CN108490426A - A kind of target ranging method and its equipment - Google Patents
A kind of target ranging method and its equipment Download PDFInfo
- Publication number
- CN108490426A CN108490426A CN201810117551.4A CN201810117551A CN108490426A CN 108490426 A CN108490426 A CN 108490426A CN 201810117551 A CN201810117551 A CN 201810117551A CN 108490426 A CN108490426 A CN 108490426A
- Authority
- CN
- China
- Prior art keywords
- signal
- peak
- pulse
- echo
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
Abstract
The embodiment of the present invention discloses a kind of target ranging method and its equipment, wherein method include the following steps：It obtains radar beam to carry out reflecting acquired echo-signal through target object, down-converted is carried out to the echo-signal using integral way, to generate the corresponding pulse signal of the echo-signal；The peak position for obtaining the pulse peak in the pulse signal obtains the peak value of the peak position, and the width numerical value of the pulse peak is obtained based on the peak position；When the peak value and the width numerical value are satisfied by pulse threshold, according between the radar beam and the echo-signal time difference and signaling rate obtain the range information of the target object.Using the present invention, the identification process of pulse signal can be simplified, ensure the stability of pulse peak in pulse signal, promote the detection accuracy of the range information of detection target.
Description
Technical field
The present invention relates to electronic technology field more particularly to a kind of target ranging method and its equipment.
Background technology
Radar detector can be used for it is through walls, visit etc. scenes, contactless spy may be implemented using radar detector
Survey target (such as：Wall steel bar, underground piping) relevant information, by taking range information as an example, pass through to detect target distance
Information is detected, and range information can be utilized to realize the imaging of detection target.
The prior art is all often echo-signal to be identified pulse signal by way of mixing and wavelet transformation, then lead to
In extra pulse signal peak-peak position come obtain detection target range information, however wavelet transformation Embedded hardware reality
It is now upper complex, and the down-converted that mixing schemes are realized is easy to cause the shortcomings that signal deviates, and then affect spy
Survey the detection accuracy of the range information of target.
Invention content
A kind of target ranging method of offer of the embodiment of the present invention and its equipment, can simplify the identification process of pulse signal,
Ensure the stability of pulse peak in pulse signal, promotes the detection accuracy of the range information of detection target.
First aspect of the embodiment of the present invention provides a kind of target ranging method, it may include：
It obtains radar beam to carry out reflecting acquired echo-signal through target object, using integral way to the echo
Signal carries out down-converted, to generate the corresponding pulse signal of the echo-signal；
The peak position for obtaining the pulse peak in the pulse signal obtains the peak value of the peak position, and base
The width numerical value of the pulse peak is obtained in the peak position；
When the peak value and the width numerical value are satisfied by pulse threshold, according to the radar beam and described time
Time difference and signaling rate between wave signal obtain the range information of the target object.
Second aspect of the embodiment of the present invention provides a kind of object ranging equipment, it may include：
Signal generation unit carries out reflecting acquired echo-signal for obtaining radar beam through target object, uses
Integral way carries out down-converted to the echo-signal, to generate the corresponding pulse signal of the echo-signal；
Numerical value acquiring unit, the peak position for obtaining the pulse peak in the pulse signal obtain the peak value position
The peak value set, and obtain based on the peak position width numerical value of the pulse peak；
Range information acquiring unit, for when the peak value and the width numerical value are satisfied by pulse threshold, root
It is obtained at a distance from the target object according to time difference of the radar beam between the echo-signal and signaling rate
Information.
In embodiments of the present invention, the down-converted of echo-signal is realized by way of integral to identify that pulse is believed
Number, it can be convenient for, to the distance measurement of target object, simplifying pulse signal there are independent pulse peak in pulse signal
Identification process, ensure that the stability of pulse peak in pulse signal, while mesh is determined by peak position, width numerical value etc.
The authenticity for marking object improves the detection accuracy of the range information of detection target.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of flow diagram of target ranging method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of another target ranging method provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of object ranging equipment provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of signal generation unit provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of numerical value acquiring unit provided in an embodiment of the present invention；
Fig. 6 is the structural schematic diagram of range information acquiring unit provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Target ranging method provided in an embodiment of the present invention can be applied to target objects such as wall steel bar, underground pipings
Distance measurement scene in, such as：Object ranging equipment obtains radar beam and carries out reflecting acquired return through target object
Wave signal carries out down-converted, to generate the corresponding pulse of the echo-signal using integral way to the echo-signal
Signal, the object ranging equipment obtain the peak position of the pulse peak in the pulse signal, obtain the peak position
Peak value, and the width numerical value of the pulse peak is obtained based on the peak position, when the peak value and the width
When numerical value is satisfied by pulse threshold, the object ranging equipment is according to the time difference between the radar beam and the echo-signal
And signaling rate obtains the scene etc. of the range information of the target object.Echo-signal is realized by way of integral
Down-converted to identify pulse signal, can make in pulse signal there are independent pulse peak, convenient for target object
Distance measurement, simplify the identification process of pulse signal, ensure that the stability of pulse peak in pulse signal, while passing through peak
Value position, width numerical value etc. determine the authenticity of target object, improve the detection accuracy of the range information of detection target.
The present embodiments relate to object ranging equipment can be comprising radar signal, signal processing module, away from
From the distance-measuring equipment including the functions such as information calculating, or set comprising radar detector, signal handling equipment, distance operation
Range-measurement system including the equipment such as standby.
