CN108427111B - Radar ranging method and device - Google Patents
Radar ranging method and device Download PDFInfo
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- CN108427111B CN108427111B CN201710076233.3A CN201710076233A CN108427111B CN 108427111 B CN108427111 B CN 108427111B CN 201710076233 A CN201710076233 A CN 201710076233A CN 108427111 B CN108427111 B CN 108427111B
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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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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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
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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Abstract
The application discloses a radar ranging method and a radar ranging device.A positioning device determines a first distance and a second distance, wherein the first distance is the distance between a positioning target and a first radar module, and the second distance is the distance between the positioning target and a second radar module; the positioning equipment determines first imaging information and second imaging information, wherein the first imaging information is imaging information of a positioning target in a first radar module, and the second imaging information is imaging information of the positioning target in a second radar module; the positioning device determines a first scale value of the positioning target in a first direction according to a first phase difference value, the first distance, the second distance and a first fixed value, wherein the first fixed value is a distance between the first radar module and the second radar module, and the first phase difference value is a phase difference value between the first imaging information and the second imaging information.
Description
Technical Field
The application relates to the technical field of radar positioning, in particular to a radar ranging method and device.
Background
The millimeter wave radar refers to a radar working in a millimeter wave band, and the working frequency is usually selected within the range of 30-300 GHz. The wavelength of the millimeter wave is between the centimeter wave and the light wave, so the millimeter wave has the advantages of microwave guidance and photoelectric guidance. Compared with the centimeter wave seeker, the millimeter wave seeker has the characteristics of small volume, light weight and high spatial resolution. Compared with optical probes such as infrared, laser, television and the like, the millimeter wave probe has strong capability of penetrating fog, smoke and dust and has the characteristics of all weather and all day long.
Due to the characteristics of small size, light weight and the like, the millimeter wave radar well makes up the use scenes that other sensor radars such as infrared, laser, ultrasonic waves, cameras and the like do not have in vehicle-mounted application. The millimeter wave radar frequency ranges of the mainstream automobile at home and abroad are 24GHz (for short-medium distance radar, the measurement range is 15-30 m) and 77GHz (for long-distance radar, the measurement range is 100-200 m).
The resolution capability of the millimeter wave radar to the position of the object is divided into distance resolution and azimuth resolution, and one distance resolution and one azimuth resolution form a resolution unit. The range resolution is inversely proportional to the signal bandwidth of the millimeter wave radar transmission signal, namely the larger the signal bandwidth is, the smaller the range resolution is; the azimuth resolution is determined by the antenna size, and the larger the antenna size, the smaller the range resolution. The antenna of the millimeter wave radar is composed of a plurality of antenna elements, and the beam directivity of the antenna is controlled by giving different initial phases to each antenna element or giving different phases at the time of post-processing. The number of antenna elements is proportional to the size of the antenna, and the larger the size of the antenna, the larger the number of antenna elements. At present, the commonly used millimeter wave radar has a carrier frequency of 77GHz and an antenna size of 2m, and the resolution is only 0.25 m at a place of 100 m, and the number of required antenna units is 1027. At present, when a millimeter wave radar locates an object, only a resolution unit where the object is located can be determined, and coordinates of the resolution unit are used as coordinates of the located object.
In the prior art, in order to obtain a more accurate positioning result, it is necessary to improve the resolution of the millimeter wave radar, for example, to increase the number of antenna units or reduce the signal bandwidth of a transmission signal, and how to improve the positioning accuracy of the millimeter wave radar without increasing the number of antenna units or reducing the signal bandwidth of the transmission signal, there is no effective method.
Disclosure of Invention
The application provides a radar ranging method and device, which are used for improving the positioning accuracy of a millimeter wave radar under the condition of not increasing the number of antenna units or reducing the signal bandwidth of a transmitting signal.
In a first aspect, an embodiment of the present application provides a radar ranging method, where the method includes:
after determining the first distance, the second distance, and the first imaging information and the second imaging information, the positioning apparatus may determine a first scale value of the positioning target in the first direction according to the first phase difference value, the first distance, the second distance, and a first fixed value. The first distance is the distance between a positioning target and a first radar module, the second distance is the distance between the positioning target and a second radar module, the first imaging information is the imaging information of the positioning target in the first radar module, and the second imaging information is the imaging information of the positioning target in the second radar module; the first fixed value is a distance between the first radar module and the second radar module, and the first phase difference value is a phase difference value between the first imaging information and the second imaging information.
