CN108693524A - Multiple mobile object matching process based on Modulation Continuous Wave Radar and its system - Google Patents
Multiple mobile object matching process based on Modulation Continuous Wave Radar and its system Download PDFInfo
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- CN108693524A CN108693524A CN201711279385.XA CN201711279385A CN108693524A CN 108693524 A CN108693524 A CN 108693524A CN 201711279385 A CN201711279385 A CN 201711279385A CN 108693524 A CN108693524 A CN 108693524A
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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
Abstract
The present invention relates to multiple mobile object matching process and its system based on Modulation Continuous Wave Radar, this method includes obtaining upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal;FFT transform is carried out to upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal respectively;The frequency spectrum of frequency spectrum and lower frequency sweep Beat Signal to the upper frequency sweep Beat Signal after FFT transform carries out frequency spectrum and offsets, and obtains absolute value, forms new frequency spectrum;CFAR detection CFAR is carried out to new frequency spectrum, obtains target spectrum;The corresponding frequency point of peak point of target spectrum is obtained according to target spectrum, and obtains First Speed value and the first distance value;According to the single-frequency Beat Signal after FFT transform, the second speed value of several targets is obtained;Error function is established, First Speed value and second speed value are subjected to tolerance processing, obtain the actual distance and speed of target.The present invention simplifies the complexity of multiple target pairing, improves the accuracy of pairing.
Description
Technical field
The present invention relates to Radar Technology fields, more specifically refer to the mesh of doing more physical exercises based on Modulation Continuous Wave Radar
Mark matching process and its system.
Background technology
It with continuous wave signal is that transmitting signal obtains the distance or velocity information of target that continuous wave radar, which is a kind of,
Radar system, this Radar Technology have long history.Due to the feature in continuous wave radar system, determine that it cannot be
Receiver is closed during transmitting signal, and other technological approaches can only be taken to realize the isolation between sending and receiving, limits continuous wave
The transmission power of radar, therefore the operating distance of continuous wave radar is difficult to be made big.Now continuous wave radar increasingly by
Pay attention to and develops.Modulation Continuous Wave Radar has the advantages that many other radars do not have, such as without blind range zone, distance point
Distinguish power is high, radiant power is small, waveform intercept probability is low etc..
Which can be roughly divided into two types for continuous wave radar, simple unmodulated continuous wave and modulation continuous wave, simple unmodulated company
Continuous wave can only measure target velocity, be unable to measurement distance information;To obtain target range information frequently with warbled mode,
Wherein linear frequency modulation continuous wave is to use most widely, but the chirped continuous wave is in the process of exclusive use again
In, target velocity can not be accurately measured, since there are one for target pairing under the surveyed multi-target condition of monocyclic triangular signal
Fixed limitation, range-velocity coupling phenomenon is than more serious, and the detection performance of target even more drops significantly in complex target environment
It is low.
Therefore, it is necessary to design a kind of multiple mobile object matching process based on Modulation Continuous Wave Radar, realization is adopted
It is used for testing the speed with unmodulated continuous wave, using measuring for modulated linear frequency modulation continuous wave progress speed and distance, simplification is more
The complexity of target pairing, improves the accuracy of pairing, the speed of target is preferably improved apart from coupling phenomenon.
Invention content
It is an object of the invention to overcome the deficiencies of existing technologies, doing more physical exercises based on Modulation Continuous Wave Radar is provided
Target matching method and its system.
To achieve the above object, the present invention uses following technical scheme:Doing more physical exercises based on Modulation Continuous Wave Radar
Target matching method, the method includes:
Frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal in acquisition;
FFT transform is carried out to upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal respectively;
The frequency spectrum of frequency spectrum and lower frequency sweep Beat Signal to the upper frequency sweep Beat Signal after FFT transform carries out frequency spectrum and offsets,
Absolute value is obtained, new frequency spectrum is formed;
CFAR detection CFAR is carried out to new frequency spectrum, obtains target spectrum;
The corresponding frequency point of peak point of target spectrum is obtained according to target spectrum, and obtains First Speed value and the first distance
Value;
According to the single-frequency Beat Signal after FFT transform, the second speed value of several targets is obtained;
Establish error function, First Speed value and second speed value be subjected to tolerance processing, obtain target it is true away from
From and speed.