Below in conjunction with attached drawing 1 and attached drawing 2, it is situated between in detail to a kind of target ranging method provided in an embodiment of the present invention
It continues.
Fig. 1 is referred to, for an embodiment of the present invention provides a kind of flow diagrams of target ranging method.As shown in Figure 1,
The embodiment of the present invention the method may include following steps S101- steps S103.
S101 obtains radar beam and carries out reflecting acquired echo-signal through target object, using integral way to institute
It states echo-signal and carries out down-converted, to generate the corresponding pulse signal of the echo-signal；
Specifically, object ranging equipment can persistently emit radar beam to the target object currently detected, and obtain thunder
Reflect acquired echo-signal through the target object up to wave beam, the target object may include wall steel bar,
Lower pipeline etc., the object ranging equipment may be used integral way and carries out down-converted to the echo-signal, to generate
The corresponding pulse signal of the echo-signal, it is to be understood that since radar beam is high-order Gaussian pulse signal, and return
Wave signal is that include radar beam absorb through the target object and the differential effect of the signal after reflecting and dual-mode antenna
Signal later, therefore there are high-frequency signals in echo-signal, since the centre frequency of echo-signal is unstable, by mixed
The mode of frequency realizes that down-converted is also easy to cause unstable situation, and down-converted is realized by using integral way,
The signal that high-frequency signal can be made to be obtained after integral way processing in section, cancels out each other in integer doubling time, and low
Frequency signal can then be accumulated by larger value by integral way, therefore can so that there are independent pulses in pulse signal
Peak simplifies the identification process of pulse signal convenient for the distance measurement to target object.
S102 obtains the peak position of the pulse peak in the pulse signal, obtains the peak value of the peak position,
And the width numerical value of the pulse peak is obtained based on the peak position；
It, can be with specifically, the object ranging equipment can obtain the peak position of the pulse peak in the pulse signal
Understand may exist multiple pulse peaks in the pulse signal, the object ranging equipment can be to the pulse signal
Differential process is carried out, to obtain the peak position of multiple pulse peaks in the pulse signal, and institute is obtained in the peak position
The peak value of pulse peak is stated, the object ranging equipment can obtain the width number of the pulse peak based on the peak position
Value, it is preferred that the object ranging equipment can drop to two when half according to the range value of the peak position of pulse peak
Width distance between two signaling points is determined as the width numerical value of the pulse peak by signaling point.By the peak for obtaining pulse peak
It is worth position and width numerical value, the presence at the ghost pulse peak that can be generated to avoid clutter and noise accurately filters out and belongs to
The pulse peak of target object improves the detection accuracy of the range information of detection target to determine the authenticity of target object.
S103, when the peak value and the width numerical value are satisfied by pulse threshold, according to the radar beam with
Time difference and signaling rate between the echo-signal obtain the range information of the target object；
Specifically, when the peak value and the width numerical value are satisfied by pulse threshold, the object ranging equipment
It can determine that the pulse peak of the peak value and the width numerical value is the actual signal of the target object, the mesh
Mark distance-measuring equipment can according between the radar beam and the echo-signal time difference and signaling rate calculate institute
The range information of target object is stated, the object ranging equipment can export the range information of the target object in real time
Display.
In embodiments of the present invention, the down-converted of echo-signal is realized by way of integral to identify that pulse is believed
Number, it can be convenient for, to the distance measurement of target object, simplifying pulse signal there are independent pulse peak in pulse signal
Identification process, ensure that the stability of pulse peak in pulse signal, while mesh is determined by peak position, width numerical value etc.
The authenticity for marking object improves the detection accuracy of the range information of detection target.
Fig. 2 is referred to, for an embodiment of the present invention provides the flow diagrams of another target ranging method.Such as Fig. 2 institutes
Show, the embodiment of the present invention the method may include following steps S201- steps S208.
S201 obtains radar beam and carries out reflecting acquired echo-signal through target object；
Specifically, object ranging equipment can persistently emit radar beam to the target object currently detected, and obtain thunder
Reflect acquired echo-signal through the target object up to wave beam, the target object may include wall steel bar,
Lower pipeline etc..
S202 is filtered the echo-signal spacing wave using the current detection environment obtained in advance,
To generate the initial signal of the target object；
Specifically, the object ranging equipment after getting echo-signal, can first filter the echo-signal
Wave processing, the object ranging equipment can acquire in advance current detection environment to spacing wave, it is described to be preferably to spacing wave
To the background signal of current detection environment, that is, ensure that there is no in the case of target object in the preset range of object ranging equipment
The background signal acquired, the bandwidth range that radar beam may be used in the object ranging equipment carry out the echo-signal
Bandpass filtering, to filter out the noise in the echo-signal, by the current detection environment that obtains in advance to spacing wave to institute
It states echo-signal to be filtered, to filter out the coupled signal generated between dual-mode antenna in the echo-signal, described in generation
The initial signal of target object.
S203 carries out down-converted to the initial signal using integral way, is corresponded to generating the echo-signal
Pulse signal；
Specifically, the object ranging equipment further can use integral way to carry out down coversion to the initial signal
Processing, to generate the corresponding pulse signal of the echo-signal, it is to be understood that since radar beam is high-order Gaussian pulse
Signal, and echo-signal is that include radar beam absorb through the target object and signal and dual-mode antenna after reflecting
Differential effect after signal, therefore there are high-frequency signals in echo-signal, since the centre frequency of echo-signal is unstable,
Therefore it realizes that down-converted is also easy to cause unstable situation by way of mixing, is realized down by using integral way
Frequency-conversion processing, the signal that high-frequency signal can be made to be obtained after integral way processing in section, in integer doubling time mutually
It offsets, and low frequency signal can then be accumulated by larger value by integral way, therefore can make exist in pulse signal
Independent pulse peak simplifies the identification process of pulse signal convenient for the distance measurement to target object.