According to the method provided by the embodiment of the application, after the positioning device determines that the positioning target is located in the first imaging information of the first radar module and the positioning target is located in the second imaging information of the second radar module, a first phase difference value between the first imaging information and the second imaging information can be determined, and a first scale value of the positioning target in the first direction is determined according to the first phase difference value, the first distance, the second distance and a first fixed value, so that the position of the positioning target in the first direction can be determined. Because the first phase difference value indicates the difference value of the first imaging information and the second imaging information in phase, the accuracy is higher, so that the accuracy of the first scale value obtained by the positioning equipment through the first phase difference value is higher, and the positioning accuracy of the millimeter wave radar is improved under the condition that the number of the antenna units is not increased or the signal bandwidth of the transmitted signal is not reduced.
Optionally, the positioning device may perform fourier transform on the first weighted imaging information, and determine the first phase difference value according to the fourier-transformed first weighted imaging information. Wherein the first weighted imaging information is determined according to a ratio of the first imaging information to the second imaging information.
In the method, the first weighted imaging information determined by the first imaging information and the second imaging information is subjected to fourier transform, so that a first phase difference value with higher accuracy can be obtained, and a first scale value with higher accuracy can be obtained according to the first phase difference value.
Optionally, the positioning apparatus may further determine a third distance and third imaging information, and then the positioning apparatus determines a second scale value of the positioning target in the second direction according to the second phase difference value, the first distance, the third distance and a second fixed value. The third distance is a distance between the positioning target and a third radar module, the third imaging information is imaging information of the positioning target in the third radar module, the second fixed value is a distance between the first radar module and the third radar module, and the second phase difference value is a phase difference value between the first imaging information and the third imaging information.
Optionally, the positioning device may determine a third scale value of the positioning target in a third direction according to a product of the first distance and a cosine value of the first included angle, where the first included angle is an included angle between the transmission beam of the first radar module and the third direction. For example, the positioning apparatus takes the product of the first distance and the cosine value of the first angle as the third scale value.
Optionally, the positioning apparatus determines the first scale value of the positioning target in the first direction according to a quotient of the product of the first phase difference value and the first distance mean value and the first fixed value.
In a second aspect, embodiments of the present application provide a radar ranging apparatus comprising means or units (means) for performing the steps of any one of the methods of the first aspect above.
In a third aspect, an embodiment of the present application provides a radar ranging apparatus, where the apparatus includes a processor and a memory, where the memory is used to store a program, and the processor calls the program stored in the memory to perform any one of the methods provided in the first aspect of the embodiment of the present application.
In a fourth aspect, the present application also provides a computer readable storage medium for storing computer software instructions for executing any one of the above aspects, including a program designed for executing any one of the above aspects.
Drawings
Fig. 1 is a signal diagram provided in an embodiment of the present application;
fig. 2 is a schematic diagram of a radar resolution provided in an embodiment of the present application;
fig. 3 is a schematic geometric structure diagram of a radar module location according to an embodiment of the present disclosure;
fig. 4 is a schematic geometric structure diagram of a radar module location according to an embodiment of the present disclosure;
fig. 5 is a schematic geometric structure diagram of a radar module location according to an embodiment of the present disclosure;
fig. 6 is a flowchart of a radar ranging method according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of beam pointing according to an embodiment of the present application;
FIG. 8 is a schematic three-dimensional coordinate system provided by an embodiment of the present application;
fig. 9 is a schematic geometric structure diagram of a radar module position according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of a radar ranging apparatus according to an embodiment of the present disclosure;
fig. 11 is a schematic structural diagram of a radar ranging device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail below with reference to the accompanying drawings.
Hereinafter, some terms in the present application are explained to facilitate understanding by those skilled in the art.
1) The positioning device can be a handheld device with a wireless connection function, an on-board device and the like. Common positioning devices may be: vehicle-mounted radar, mobile phone, tablet computer, notebook computer, palm computer, Mobile Internet Device (MID), wearable device, such as smart watch, smart bracelet, pedometer, etc.
2) The radar module can be a millimeter wave radar based on a phased array, a millimeter wave radar based on digital beam forming, and a millimeter wave radar based on a single antenna. Each radar module may transmit only signals, or receive only signals, or both.
3) The positioning target may be any target for which distance and/or speed measurement is required, a moving object, or a stationary object.