Its further technical solution is:Frequency sweep Beat Signal in acquisition, lower frequency sweep Beat Signal and single-frequency Beat Signal
Step, including step in detail below:
Obtain intermediate-freuqncy signal;
To intermediate-freuqncy signal progress scaling down processing, frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency are poor in acquisition
Clap signal.
Its further technical solution is:The corresponding frequency point of peak point of target spectrum is obtained according to target spectrum, and is obtained
The step of First Speed value and the first distance value, including step in detail below:
Peak value searching is carried out to target spectrum, searches out the corresponding frequency point of peak point;
Pass throughWithFrequency point is matched, obtain First Speed value and
First distance value, wherein c is the light velocity, and T is effective time width, and B is effective bandwidth, f+For the centre frequency of upper frequency sweep target, f-For
The centre frequency of lower frequency sweep target, f0For the centre frequency of radar signal.
Its further technical solution is:Error function is established, First Speed value and second speed value are carried out at tolerance
In the step of managing, obtaining the actual distance and speed of target, the error function isWherein, v1m
For First Speed value, v2mFor second speed value, NFFTIt counts for FFT transform, fsFor sample frequency, c is the light velocity, f0Believe for radar
Number centre frequency.
Its further technical solution is:Error function is established, First Speed value and second speed value are carried out at tolerance
The step of managing, obtaining the actual distance and speed of target, including step in detail below:
Establish error function;
First Speed value is compared with second speed value, filters out the speed and distance value of several targets;
Reject false target out of several targets, obtain true target, and obtain the corresponding speed of real goal with
And distance value, form the actual distance and speed of target.
The present invention also provides the multiple mobile object matching systems based on Modulation Continuous Wave Radar comprising signal obtains
It takes unit, converter unit, offset unit, CFAR units, frequency point acquiring unit, second speed value acquiring unit and tolerance processing
Unit;
The signal acquiring unit, for obtaining upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal;
The converter unit, for respectively to upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal into
Row FFT transform;
It is described to offset unit, for the frequency spectrum of the upper frequency sweep Beat Signal after FFT transform and lower frequency sweep Beat Signal
Frequency spectrum carries out frequency spectrum and offsets, and obtains absolute value, forms new frequency spectrum;
The CFAR units obtain target spectrum for carrying out CFAR detection CFAR to new frequency spectrum;
The frequency point acquiring unit, the corresponding frequency point of peak point for obtaining target spectrum according to target spectrum, and obtain
Take First Speed value and the first distance value;
The second speed value acquiring unit, for according to the single-frequency Beat Signal after FFT transform, obtaining several targets
Second speed value;
First Speed value and second speed value are carried out tolerance by the tolerance processing unit for establishing error function
Processing, obtains the actual distance and speed of target.
Its further technical solution is:The signal acquiring unit includes intermediate-freuqncy signal acquisition module and frequency processing mould
Block;
The intermediate-freuqncy signal acquisition module, for obtaining intermediate-freuqncy signal;
The frequency processing module, it is described that scaling down processing is carried out to the intermediate-freuqncy signal, frequency sweep Beat Signal in acquisition, under
Frequency sweep Beat Signal and single-frequency Beat Signal.
Its further technical solution is:The frequency point acquiring unit includes peak value searching module and matching module;
The peak value searching module searches out the corresponding frequency point of peak point for carrying out peak value searching to target spectrum;
The matching module, for passing throughWithFrequency point is matched,
Obtain First Speed value and the first distance value, wherein c is the light velocity, and T is effective time width, and B is effective bandwidth, f+For upper frequency sweep mesh
Target centre frequency, f-For the centre frequency of lower frequency sweep target, f0For the centre frequency of radar signal.
Its further technical solution is:The tolerance processing unit includes that function establishes module, comparison module and rejecting
Module;
The function establishes module, for establishing error function;
The comparison module filters out several targets for First Speed value to be compared with second speed value
Speed and distance value;
The rejecting module obtains true target, and obtain true for rejecting false target out of several targets
The corresponding speed of target and distance value form the actual distance and speed of target.