S204 carries out differential process to the pulse signal, and it is zero and front and back two to obtain differential value after differential process
The first signaling point that the differential value of a signaling point is not zero determines that the position of first signaling point is in the pulse signal
The peak position of pulse peak；
Specifically, the object ranging equipment can carry out differential process to the pulse signal, and after differential process
Obtain the first signaling point that differential value is zero and the differential value of former and later two signaling points is not zero, it is to be understood that due to thunder
Up to wave beam be the pulse signal for persistently having transmitting radar antenna to emit, therefore being generated it is by multiple received signal point groups
At.The object ranging equipment can determine that the position of the first signaling point is the peak value position of the pulse peak in the pulse signal
It sets.
S205 obtains the peak value of the peak position；
Specifically, the object ranging equipment can obtain the peak value of the peak position in the pulse signal
Value, the peak value are specifically as follows the amplitude peak of the pulse peak, it is to be understood that since signal is in transmission process
In can have transmission loss, it is therefore desirable to in the pulse signal each signaling point carry out compensated distance, the object ranging
The emission time of each signaling point in the pulse peak and the time difference between the time of reception may be used respectively to the pulse in equipment
Each signaling point in peak carries out compensated distance processing, and to generate compensated pulse signal, the emission time is the signaling point institute
Radar beam emitted by transmitting radar antenna when at the time of, the time of reception be the signaling point where echo-signal
At the time of when being received by radar receiving antenna, thus can calculate the corresponding uncompensation distance of current demand signal point be R (t), R (t)=
C* (t/2), wherein c is expressed as signaling rate, the preferably light velocity, and t is expressed as emission time and the reception of current demand signal point
Time difference between moment, further, the corresponding range value of current demand signal point is S in the pulse signal before compensated distance processing1
(t), the corresponding range value S of current demand signal point in compensated distance treated compensated pulse signal2(t), then S2(t)=S1(t)*R
(t)2, compensated distance is carried out by obtaining the time difference of all signaling points and range value in pulse signal, and to all signaling points
Processing, can generate compensated pulse signal.The object ranging equipment can obtain the peak in the compensated pulse signal
It is worth the peak value of position.
S206 is obtained respectively from the range value of the peak position based on the peak position of the pulse peak and is dropped to one
Width distance between described two second signal points, is determined as the width number of the pulse peak by two second signal points when half
Value；
S207, when the peak value meets the peak value of pulse threshold value and the width numerical value meets pulse-width threshold
When, according between the radar beam and the echo-signal time difference and signaling rate obtain the target object
Candidate distance information；
Specifically, when the peak value meets the peak value of pulse threshold value and the width numerical value meets pulse width threshold
When value, the object ranging equipment can determine that the pulse peak of the peak value and the width numerical value is the target
The actual signal of object, the object ranging equipment can according to the time difference between the radar beam and the echo-signal with
And signaling rate obtains the candidate distance information of the target object, it is preferred that assuming that the radar beam and described time
Time difference between wave signal is T, and the signaling rate is c, then the candidate distance information of the target object is D=c*
(T/2)。
S208 obtains the range information set for including the candidate distance information, to the distance within a preset period of time
Information aggregate carries out probability distribution processing, with the range information of the determination target object；
Specifically, the bounce of the target range caused by drift in order to avoid radar sampling clock, the object ranging
Equipment can obtain the range information set of multiple candidate distance information comprising the target object, institute within a preset period of time
The candidate distance information that range information set includes the above-mentioned single being calculated is stated, the object ranging equipment can be to described
Multiple candidate distance information in range information set carry out probability distribution processing, are believed with the distance of the determination target object
Breath, the range information are the actual distance of the target object.
The object ranging equipment may further carry out output to the range information of the target object and show, the mesh
The range information that mark distance-measuring equipment is also based on the target object generates the DYNAMIC DISTRIBUTION curve of the target object, goes forward side by side
Row output display.
In embodiments of the present invention, the down-converted of echo-signal is realized by way of integral to identify that pulse is believed
Number, it can be convenient for, to the distance measurement of target object, simplifying pulse signal there are independent pulse peak in pulse signal
Identification process, ensure that the stability of pulse peak in pulse signal, while mesh is determined by peak position, width numerical value etc.
The authenticity for marking object improves the detection accuracy of the range information of detection target.
Below in conjunction with attached drawing 3- attached drawings 6, describe in detail to object ranging equipment provided in an embodiment of the present invention.It needs
It is noted that the attached object ranging equipment shown in fig. 6 of attached drawing 3-, the side for executing Fig. 1 of the present invention and embodiment illustrated in fig. 2
Method illustrates only for convenience of description and does not disclose, please refer to the relevant part of the embodiment of the present invention, particular technique details
Fig. 1 of the present invention and embodiment shown in Fig. 2.
Fig. 3 is referred to, for an embodiment of the present invention provides a kind of structural schematic diagrams of object ranging equipment.As shown in figure 3,
The object ranging equipment 1 of the embodiment of the present invention may include：Signal generation unit 11, numerical value acquiring unit 12 and apart from letter
Cease acquiring unit 13.