At present, the millimeter wave radar ranging and speed measuring process may include the following steps:
step one, a Waveform generator (Waveform generation) in the millimeter wave radar generates a transmitting signal, and then the transmitting signal is transmitted through a transmitting antenna (Transmit antenna). The transmission signal is typically a chirp signal with a carrier frequency, the transmission signal sTThe expression (t) may be:
wherein f isTDenotes the carrier frequency, BswRepresenting the bandwidth of the transmitted signal, TCPIRepresenting the duration of the transmitted signal.
Step two, the transmitting signal is reflected by the barrier and then received by a receiving antenna (Receive antenna), the received signal is a delay signal of the transmitting signal, and a delay signal s of the transmitting signalR(t) the expression is:
sR(t)＝sT[t-τ(t)](2)
where τ (t) represents the delay of a transmitted signal transmitted from a transmitting antenna, reflected off an obstacle, and received by a receiving antenna.
And step three, carrying out frequency mixing/Down conversion (Down-conversion) on the delayed signal of the transmitting signal and the transmitting signal, and then obtaining a receiving signal through Sampling (Sampling).
And step four, performing Fast Fourier Transform (FFT) on the received Signal, and performing Signal Processing (Signal Processing) on the Signal after FFT to obtain the distance and the speed of the positioning target.
Because of the delay and doppler effect, the received delay signal will generate a frequency shift compared with the transmitted signal, and because the frequency shift is the composite effect of the delay and doppler effect, a frequency shift cannot determine the distance and speed of the positioning target, and therefore, the distance and speed of the positioning target can be determined by formula (3) and formula (4). The mathematical expressions of equation (3) and equation (4) are:
wherein f isB,1Frequency offset f of a frequency rising signal representing a transmission signalB,2Representing the frequency offset of the frequency down signal of the transmitted signal. f. ofDIndicating the Doppler effect, which is the frequency shift produced by the velocity of movement of the located object, corresponding
Where λ denotes the wavelength of the transmitted signal, vrIndicating the speed at which the target is located. f. ofτIndicating a frequency shift caused by an echo delay, which is a frequency shift caused by a distance between a positioning target and a transmitting/receiving antenna of a millimeter wave radar, and
where c represents the speed of light and R represents the distance between the positioning target and the millimeter wave radar.
Fig. 1 is a schematic signal diagram provided in the embodiment of the present application. Fig. 1 shows a frequency up signal and a frequency down signal of a transmission signal. The frequency rising signal of the transmission signal may refer to a rising edge signal of the transmission signal, and the frequency falling signal of the transmission signal may refer to a falling edge signal of the transmission signal. The method comprises the steps of sampling a frequency rising signal of a transmitting signal, performing FFT (fast Fourier transform) on the sampled signal, and determining a frequency peak value after the FFT as a frequency offset f of the frequency rising signal of the transmitting signalB,1The same method can also obtain the frequency offset f of the frequency reduction signalB,2。
In conjunction with the foregoing description, a system of equations of binary origin can be formed from equations (3) and (4), wherein the velocity vrThe distance R between the positioning target and the millimeter wave module is unknown, other parameters are known, and the velocity v can be obtained by solving the linear equation of two-dimensional systemrPositioning, positioningThe distance R between the target and the millimeter wave module, so that the distance and the speed of the positioning target are determined.
The resolution of the millimeter wave radar is divided into a distance resolution and an azimuth resolution. Range-wise resolution and signal bandwidth BswDetermining the distance resolution as rhoR
The azimuth resolution is determined by the antenna size, the azimuth resolution ρAIs composed of
Where c denotes the speed of light, λ denotes the wavelength of the transmitted signal, and D denotes the antenna size.
Fig. 2 is a schematic diagram of a radar resolution provided in the embodiment of the present application. In fig. 2, the distance between B1B4 or B2B3 represents the distance resolution, the distance between B1B2 or B3B4 represents the azimuth resolution, the area enclosed by B1, B2, B3 and B4 is a resolution unit, and the millimeter wave radar cannot distinguish objects in the resolution unit. For example, in fig. 2, T1 and T2 are in one resolution unit, and the distance and direction of T1 and T2 measured by the millimeter wave radar are the same, so that T1 and T2 cannot be distinguished.
In the prior art, in order to obtain higher resolution, the number of antenna units needs to be increased, and therefore, the embodiment of the present application provides a radar positioning method for improving the resolution of a millimeter wave radar without increasing the number of antenna units.
The embodiments of the present application can be applied to various scenarios, which are described below respectively.
