
Sampling number I=1000；Switched antenna array scale is the uniform linear array of N=8；The maximum distance R=of radar detection
1500m.Emulating the target component of setting is：Target number K=2；Distance, speed, the angle of 2 targets be respectively (100m ,-
10m/s, 0 °), (130m, 17m/s, 0 °)；The echo-signal signal-to-noise ratio of 2 targets is all 0dB.
Fig. 3 is to carry out the emulation knot of first time digital beam froming before and after the processing to signal to the distance of switched antenna array
Fruit, abscissa indicate distance to distance, before ordinate indicates that normalized energy, dotted line expression do not carry out digital beam froming processing
Array element 1 receive the distance of signal to simulation result, solid line, dotted line obtain after indicating progress digital beam froming processing respectively
The array of false wave beam synthesizes distance to simulation result where target 1, target 2.Do not carry out before digital beam froming processing away from
Descriscent simulation result shows that 2 targets are submerged in noise, can not obtain distance, the velocity information of target.But it carries out
After digital beam froming processing, the array of false wave beam synthesizes distance to simulation result, Ke Yifa where object observing 1, target 2
The signal-to-noise ratio of existing 2 targets is obtained for raising.The distance of 2 targets is calculated, speed be respectively (100.05m ,-
10.03m/s), (129.75m, 17.1m/s).Distance, speed and the target component of setting for 2 targets that simulation calculation obtains
There are minute differences, this is because the error that noise introduces.
Fig. 4, Fig. 5 are the moving target angle calculation using the switched antenna array frequency modulated continuous wave radar of the present invention respectively
The angle simulation result of target 1, target 2 that method obtains；Abscissa indicates angle, and ordinate indicates normalized radiation pattern, empty
Line indicates that angle simulation result of the target place distance for not using the present invention to obtain to signal, solid line indicate to obtain using of the invention
Angle simulation result of the distance to signal where the target arrived.It is observed that do not use the present invention when, be calculated target 1,
The false beam angle of target 2 is -3.1 °, 7 ° respectively, after applying the present invention, target 1 is calculated, the angle of target 2 is all
0 °, illustrate that the present invention calculates the accuracy of target angle result.
The movement of switched antenna array frequency modulated continuous wave radar proposed by the present invention of the simulation results show of Fig. 3 to Fig. 5
Target angle computational methods can carry out angle calculation to low signal-to-noise ratio target and fast-moving target.
In addition, being illustrated after the processing of digital beam froming twice below by theory analysis, it is more conducive to meter
Calculate the angle of target.
Assuming that the movement velocity of a target is v, angle θt, array element spacing is dt, the frequency modulation period is T；Then adjacent array element
Between phase difference be：
ψmoving=β dtsinθ-β(dtsinθt+2vT)
Wherein,For dimensional orientation angle, last β 2vT is the phase term that target movement introduces.
According to array aerial direction figure calculation formula [Weeks, W.L.Theory and Application of
Antenna Arrays by M.T.Ma.Theory and application of antenna arrays/.Wiley,
1974:590.] computing array antenna radiation pattern FarrayFor：
The gain that can obtain array aerial direction figure is 10log10N, the gain will not change with target angle.Cause
This, after the processing of first time digital beam froming, the signal-to-noise ratio of target echo signal can be improved, after signal-to-noise ratio improves
Be conducive to the speed for being more precisely calculated target.Phase benefit is carried out to signal to the distance of target after calculating the speed of target
It repays.After carrying out second of digital beam froming processing again, be conducive to further increase gain, consequently facilitating calculating normalization direction
The peak value of figure, the angle of angle, that is, target where peak value.
The explanation of the preferred embodiment of the present invention contained above, this be for the technical characteristic that the present invention will be described in detail, and
Be not intended to invention content being limited in concrete form described in embodiment, according to the present invention content purport carry out other
Modifications and variations are also protected by this patent.The purport of the content of present invention is to be defined by the claims, rather than by embodiment
Specific descriptions are defined.
Claims (2)
1. a kind of moving target angle computation method of switched antenna array frequency modulated continuous wave radar, which is characterized in that using according to
The work schedule of secondary sequence switching, the signal obtained to each round switching carry out following processing：The first step is into row distance to place
Reason, obtains distance to signal；Second step is to adjust the distance to carry out first time digital beam froming processing to signal, obtains multiple wave beams
Array synthesize distance to signal, the false beam array where target is extracted using object detection method synthesizes distance to letter
Number, and calculate the speed and distance of target；Third step is using the speed structure phase compensation vector calculated, to the distance of target
Phase compensation is carried out to signal；4th step is to carry out second of digital beam froming to signal to the target range after phase compensation
Then processing calculates the angle of target.
2. the moving target angle computation method of switched antenna array frequency modulated continuous wave radar according to claim 1,
It is characterized in that, phase compensation vector, the phase compensation vector of k-th of target is built using the target velocity of calculatingIt is expressed as：
In above formula,It is the speed of k-th of target, T is the frequency modulation period of CW with frequency modulation signal, and β indicates radar electromagnetic wave phase
Bit constant.
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| CN110927696A (en) * | 2018-08-29 | 2020-03-27 | 罗伯特·博世有限公司 | Device for receiving light for detecting an object |
| RU2722224C1 (en) * | 2019-11-05 | 2020-05-28 | Акционерное общество научно-внедренческое предприятие "ПРОТЕК" | Method of determining coordinates of a ground target by a radar system consisting of two multibeam radio transmitters and a receiver |
| CN111948451A (en) * | 2020-07-31 | 2020-11-17 | 中国电子科技集团公司第四十一研究所 | Frequency modulation continuous wave signal direction finding method based on cross-spectrum phase weighted average method |
| 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 |
| CN112400117A (en) * | 2019-11-05 | 2021-02-23 | 深圳市大疆创新科技有限公司 | Method for detecting position of target object, movable platform, device and storage medium |
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| CN110927696A (en) * | 2018-08-29 | 2020-03-27 | 罗伯特·博世有限公司 | Device for receiving light for detecting an object |
| 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 |
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| 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 |
| RU2722224C1 (en) * | 2019-11-05 | 2020-05-28 | Акционерное общество научно-внедренческое предприятие "ПРОТЕК" | Method of determining coordinates of a ground target by a radar system consisting of two multibeam radio transmitters and a receiver |
| CN112400117A (en) * | 2019-11-05 | 2021-02-23 | 深圳市大疆创新科技有限公司 | Method for detecting position of target object, movable platform, device and storage medium |
| CN111948451A (en) * | 2020-07-31 | 2020-11-17 | 中国电子科技集团公司第四十一研究所 | Frequency modulation continuous wave signal direction finding method based on cross-spectrum phase weighted average method |
| CN111948451B (en) * | 2020-07-31 | 2023-03-24 | 中国电子科技集团公司第四十一研究所 | Frequency modulation continuous wave signal direction finding method based on cross-spectrum phase weighted average method |
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