Signal generation unit 11 is carried out reflecting acquired echo-signal, be adopted for obtaining radar beam through target object
Down-converted is carried out to the echo-signal with integral way, to generate the corresponding pulse signal of the echo-signal；
In the specific implementation, the object ranging equipment 1 can persistently emit radar beam to the target object currently detected,
The signal generation unit 11 obtains radar beam and carries out reflecting acquired echo-signal, the target through the target object
Object may include wall steel bar, underground piping etc., and integral way may be used to the echo in the signal generation unit 11
Signal carries out down-converted, to generate the corresponding pulse signal of the echo-signal, it is to be understood that due to radar beam
For high-order Gaussian pulse signal, and echo-signal is that include radar beam absorb through the target object and the letter after reflecting
Number and the differential effect of dual-mode antenna after signal, therefore there are high-frequency signals in echo-signal, due to echo-signal
Centre frequency is unstable, therefore realizes that down-converted is also easy to cause unstable situation by way of mixing, by adopting
Down-converted is realized with integral way, the signal that high-frequency signal can be made to be obtained after integral way processing in section,
It cancels out each other in integer doubling time, and low frequency signal can then be accumulated by larger value by integral way, therefore can make
It obtains in pulse signal there are independent pulse peak, is convenient for, to the distance measurement of target object, simplifying the identification of pulse signal
Journey.
Specifically, please also refer to Fig. 4, for an embodiment of the present invention provides the structural schematic diagrams of signal generation unit.Such as
Shown in Fig. 4, the signal generation unit 11 may include：
Echo-signal obtains subelement 111, carries out reflecting acquired echo for obtaining radar beam through target object
Signal；
In the specific implementation, the object ranging equipment 1 can persistently emit radar beam to the target object currently detected,
The echo-signal obtains the acquisition radar beam of subelement 111 and carries out reflecting acquired echo-signal through the target object,
The target object may include wall steel bar, underground piping etc..
Initial signal generates subelement 112, for using the current detection environment that obtains in advance to spacing wave to described
Echo-signal is filtered, to generate the initial signal of the target object；
In the specific implementation, the initial signal generates subelement 112 after getting echo-signal, it can be first to described time
Wave signal is filtered, the object ranging equipment 1 can acquire in advance current detection environment to spacing wave, it is described right
Spacing wave is preferably the background signal to current detection environment, that is, ensures that mesh is not present in the preset range of object ranging equipment 1
The background signal acquired in the case of mark object, the initial signal generate the band that radar beam may be used in subelement 112
Wide scope carries out bandpass filtering to the echo-signal and is worked as by what is obtained in advance with filtering out the noise in the echo-signal
Preceding detection environment is filtered the echo-signal spacing wave, to filter out in the echo-signal between dual-mode antenna
The coupled signal of generation generates the initial signal of the target object.
Pulse signal generates subelement 113, for carrying out down-converted to the initial signal using integral way, with
Generate the corresponding pulse signal of the echo-signal；
It can further use integral way to described initial in the specific implementation, the pulse signal generates subelement 113
Signal carries out down-converted, to generate the corresponding pulse signal of the echo-signal, it is to be understood that due to radar beam
For high-order Gaussian pulse signal, and echo-signal is that include radar beam absorb through the target object and the letter after reflecting
Number and the differential effect of dual-mode antenna after signal, therefore there are high-frequency signals in echo-signal, due to echo-signal
Centre frequency is unstable, therefore realizes that down-converted is also easy to cause unstable situation by way of mixing, by adopting
Down-converted is realized with integral way, the signal that high-frequency signal can be made to be obtained after integral way processing in section,
It cancels out each other in integer doubling time, and low frequency signal can then be accumulated by larger value by integral way, therefore can make
It obtains in pulse signal there are independent pulse peak, is convenient for, to the distance measurement of target object, simplifying the identification of pulse signal
Journey.
Numerical value acquiring unit 12, the peak position for obtaining the pulse peak in the pulse signal obtain the peak value
The peak value of position, and obtain based on the peak position width numerical value of the pulse peak；
In the specific implementation, the numerical value acquiring unit 12 can obtain the peak value position of the pulse peak in the pulse signal
It sets, it is to be understood that may exist multiple pulse peaks in the pulse signal, the numerical value acquiring unit 12 can be to described
Pulse signal carries out differential process, to obtain the peak position of multiple pulse peaks in the pulse signal, and in the peak value position
The peak value for obtaining the pulse peak is set, the numerical value acquiring unit 12 can be based on the peak position and obtain the pulse
The width numerical value at peak, it is preferred that the numerical value acquiring unit 12 can drop to according to the range value of the peak position of pulse peak
Width distance between two signaling points is determined as the width numerical value of the pulse peak by two signaling points when half.By obtaining
The peak position and width numerical value of pulse peak are taken, the presence at the ghost pulse peak that can be generated to avoid clutter and noise, accurately
Filter out the pulse peak for belonging to target object, to determine the authenticity of target object, improve detection target range information
Detection accuracy.