A first possible application scenario: and the self-transmitting and self-receiving are realized, namely each radar module sends a transmitting signal and receives a reflected signal of the self-transmitting signal. In this scenario, the radar module may be a phased array based millimeter wave radar, which may be a digital beam forming based millimeter wave radar. If the position coordinates of the positioning target on the three-dimensional coordinates need to be measured, at least 3 radar modules are needed to measure the speed and the distance of the positioning target simultaneously.
Fig. 3 is a schematic diagram of a geometrical structure of a radar module position according to an embodiment of the present disclosure. A in fig. 3 is the positioning device including four radar modules, four radar modules are radar module a, radar module B, radar module C, radar module D respectively, above-mentioned four radar modules are in the coplanar, can be according to the three-dimensional coordinate system of establishing shown in positioning device a in fig. 3 simultaneously, the direction of the normal of the plane that radar module a, radar module C, radar module D located promptly is the x axle direction, radar module C is the y axle direction to radar module D's direction, radar module C is the z axle direction to radar module a's direction. Fig. 3b is a top view of the pointing device a of fig. 3, and fig. 3 c is a left side view of the pointing device a of fig. 3. It should be noted that fig. 3 is only a schematic diagram, and the embodiment of the present application is not limited to placing the radar modules only in the manner shown in fig. 3, as long as the placed radar modules are not uniformly located on a straight line.
A second possible application scenario: single-shot multiple-shot, in this scenario, each radar module can only send signals or receive signals. In the scene, when the radar module for sending signals is a radar module based on a single antenna, the radar module for receiving signals is a radar module based on digital beam forming; and when the radar module for sending the signals is based on the phased array, the radar module for receiving the signals is based on a single antenna.
Fig. 4 is a schematic diagram of a geometrical structure of a radar module position according to an embodiment of the present disclosure. Positioning device a in fig. 4, including five radar module, wherein radar module A, radar module B, radar module C, radar module D can only send a signal, radar module E can only receive a signal, above-mentioned five radar module are in the coplanar, can be according to the positioning device a in fig. 4 simultaneously shown three-dimensional coordinate system of establishing, radar module A promptly, radar module C, the direction of the normal of the plane that radar module D is located is the x axle direction, radar module C is the y axle direction to radar module D's direction, radar module C is the z axle direction to radar module A's direction. B in fig. 4 is a top view of the pointing device a in fig. 4, and c in fig. 4 is a left side view of the pointing device a in fig. 4.
In the first possible application scenario to the second possible application scenario, all radar modules may be located in the same positioning device. In the embodiment of the present application, different radar modules may also be located in different positioning devices, and reference may be specifically made to possible application scenarios described below.
A third possible application scenario: each positioning device comprises at least one radar module, and data measured by the radar modules are mutually transmitted among the positioning devices, so that the positioning is completed. Each radar module may be a phased array based millimeter wave radar, which may be a digital beam forming based millimeter wave radar.
A fourth possible application scenario: the radar module for receiving the signals and the radar module for sending the signals are located in different positioning devices, and data measured by the radar modules are transmitted between the positioning devices, so that positioning is completed. The positioning device comprises a radar module for transmitting signals and at least one radar module for receiving signals, wherein the radar modules for receiving signals can be positioned in different positioning devices. In the scene, when the radar module for sending signals is a radar module based on a single antenna, the radar module for receiving signals is a radar module based on digital beam forming; and when the radar module for sending the signals is based on the phased array, the radar module for receiving the signals is based on a single antenna.
Specifically, as shown in fig. 5, each of the positioning device 501 and the positioning device 502 includes at least one radar module for receiving signals, and the positioning device 503 includes one radar module for transmitting signals.
In this scenario, the radar module that sends a signal may need to broadcast indication information to the radar module that receives the signal, indicating the position of the radar module that sends the signal and the start time, carrier frequency, signal start phase, sending period, etc. of the signal sent by the radar module that sends the signal. Of course, the radar module receiving the signal may also determine the information according to a received through signal, where the through signal is a signal directly from the transmitting end to the receiving end, and is not reflected by an obstacle.
With reference to the foregoing description, as shown in fig. 6, a schematic flowchart of a radar positioning method provided in an embodiment of the present application is shown.
Referring to fig. 6, the method includes:
step 601: the positioning device determines a first distance and a second distance, wherein the first distance is the distance between a positioning target and a first radar module, and the second distance is the distance between the positioning target and a second radar module.