Compared with the prior art, the invention has the advantages that:More fortune based on Modulation Continuous Wave Radar of the present invention
Moving-target matching process, by carrying out FFT transform to upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal,
For upper frequency sweep Beat Signal and lower frequency sweep Beat Signal carry out frequency spectrum offset, CFAR and peak value searching, for single-frequency beat
Signal carries out peak value searching, carries out tolerance processing for the velocity amplitude of three signal acquisitions, obtains the actual distance and speed of target
Degree had not only been used unmodulated continuous wave to be used for testing the speed, but also has been carried out the survey of speed and distance using modulated linear frequency modulation continuous wave
It takes.Using triangular wave plus single-frequency continuous wave mode, and original processing mode is improved in the signal processing, simplifies multiple target
The complexity of pairing, improves the accuracy of pairing, and the speed of target is preferably improved apart from coupling phenomenon.
The invention will be further described in the following with reference to the drawings and specific embodiments.
Description of the drawings
Fig. 1 is the multiple mobile object matching process based on Modulation Continuous Wave Radar that the specific embodiment of the invention provides
Flow chart;
Fig. 2 is the curve graph for the transmitting signal that the specific embodiment of the invention provides;
Fig. 3 is the spectrogram of the upper frequency sweep Beat Signal for five targets that the specific embodiment of the invention provides;
Fig. 4 is the spectrogram of the lower frequency sweep Beat Signal for five targets that the specific embodiment of the invention provides;
Fig. 5 is the spectrogram of the single-frequency Beat Signal for five targets that the specific embodiment of the invention provides;
Fig. 6 is that the upper frequency sweep Beat Signal that the specific embodiment of the invention provides and lower frequency sweep Beat Signal frequency spectrum offset
Spectrogram;
Fig. 7 is the spectrogram that CFAR detection CFAR is carried out to new frequency spectrum that the specific embodiment of the invention provides;
Fig. 8 is the spectrogram of the peak value searching of the single-frequency Beat Signal for five targets that the specific embodiment of the invention provides;
Fig. 9 is the schematic diagram matched to frequency point that the specific embodiment of the invention provides;
Figure 10 is the schematic diagram of First Speed value and the first distance value that the specific embodiment of the invention provides;
Figure 11 is the schematic diagram of actual distance and speed that present invention specific implementation obtains target;
Figure 12 is the multiple mobile object matching system based on Modulation Continuous Wave Radar that the specific embodiment of the invention provides
The structure diagram of system.
Specific implementation mode
In order to more fully understand the present invention technology contents, with reference to specific embodiment to technical scheme of the present invention into
One step introduction and explanation, but not limited to this.
The specific embodiment as shown in Fig. 1~12, more fortune provided in this embodiment based on Modulation Continuous Wave Radar
Moving-target matching process can be used in the design process of the radar signal waveform in the case of complicated road multi-targets recognition,
It realizes and is used for testing the speed using unmodulated continuous wave, measuring for speed and distance is carried out using modulated linear frequency modulation continuous wave,
The complexity for simplifying multiple target pairing, improves the accuracy of pairing, the speed of target is preferably changed apart from coupling phenomenon
It is kind.
As shown in Figure 1, the multiple mobile object matching process based on Modulation Continuous Wave Radar is present embodiments provided, it should
Method includes:
Frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal on S1, acquisition;
S2, FFT transform is carried out to upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal respectively;
S3, frequency spectrum pair is carried out to the frequency spectrum of the upper frequency sweep Beat Signal after FFT transform and the frequency spectrum of lower frequency sweep Beat Signal
Disappear, obtain absolute value, forms new frequency spectrum;
S4, CFAR detection CFAR is carried out to new frequency spectrum, obtains target spectrum;
S5, the corresponding frequency point of peak point that target spectrum is obtained according to target spectrum, and obtain First Speed value and first
Distance value;
S6, according to the single-frequency Beat Signal after FFT transform, obtain the second speed value of several targets;
S7, error function is established, First Speed value and second speed value is subjected to tolerance processing, obtain the true of target
Distance and speed.
Further, in certain embodiments, above-mentioned S1 steps, frequency sweep Beat Signal, lower frequency sweep beat in acquisition
The step of signal and single-frequency Beat Signal, including step in detail below:
S11, intermediate-freuqncy signal is obtained;
S12, scaling down processing is carried out to the intermediate-freuqncy signal, frequency sweep Beat Signal, lower frequency sweep Beat Signal and list in acquisition
Frequency Beat Signal.