Specifically, please also refer to Fig. 5, for an embodiment of the present invention provides the structural schematic diagrams of numerical value acquiring unit.Such as
Shown in Fig. 5, the numerical value acquiring unit 12 may include：
Location determination subelement 121 for carrying out differential process to the pulse signal, and obtains after differential process micro-
The first signaling point that score value is zero and the differential value of former and later two signaling points is not zero determines that the position of first signaling point is
The peak position of pulse peak in the pulse signal；
In the specific implementation, the location determination subelement 121 can carry out differential process to the pulse signal, and micro-
The first signaling point that differential value is zero and the differential value of former and later two signaling points is not zero is obtained after dividing processing, it is possible to understand that
It is that, since radar beam is that persistently have transmitting radar antenna to emit, the pulse signal generated is by multiple receptions
Signaling point forms.The location determination subelement 121 can determine that the position of the first signaling point is the arteries and veins in the pulse signal
Rush the peak position at peak.
Peak value obtains subelement 122, the peak value for obtaining the peak position；
In the specific implementation, the peak value obtains subelement 122 can obtain the peak value in the pulse signal
The peak value of position, the peak value are specifically as follows the amplitude peak of the pulse peak, it is to be understood that due to letter
Number there can be transmission loss in transmission process, it is therefore desirable to compensated distance is carried out to each signaling point in the pulse signal,
The peak value obtains subelement 122 and the emission time of each signaling point may be used in the pulse peak and between the time of reception
Time difference carries out compensated distance processing to each signaling point in the pulse peak respectively, to generate compensated pulse signal, the hair
At the time of penetrating when the radar beam constantly where the signaling point is emitted by transmitting radar antenna, the time of reception is described
At the time of when echo-signal where signaling point is received by radar receiving antenna, therefore the corresponding benefit of current demand signal point can be calculated
It is R (t), R (t)=c* (t/2) to repay distance, wherein c is expressed as signaling rate, the preferably light velocity, and t is expressed as currently believing
The emission time of number point and the time difference between the time of reception further currently believe in the pulse signal before compensated distance processing
Number corresponding range value of point is S1(t), the corresponding range value S of current demand signal point in compensated distance treated compensated pulse signal2
(t), then S2(t)=S1(t)*R(t)2, by obtaining the time difference of all signaling points and range value in pulse signal, and to all
Signaling point carries out compensated distance processing, can generate compensated pulse signal.The peak value obtains subelement 122 can be in institute
State the peak value that the peak position is obtained in compensated pulse signal.
Width numerical value obtains subelement 123, is used for the peak position based on the pulse peak, is obtained respectively from the peak value
The range value of position drops to two second signal points when half, and the width distance between described two second signal points is determined
For the width numerical value of the pulse peak.
Range information acquiring unit 13, for when the peak value and the width numerical value are satisfied by pulse threshold,
According between the radar beam and the echo-signal time difference and signaling rate obtain the target object away from
From information；
In the specific implementation, when the peak value and the width numerical value are satisfied by pulse threshold, the range information
Acquiring unit 13 can determine that the pulse peak of the peak value and the width numerical value is the true of the target object
Signal, the range information acquiring unit 13 can according between the radar beam and the echo-signal time difference and letter
Number transmission speed calculates the range information of the target object, the object ranging equipment 1 can to the target object away from
Output display in real time is carried out from information.
Specifically, please also refer to Fig. 6, for an embodiment of the present invention provides the structural representations of range information acquiring unit
Figure.As shown in fig. 6, the range information acquiring unit 13 may include：
Distance obtains subelement 131, meets the peak value of pulse threshold value and the width number for working as the peak value
When value meets pulse-width threshold, according between the radar beam and the echo-signal time difference and signaling rate
Obtain the candidate distance information of the target object；
In the specific implementation, when the peak value meet the peak value of pulse threshold value and the width numerical value to meet pulse wide
When spending threshold value, the distance, which obtains subelement 131, can determine the pulse peak of the peak value and the width numerical value
For the actual signal of the target object, the distance obtains subelement 131 can be according to the radar beam and the echo
Time difference and signaling rate between signal obtain the candidate distance information of the target object, it is preferred that assuming that described
Time difference between radar beam and the echo-signal is T, and the signaling rate is c, then the candidate of the target object
Range information is D=c* (T/2).
Apart from determination subelement 132, believe for obtaining the distance comprising the candidate distance information within a preset period of time
Breath set carries out probability distribution processing, with the range information of the determination target object to the range information set；
In the specific implementation, the bounce of the target range caused by drift in order to avoid radar sampling clock, the distance
Determination subelement 132 can obtain the distance letter of multiple candidate distance information comprising the target object within a preset period of time
Breath set, the range information set include the candidate distance information of the above-mentioned single being calculated, and the distance determines that son is single
Member 132 can carry out probability distribution processing to multiple candidate distance information in the range information set, with the determination mesh
The range information of object is marked, the range information is the actual distance of the target object.
The object ranging equipment 1 may further carry out output to the range information of the target object and show, described
The range information that object ranging equipment 1 is also based on the target object generates the DYNAMIC DISTRIBUTION curve of the target object,
And it carries out output and shows.
In embodiments of the present invention, the down-converted of echo-signal is realized by way of integral to identify that pulse is believed
Number, it can be convenient for, to the distance measurement of target object, simplifying pulse signal there are independent pulse peak in pulse signal
Identification process, ensure that the stability of pulse peak in pulse signal, while mesh is determined by peak position, width numerical value etc.