It should be noted that the positioning target may be a target in an overlapping area of a beam coverage area of the first radar module and a beam coverage area of the second radar module.
Step 602: the positioning device determines first imaging information and second imaging information, wherein the first imaging information is imaging information of a positioning target in a first radar module, and the second imaging information is imaging information of the positioning target in a second radar module.
Step 603: the positioning device determines a first scale value of the positioning target in a first direction according to a first phase difference value, the first distance, the second distance and a first fixed value, wherein the first fixed value is a distance between the first radar module and the second radar module, and the first phase difference value is a phase difference value between the first imaging information and the second imaging information.
In step 601, when the first radar module and the second radar module are located in a positioning device, the positioning device may directly determine a first distance and a second distance; when the first radar module and the second radar module are not located in the positioning device, the positioning device may receive the first distance and the second distance sent by the device where the first radar module and the second radar module are located in a wired or wireless manner.
The method for determining the first distance and the second distance of the positioning target by the first radar module and the second radar module can refer to the foregoing description, in particularThe distance and speed of the positioning target can be determined according to formula (3) and formula (4). In the embodiment of the present application, the positioning target may be denoted as Ok(i,αn,βm,vk,rk) Where k denotes that the positioning target is the kth target measured by the positioning device, i denotes the ith radar module, αnRepresenting the angle between the beam of the ith radar module directed at the target device and the plane formed by the x-axis and the z-axis, βmRepresents the angle between the beam of the ith radar module pointing to the target device and the plane formed by the x-axis and the y-axis, which can be specifically referred to fig. 7, vk,rkRespectively representing the velocity and distance of the positioning target.
In step 602, imaging processing may be performed on the positioning target according to the determined speed of the positioning target, so as to obtain imaging information of the positioning target. How to determine the imaging information is described in detail below:
radar module i at αn,βmThe received signal in the up direction can be expressed as:
wherein s isup(i,αn,βm(ii) a t) represents the signal received at the up-conversion frequency, sdown(i,αn,βm(ii) a t) represents the signal received at the lower frequency, γkIndicating the reflection coefficient of the kth positioning object.
The received signal is filtered, and the filtering process can be performed in a time domain or a frequency domain.
When filtering in the time domain, the filters used are:
combining the formula (9) and the formula (10), the specific filtering process is as follows:
when filtering in the frequency domain, s is filteredup(i,αn,βm(ii) a t) and sdown(i,αn,βm(ii) a t) performing Fourier transform, setting the data except the peak data corresponding to the kth positioning target and the data in the surrounding P points in the transformed data to be 0, and performing inverse FFT processing to obtain Iup,k(i,αn,βm,vk,rk) And Idown,k(i,αn,βm,vk,rk)。
Dividing the formula (13) by the formula (14) to obtain imaging information of the kth positioning target in the radar module i:
through the above-described procedure, imaging information of an arbitrary positioning target in the radar module can be determined, and therefore, in combination with the above method, the first imaging information and the second imaging information can be determined, and for convenience of description, the first imaging information and the second imaging information can be expressed by a unified expression:
wherein r isi,kThe distance between the positioning target and the ith radar wave module is shown, and for convenience of description, in the embodiment of the present application, the first radar module may be a 0 th radar module, and the second radar module may be a 1 st radar module.
In step 603, to determine the first phase difference value, the positioning apparatus may first divide the first imaging information by the second imaging information to obtain first weighted imaging information, and specifically, the first weighted imaging information may satisfy the following formula:
wherein I (0, 1; k, t) represents the first weighted imaging information.
Then, the first weighted imaging information is subjected to Fourier transform, and the first phase difference value is determined according to the first weighted imaging information after Fourier transform. Specifically, the following results were obtained by Fourier transforming I (0, 1; k, t):
wherein f isi,j,kF represents the aliasing frequency of the first weighted imaging information, and is a preset value, and n can be any integer.
Finally, a first phase difference value can be obtained according to equation (18):
the first phase difference value is a phase difference value between the first imaging information and the second imaging information, and may be equal to an angle difference between a beam direction transmitted by the first radar module and a beam direction transmitted by the second radar module.
Finally, in step 603, a first scale value of the positioning target in the first direction may be determined according to a quotient of a product of the first phase difference value and a first distance mean value and the first fixed value, wherein the first distance mean value is a mean value of the first distance and the second distance. For example, the positioning apparatus may determine a quotient of the product of the first phase difference value and the first distance mean and the first fixed value as a first scale value of the positioning target in the first direction, specifically referring to the following formula:
wherein D1 is a first scale value, and AB is a first fixed value.
Of course, the above is only an example, and the positioning apparatus may also determine the first scale value by other means, for example, adding a correction value in equation (20), etc.
It should be noted that, in the embodiment of the present application, the plane where the first radar module, the second radar module, and the third radar module are located is a plane formed by y-axis and z-axis, the y-axis direction from the first radar module to the second radar module, and the z-axis direction from the third radar module to the perpendicular direction of the connection line between the first radar module and the second radar module. In particular, this can be seen in fig. 8.
In an embodiment of the application, the first scale value may indicate a distance between the positioning target and the second radar module in the first direction. Specifically, when the first direction is a y-axis direction and the direction from the first radar module to the second radar module is a y-axis, the first scale value indicates an offset value between the positioning target and the second radar module in the horizontal direction; when the first direction is a z-axis direction and the direction from the first radar module to the second radar module is a y-axis, the first scale value indicates an offset value of the positioning target from the second radar module in the vertical direction, that is, a height difference between the positioning target and the second radar module.
For example, as shown in fig. 9, the first radar module, the second radar module and the positioning target in fig. 9 form △ TBA, the first direction is the y-axis direction, and the first scale value is the distance between the positioning target and the second radar module in the first direction, i.e. the length of ET, since △ BAF is similar to △ TBE, ∠ BAF is ∠ TBE, and ET satisfies the following formula:
wherein BT is the distance from the second radar module to the positioning target, and can be determined according to formula (3) and formula (4), AB is the distance between the first radar module and the second radar module, and can be a fixed value in general, and BF is the phase difference value of the imaging information of the positioning target on the first radar module and the second radar module, i.e. the first phase difference value, and can refer to formula (19).
Alternatively, to reduce the error, BT can be determined by the following equation:
finally, in conjunction with the foregoing description, it may be determined
It should be noted that, according to equation (20), since n may be an arbitrary integer, there may be a plurality of first scale values determined by the positioning device, and the positioning device may use the first scale value located in the overlapping area between the beam coverage area of the first radar module and the beam coverage area of the second radar module as a final required value.
In the same way, the positioning apparatus may further determine a second scale value of the positioning target in the second direction, specifically, the positioning apparatus may determine a third distance and third imaging information, and then the positioning apparatus determines the second scale value of the positioning target in the second direction according to the second phase difference value, the first distance, the third distance and a second fixed value. The third distance is a distance between the positioning target and a third radar module, the third imaging information is imaging information of the positioning target in the third radar module, the second fixed value is a distance between the first radar module and the third radar module, and the second phase difference value is a phase difference value between the first imaging information and the third imaging information. For the details of the above process, reference may be made to the foregoing description, which is not repeated herein.
In the embodiment of the present application, when the first direction is a y-axis direction, the second direction is a z-axis direction; when the first direction is the z-axis direction, the second direction is the y-axis direction; the third direction may be the x-axis direction.
Optionally, the positioning apparatus may further determine a third scale value of the positioning target in a third direction according to the first distance. The third scale value indicates a distance between the positioning target and the first radar module in a third direction.
Specifically, the positioning device may determine a product of the first distance and a cosine value of a first included angle as the third scale value, where the first included angle is an included angle between a transmission beam of the first radar module and the third direction.
Finally, the positioning device can determine the coordinates of the positioning target in the three-dimensional coordinate system according to the first scale value, the second scale value and the third scale value, so that the position of the positioning target can be determined.
Based on the same technical concept, the embodiment of the present application further provides a radar ranging apparatus, which may execute the method flow described in fig. 6.
As shown in fig. 10, an embodiment of the present application provides a schematic structural diagram of a radar ranging device.
Referring to fig. 10, the apparatus 1000 includes:
a first determining unit 1001, configured to determine a first distance and a second distance, where the first distance is a distance between a positioning target and a first radar module, and the second distance is a distance between the positioning target and a second radar module; determining first imaging information and second imaging information, wherein the first imaging information is imaging information of a positioning target in a first radar module, and the second imaging information is imaging information of the positioning target in a second radar module;
a second determining unit 1002, configured to determine a first scale value of the positioning target in the first direction according to a first phase difference value, the first distance, the second distance, and a first fixed value, where the first fixed value is a distance between the first radar module and the second radar module, and the first phase difference value is a phase difference value between the first imaging information and the second imaging information.