The authenticity for marking object improves the detection accuracy of the range information of detection target.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer read/write memory medium
In, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (10)
1. a kind of target ranging method, which is characterized in that including：
It obtains radar beam to carry out reflecting acquired echo-signal through target object, using integral way to the echo-signal
Down-converted is carried out, to generate the corresponding pulse signal of the echo-signal；
The peak position for obtaining the pulse peak in the pulse signal obtains the peak value of the peak position, and is based on institute
State the width numerical value that peak position obtains the pulse peak；
When the peak value and the width numerical value are satisfied by pulse threshold, believed according to the radar beam and the echo
Time difference and signaling rate between number obtain the range information of the target object.
2. according to the method described in claim 1, it is characterized in that, the acquisition radar beam carries out reflection institute through target object
The echo-signal of acquisition carries out down-converted, to generate the echo-signal pair using integral way to the echo-signal
The pulse signal answered, including：
Radar beam is obtained to carry out reflecting acquired echo-signal through target object；
Spacing wave is filtered the echo-signal using the current detection environment obtained in advance, described in generation
The initial signal of target object；
Down-converted is carried out to the initial signal using integral way, is believed with generating the corresponding pulse of the echo-signal
Number.
3. according to the method described in claim 1, it is characterized in that, the peak value for obtaining the pulse peak in the pulse signal
Position obtains the peak value of the peak position, and the width numerical value of the pulse peak is obtained based on the peak position, packet
It includes：
Differential process is carried out to the pulse signal, and it is zero and former and later two signaling points to obtain differential value after differential process
The first signaling point that differential value is not zero determines that the position of first signaling point is the peak of the pulse peak in the pulse signal
It is worth position；
Obtain the peak value of the peak position；
Based on the peak position of the pulse peak, two when dropping to half from the range value of the peak position are obtained respectively
Width distance between described two second signal points is determined as the width numerical value of the pulse peak by second signal point.
4. according to the method described in claim 3, it is characterized in that, the peak value for obtaining the peak position, including：
Using the emission time of each signaling point in the pulse peak and the time difference between the time of reception respectively in the pulse peak
Each signaling point carry out compensated distance processing, to generate compensated pulse signal；
Obtain the peak value of peak position described in the compensated pulse signal.
5. according to the method described in claim 1, it is characterized in that, described when the peak value and the width numerical value are full
When sufficient pulse threshold, according between the radar beam and the echo-signal time difference and signaling rate obtain described in
The range information of target object, including：
When the peak value meets the peak value of pulse threshold value and the width numerical value meets pulse-width threshold, according to institute
State the candidate distance that time difference and signaling rate between radar beam and the echo-signal obtain the target object
Information；
Obtain within a preset period of time and include the range information set of the candidate distance information, to the range information set into
Row probability distribution processing, with the range information of the determination target object.
6. a kind of object ranging equipment, which is characterized in that including：
Signal generation unit carries out reflecting acquired echo-signal, using integral for obtaining radar beam through target object
Mode carries out down-converted to the echo-signal, to generate the corresponding pulse signal of the echo-signal；
Numerical value acquiring unit, the peak position for obtaining the pulse peak in the pulse signal obtain the peak position
Peak value, and obtain based on the peak position width numerical value of the pulse peak；
Range information acquiring unit, for when the peak value and the width numerical value are satisfied by pulse threshold, according to institute
State the range information that time difference and signaling rate between radar beam and the echo-signal obtain the target object.
7. equipment according to claim 6, which is characterized in that the signal generation unit includes：
Echo-signal obtains subelement, carries out reflecting acquired echo-signal for obtaining radar beam through target object；
Initial signal generates subelement, for using the current detection environment that obtains in advance to spacing wave to the echo-signal
It is filtered, to generate the initial signal of the target object；
Pulse signal generates subelement, for carrying out down-converted to the initial signal using integral way, to generate
State the corresponding pulse signal of echo-signal.
8. equipment according to claim 6, which is characterized in that the numerical value acquiring unit includes：
Location determination subelement for carrying out differential process to the pulse signal, and obtains differential value after differential process and is
Zero and former and later two signaling points the first signaling point for being not zero of differential value, determine that the position of first signaling point is the arteries and veins
Rush the peak position of the pulse peak in signal；
Peak value obtains subelement, the peak value for obtaining the peak position；
Width numerical value obtains subelement, is used for the peak position based on the pulse peak, is obtained respectively from the peak position
Range value drops to two second signal points when half, the width distance between described two second signal points is determined as described
The width numerical value of pulse peak.
9. equipment according to claim 8, which is characterized in that the peak value obtains subelement and is specifically used for：
Using the emission time of each signaling point in the pulse peak and the time difference between the time of reception respectively in the pulse peak
Each signaling point carry out compensated distance processing, to generate compensated pulse signal；
Obtain the peak value of peak position described in the compensated pulse signal.