Optionally, the first determining unit 1001 is specifically configured to:
and performing Fourier transform on the first weighted imaging information, and determining the first phase difference value according to the first weighted imaging information after Fourier transform, wherein the first weighted imaging information is determined according to the ratio of the first imaging information to the second imaging information.
Optionally, the first determining unit 1001 is further configured to:
determining a third distance, wherein the third distance is the distance between the positioning target and a third radar module; determining third imaging information, wherein the third imaging information is imaging information of the positioning target in a third radar module;
the second determining unit is further configured to determine a first scale value of the positioning target in the first direction according to a first phase difference value, the first distance, the second distance, and a first fixed value, where the first fixed value is a distance between the first radar module and the second radar module, and the first phase difference value is a phase difference value between the first imaging information and the second imaging information.
Optionally, the second determining unit 1002 is further configured to:
and determining a third scale value of the positioning target in a third direction according to the product of the first distance and the cosine value of a first included angle, wherein the first included angle is the included angle between the transmitting wave beam of the first radar module and the third direction.
Optionally, the second determining unit 1002 is specifically configured to:
and determining a first scale value of the positioning target in the first direction according to the quotient of the product of the first phase difference value and a first distance mean value and the first fixed value, wherein the first distance mean value is the mean value of the first distance and the second distance.
It should be understood that the above division of each unit of the radar ranging apparatus is only a division of a logic function, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these units can be implemented entirely in software, invoked by a processing element; or may be implemented entirely in hardware; and part of the units can be realized in the form of calling by a processing element through software, and part of the units can be realized in the form of hardware.
Based on the same technical concept, the embodiment of the present application further provides a radar ranging apparatus, which may execute the method flow described in fig. 6.
As shown in fig. 11, an embodiment of the present application provides a schematic structural diagram of a radar ranging device.
Referring to fig. 11, the apparatus 1100 includes: a processor 1101, a communication interface 1102, a memory 1103, and a bus 1104.
The processor 1101 may be a Central Processing Unit (CPU), a digital processing module, or the like. The communication interface 1102 is used for the radar ranging apparatus 1100 to communicate with an external device, and the communication interface 1102 may be a wired interface or a wireless interface. A memory 1103 for storing programs executed by the processor 1101. The memory 1103 may be a nonvolatile memory, such as a hard disk (HDD) or a solid-state drive (SSD), and may also be a volatile memory, such as a random-access memory (RAM). The bus 1104 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 11, but this is not intended to represent only one bus or type of bus.
A processor 1101, configured to determine a first distance and a second distance, where the first distance is a distance between a positioning target and a first radar module, and the second distance is a distance between the positioning target and a second radar module; determining first imaging information and second imaging information, wherein the first imaging information is imaging information of a positioning target in a first radar module, and the second imaging information is imaging information of the positioning target in a second radar module;
the processor 1101 is configured to determine a first scale value of the positioning target in the first direction according to a first phase difference value, a first distance average value, and a first fixed value, where the first fixed value is a distance between the first radar module and the second radar module, the first phase difference value is a phase difference value between the first imaging information and the second imaging information, and the first distance average value is an average value of the first distance and the second distance.
Optionally, the processor 1101 is specifically configured to:
and performing Fourier transform on the first weighted imaging information, and determining the first phase difference value according to the first weighted imaging information after Fourier transform, wherein the first weighted imaging information is determined according to the ratio of the first imaging information to the second imaging information.
Optionally, the processor 1101 is further configured to:
determining a third distance, wherein the third distance is the distance between the positioning target and a third radar module; determining third imaging information, wherein the third imaging information is imaging information of the positioning target in a third radar module;
determining a first scale value of the positioning target in a first direction according to a first phase difference value, the first distance, the second distance and a first fixed value, wherein the first fixed value is a distance between the first radar module and the second radar module, and the first phase difference value is a phase difference value between the first imaging information and the second imaging information.
Optionally, the processor 1101 is further configured to:
and determining a third scale value of the positioning target in a third direction according to the product of the first distance and the cosine value of a first included angle, wherein the first included angle is the included angle between the transmitting wave beam of the first radar module and the third direction.
Optionally, the processor 1101 is specifically configured to:
and determining a first scale value of the positioning target in the first direction according to the quotient of the product of the first phase difference value and a first distance mean value and the first fixed value, wherein the first distance mean value is the mean value of the first distance and the second distance.