10. equipment according to claim 6, which is characterized in that the range information acquiring unit includes：
Distance obtains subelement, and for working as, the peak value meets the peak value of pulse threshold value and the width numerical value meets arteries and veins
When rushing width threshold value, according between the radar beam and the echo-signal time difference and signaling rate obtain described in
The candidate distance information of target object；
Apart from determination subelement, for obtaining the range information set for including the candidate distance information within a preset period of time,
Probability distribution processing is carried out to the range information set, with the range information of the determination target object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810117551.4A CN108490426A (en) | 2018-02-06 | 2018-02-06 | A kind of target ranging method and its equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810117551.4A CN108490426A (en) | 2018-02-06 | 2018-02-06 | A kind of target ranging method and its equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108490426A true CN108490426A (en) | 2018-09-04 |
Family
ID=63344398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810117551.4A Pending CN108490426A (en) | 2018-02-06 | 2018-02-06 | A kind of target ranging method and its equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108490426A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597065A (en) * | 2018-12-11 | 2019-04-09 | 湖南华诺星空电子技术有限公司 | A kind of false alarm rejection method, apparatus for through-wall radar detection |
| CN109655834A (en) * | 2018-12-21 | 2019-04-19 | 中国海洋石油集团有限公司 | Multibeam sonar sounding method and system based on CFAR detection |
| CN109696684A (en) * | 2019-01-10 | 2019-04-30 | 电子科技大学中山学院 | Self-correlation laser radar device |
| CN111157977A (en) * | 2018-11-07 | 2020-05-15 | 百度（美国）有限责任公司 | LIDAR peak detection using time-to-digital converters and multi-pixel photon counters for autonomous vehicles |
| CN111847155A (en) * | 2020-06-04 | 2020-10-30 | 日立楼宇技术（广州）有限公司 | Elevator car position determining method, elevator car position determining device, computer equipment and storage medium |
| CN112255636A (en) * | 2020-09-04 | 2021-01-22 | 奥诚信息科技(上海)有限公司 | Distance measuring method, system and equipment |
| WO2021046768A1 (en) * | 2019-09-11 | 2021-03-18 | 华为技术有限公司 | Method and device for calculating reflectance of target object, and related apparatus |
| CN112904286A (en) * | 2021-01-14 | 2021-06-04 | 无锡国芯微电子系统有限公司 | Method for identifying stable pulse based on leading edge phase |
| CN113030979A (en) * | 2021-05-26 | 2021-06-25 | 北京星天科技有限公司 | Method and device for detecting position depth of target object |
| CN113109779A (en) * | 2020-02-28 | 2021-07-13 | 加特兰微电子科技(上海)有限公司 | Method for improving target detection precision, integrated circuit, radio device and electronic equipment |
| CN113376645A (en) * | 2021-08-16 | 2021-09-10 | 深圳煜炜光学科技有限公司 | Method and device for improving laser ranging precision |
| CN113758543A (en) * | 2021-08-04 | 2021-12-07 | 西安安森智能仪器股份有限公司 | Ultrasonic flowmeter time difference stable measurement method based on envelope threshold value-peak value method |
| CN113777614A (en) * | 2021-09-07 | 2021-12-10 | 珠海上富电技股份有限公司 | Ultrasonic radar data transmission method and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6310682B1 (en) * | 1999-07-06 | 2001-10-30 | Quarton, Inc. | System and method for laser range finder |
| EP1596221A1 (en) * | 2004-05-10 | 2005-11-16 | IBEO Automobile Sensor GmbH | Method and apparatus for measuring distance |
| EP1998186A2 (en) * | 2007-05-31 | 2008-12-03 | Kabushiki Kaisha Toshiba | Dme ground apparatus |
| CN101490579A (en) * | 2006-07-17 | 2009-07-22 | 莱卡地球系统公开股份有限公司 | Optical distance measuring method and corresponding optical distance measurement device |
| CN101779142A (en) * | 2007-08-21 | 2010-07-14 | 罗伯特·博世有限公司 | Distance sensor and method for determining a distance |
| CN101982794A (en) * | 2010-09-28 | 2011-03-02 | 天津菲特测控仪器有限公司 | Distance measurement method applied to pulse radar and guided wave radar and control circuit of distance measure method |
-
2018
- 2018-02-06 CN CN201810117551.4A patent/CN108490426A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6310682B1 (en) * | 1999-07-06 | 2001-10-30 | Quarton, Inc. | System and method for laser range finder |
| EP1596221A1 (en) * | 2004-05-10 | 2005-11-16 | IBEO Automobile Sensor GmbH | Method and apparatus for measuring distance |
| CN101490579A (en) * | 2006-07-17 | 2009-07-22 | 莱卡地球系统公开股份有限公司 | Optical distance measuring method and corresponding optical distance measurement device |
| EP1998186A2 (en) * | 2007-05-31 | 2008-12-03 | Kabushiki Kaisha Toshiba | Dme ground apparatus |
| CN101779142A (en) * | 2007-08-21 | 2010-07-14 | 罗伯特·博世有限公司 | Distance sensor and method for determining a distance |
| CN101982794A (en) * | 2010-09-28 | 2011-03-02 | 天津菲特测控仪器有限公司 | Distance measurement method applied to pulse radar and guided wave radar and control circuit of distance measure method |
Non-Patent Citations (1)
| Title |
|---|
| 谢义方 等: "基于无载频脉冲式超宽带雷达的生命信号检测分析与实现", 《数据采集与处理》 * |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111157977A (en) * | 2018-11-07 | 2020-05-15 | 百度（美国）有限责任公司 | LIDAR peak detection using time-to-digital converters and multi-pixel photon counters for autonomous vehicles |
| CN111157977B (en) * | 2018-11-07 | 2023-10-03 | 百度（美国）有限责任公司 | LIDAR peak detection for autonomous vehicles using time-to-digital converters and multi-pixel photon counters |
| CN109597065A (en) * | 2018-12-11 | 2019-04-09 | 湖南华诺星空电子技术有限公司 | A kind of false alarm rejection method, apparatus for through-wall radar detection |
| CN109597065B (en) * | 2018-12-11 | 2022-09-09 | 湖南华诺星空电子技术有限公司 | False alarm suppression method and device for through-wall radar detection |
| CN109655834A (en) * | 2018-12-21 | 2019-04-19 | 中国海洋石油集团有限公司 | Multibeam sonar sounding method and system based on CFAR detection |
| CN109655834B (en) * | 2018-12-21 | 2023-03-31 | 中国海洋石油集团有限公司 | Multi-beam sonar sounding method and system based on constant false alarm detection |
| CN109696684A (en) * | 2019-01-10 | 2019-04-30 | 电子科技大学中山学院 | Self-correlation laser radar device |
| CN109696684B (en) * | 2019-01-10 | 2022-11-22 | 电子科技大学中山学院 | Self-correlation laser radar device |
| WO2021046768A1 (en) * | 2019-09-11 | 2021-03-18 | 华为技术有限公司 | Method and device for calculating reflectance of target object, and related apparatus |
| CN113109779A (en) * | 2020-02-28 | 2021-07-13 | 加特兰微电子科技(上海)有限公司 | Method for improving target detection precision, integrated circuit, radio device and electronic equipment |
| CN113109779B (en) * | 2020-02-28 | 2024-03-22 | 加特兰微电子科技(上海)有限公司 | Method for improving target detection precision, integrated circuit, radio device and electronic equipment |
| CN111847155A (en) * | 2020-06-04 | 2020-10-30 | 日立楼宇技术（广州）有限公司 | Elevator car position determining method, elevator car position determining device, computer equipment and storage medium |
| CN112255636A (en) * | 2020-09-04 | 2021-01-22 | 奥诚信息科技(上海)有限公司 | Distance measuring method, system and equipment |
| CN112904286A (en) * | 2021-01-14 | 2021-06-04 | 无锡国芯微电子系统有限公司 | Method for identifying stable pulse based on leading edge phase |
| CN112904286B (en) * | 2021-01-14 | 2021-11-12 | 无锡国芯微电子系统有限公司 | Method for identifying stable pulse based on leading edge phase |
| CN113030979B (en) * | 2021-05-26 | 2021-08-17 | 北京星天科技有限公司 | Method and device for detecting position depth of target object |
| CN113030979A (en) * | 2021-05-26 | 2021-06-25 | 北京星天科技有限公司 | Method and device for detecting position depth of target object |
| CN113758543A (en) * | 2021-08-04 | 2021-12-07 | 西安安森智能仪器股份有限公司 | Ultrasonic flowmeter time difference stable measurement method based on envelope threshold value-peak value method |
| CN113758543B (en) * | 2021-08-04 | 2023-11-03 | 西安安森智能仪器股份有限公司 | Ultrasonic flowmeter time difference stable measurement method based on envelope threshold-peak value method |
| CN113376645B (en) * | 2021-08-16 | 2021-11-30 | 深圳煜炜光学科技有限公司 | Method and device for improving laser ranging precision |
| CN113376645A (en) * | 2021-08-16 | 2021-09-10 | 深圳煜炜光学科技有限公司 | Method and device for improving laser ranging precision |
| CN113777614A (en) * | 2021-09-07 | 2021-12-10 | 珠海上富电技股份有限公司 | Ultrasonic radar data transmission method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108490426A (en) | A kind of target ranging method and its equipment | |
| US20190339386A1 (en) | Time of flight and code signature detection for coded ultrasonic transmission | |
| US20120263018A1 (en) | Underwater detection device and underwater detecting method | |
| CN111693983B (en) | Complementary waveform construction method and module, cognitive radar system and waveform emission method | |
| CN101470202A (en) | Pulse Doppler radar system and its signal processing method | |
| CN101349756A (en) | Laser distance measuring instrument and signal processing method thereof | |
| CN102621529B (en) | Method for echo processing in a pulse-echo ranging system | |
| JP2007507693A (en) | Distance measurement | |
| CN113050071B (en) | Laser radar data processing method, device, equipment and storage medium | |
| CN101473243B (en) | Method of electronic holding measuring system, usage and device of the method | |
| KR102194320B1 (en) | Apparatus and Method for Tracking Object based on Radar Image Reconstruction | |
| CN106483507B (en) | Reduce the method for occlusion effect under a kind of high repetition pulse Doppler radar system | |
| CN113050069B (en) | Method, device, equipment and storage medium for acquiring interference signals of laser radar | |
| CN109814075A (en) | A kind of MTI Radar Moving Target detection method | |
| CN108519601A (en) | Distance measuring method, device and distance mearuring equipment | |
| CN110221308A (en) | A kind of method, relevant apparatus and the storage medium of coherent pulse laser ranging | |
| CN105589061A (en) | Signal processing algorithm for shore-based radar | |
| CN103328939B (en) | Based on the tracking of phase place | |
| CN105911546B (en) | A kind of recognition methods of sea clutter and device | |
| CN109581350B (en) | Radar distance and speed measurement method and device based on time-frequency integral interpolation | |
| CN105911537A (en) | Method for reducing active sonar detecting blind area | |
| CN113835077B (en) | Search radar target detection method and system based on variable pulse repetition frequency | |
| CN106291531B (en) | A kind of irregular tracking combined with pulse Doppler system using Gao Zhongying Step Frequency | |
| CN104487863B (en) | For running the method and EMS of the EMS of vehicle | |
| CN113341427A (en) | Distance measuring method, distance measuring device, electronic equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180904 |
|
| RJ01 | Rejection of invention patent application after publication |