The embodiment of the present application further provides a computer-readable storage medium, which is used for storing computer software instructions required to be executed for executing the processor, and which contains a program required to be executed for executing the processor.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A radar ranging method, the method comprising:
the method comprises the steps that a first distance and a second distance are determined by a positioning device, wherein the first distance is the distance between a positioning target and a first radar module, and the second distance is the distance between the positioning target and a second radar module;
the positioning equipment determines first imaging information and second imaging information, wherein the first imaging information is imaging information of a positioning target in a first radar module, and the second imaging information is imaging information of the positioning target in a second radar module;
the positioning device determines a first scale value of the positioning target in a first direction according to a first phase difference value, the first distance, the second distance and a first fixed value, wherein the first fixed value is a distance between the first radar module and the second radar module, and the first phase difference value is a phase difference value between the first imaging information and the second imaging information.
2. The method of claim 1, wherein the positioning device determines a first phase difference value between the first imaging information and the second imaging information, comprising:
the positioning device performs Fourier transform on first weighted imaging information, and determines the first phase difference value according to the first weighted imaging information after Fourier transform, wherein the first weighted imaging information is determined according to the ratio of the first imaging information to the second imaging information.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
the positioning equipment determines a third distance, wherein the third distance is the distance between the positioning target and a third radar module;
the positioning equipment determines third imaging information, wherein the third imaging information is imaging information of the positioning target in a third radar module;
the positioning device determines a second scale value of the positioning target in the second direction according to a second phase difference value, the first distance, a third distance and a second fixed value, wherein the second fixed value is a distance between the first radar module and the third radar module, and the second phase difference value is a phase difference value between the first imaging information and the third imaging information.
4. The method according to any one of claims 1 to 2, further comprising:
and the positioning equipment determines a third scale value of the positioning target in a third direction according to the product of the first distance and the cosine value of a first included angle, wherein the first included angle is the included angle between the transmitting wave beam of the first radar module and the third direction.
5. The method of any of claims 1 to 2, wherein the determining, by the positioning device, a first scale value of the positioning target in a first direction according to the first phase difference value, the first distance, the second distance, and a first fixed value comprises:
the positioning equipment determines a first scale value of the positioning target in the first direction according to the quotient of the product of the first phase difference value and a first distance mean value and the first fixed value, wherein the first distance mean value is the mean value of the first distance and the second distance.
6. A radar ranging apparatus, the apparatus comprising:
the first determining unit is used for determining a first distance and a second distance, wherein the first distance is the distance between a positioning target and a first radar module, and the second distance is the distance between the positioning target and a second radar module; determining first imaging information and second imaging information, wherein the first imaging information is imaging information of a positioning target in a first radar module, and the second imaging information is imaging information of the positioning target in a second radar module;
a second determining unit, configured to determine a first scale value of the positioning target in the first direction according to a first phase difference value, the first distance, the second distance, and a first fixed value, where the first fixed value is a distance between the first radar module and the second radar module, and the first phase difference value is a phase difference value between the first imaging information and the second imaging information.
7. The apparatus according to claim 6, wherein the first determining unit is specifically configured to:
and performing Fourier transform on the first weighted imaging information, and determining the first phase difference value according to the first weighted imaging information after Fourier transform, wherein the first weighted imaging information is determined according to the ratio of the first imaging information to the second imaging information.
8. The apparatus according to claim 6 or 7, wherein the first determining unit is further configured to:
determining a third distance, wherein the third distance is the distance between the positioning target and a third radar module; determining third imaging information, wherein the third imaging information is imaging information of the positioning target in a third radar module;
the second determining unit is further configured to determine a second scale value of the positioning target in the second direction according to a second phase difference value, the first distance, a third distance, and a second fixed value, where the second fixed value is a distance between the first radar module and the third radar module, and the second phase difference value is a phase difference value between the first imaging information and the third imaging information.
9. The apparatus according to any of claims 6 to 7, wherein the second determining unit is further configured to:
and determining a third scale value of the positioning target in a third direction according to the product of the first distance and the cosine value of a first included angle, wherein the first included angle is the included angle between the transmitting wave beam of the first radar module and the third direction.
10. The apparatus according to any one of claims 6 to 7, wherein the second determining unit is specifically configured to:
and determining a first scale value of the positioning target in the first direction according to the quotient of the product of the first phase difference value and a first distance mean value and the first fixed value, wherein the first distance mean value is the mean value of the first distance and the second distance.
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