For above-mentioned S11 steps, intermediate-freuqncy signal is the Beat Signal for emitting signal and being mixed with reception signal,
In such a way that the linear frequency modulation triangular wave radar of a cycle and one section of continuous single-frequency continuous wave radar are combined, and
The mode of frequency hopping is used in multicycle to prevent interfering with each other between radar signal.Frequency hopping is used in radar signal
End, the triangular wave for generating different frequency are added simple signal, the radar Beat Signal frequency hopping of different frequency are simulated using matlab
Technology can be prevented since the frequency of the triangular wave that sends each time and single-frequency continuous wave is different between different radar signals
Interference.
Wherein, as shown in Fig. 2, transmitting signal is to add one section of unmodulated single-frequency continuous wave using linear frequency modulation triangular wave,
Three sections of radar returns (receiving signal) are respectively received, the beat that three sections of Mid Frequencies are obtained after being mixed with transmitting signal is believed
Number, speed, range information are contained during upper frequency sweep Beat Signal and lower frequency sweep Beat Signal are flat, is contained in single-frequency Beat Signal
Velocity information.Radar Signal Processing process is improved, distance, the speed of solving target can greatly improve multiple target and match
To accuracy, eliminate range-velocity coupling the problem of.
For above-mentioned S12 steps, needs to separate three kinds of signaling zones in intermediate-freuqncy signal, be respectively processed, just may be used
With the distance of solving target, speed, the problem of the accuracy of multiple target pairing can be greatly improved, eliminate range-velocity coupling.
For above-mentioned S2 steps, respectively to upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal into
Row FFT transform, is denoted as S respectivelyup,Sdown,Sdp, corresponding n spectrum peak occur.
Further, for above-mentioned S3 steps, by the frequency spectrum of upper frequency sweep Beat Signal and lower frequency sweep Beat Signal
Frequency spectrum carries out frequency spectrum and offsets, and takes absolute value, i.e. S=|Sup-Sdown|, there is more apparent 2n peak value in figure.Due to
The spectrum amplitude that target is obtained in upper frequency sweep Beat Signal and lower frequency sweep Beat Signal is consistent, and fixed clutter is poor in upper frequency sweep
It claps as signal with the frequency in lower frequency sweep Beat Signal is, and moving target is believed due to Doppler effect in upper frequency sweep beat
Number and lower frequency sweep Beat Signal in frequency be different, can effectively inhibit fixed clutter using this point, with improve
Improve the accuracy of multiple target pairing.
Above-mentioned S4 steps simplify the complexity of multiple target pairing specifically in order to simplify target.
Further, in certain embodiments, above-mentioned S5 steps obtain the peak value of target spectrum according to target spectrum
The corresponding frequency point of point, and the step of obtaining First Speed value and the first distance value, including step in detail below:
S51, peak value searching is carried out to target spectrum, searches out the corresponding frequency point of peak point;
S52, pass throughWithFrequency point is matched, First Speed is obtained
Value and the first distance value, wherein c is the light velocity, and T is effective time width, and B is effective bandwidth, f+For the centre frequency of upper frequency sweep target,
f-For the centre frequency of lower frequency sweep target, f0For the centre frequency of radar signal.
For above-mentioned S52 steps, specifically 2n frequency point is matched.
For above-mentioned S6 steps, to the frequency spectrum S after the FFT variations of single-frequency Beat SignaldpPeak value searching is carried out, obtains n
The velocity amplitude of target.
Further, in certain embodiments, above-mentioned S7 steps, establish error function, by First Speed value and
Second speed value carries out tolerance processing, and in the step of obtaining the actual distance and speed of target, the error function isWherein, v1mFor First Speed value, v2mFor second speed value, NFFTIt counts for FFT transform, fsTo adopt
Sample frequency, c are the light velocity, f0For the centre frequency of radar signal.
Specifically, above-mentioned S7 steps, establish error function, and First Speed value and second speed value are carried out at tolerance
The step of managing, obtaining the actual distance and speed of target, including step in detail below:
S71, error function is established;
S72, First Speed value is compared with second speed value, filters out the speed and distance of several targets
Value;
S73, false target is rejected out of several targets, obtains true target, and obtain the corresponding speed of real goal
Degree and distance value, form the actual distance and speed of target.
First Speed value is compared with second speed value by error function, to filter out n target speed, away from
From value, rejectA false target,
The side being combined using the linear frequency modulation triangular wave radar of a cycle and one section of continuous single-frequency continuous wave radar
Formula, and use the mode of frequency hopping to prevent interfering with each other between radar signal in the multicycle, it is right respectively in the signal processing
Upper frequency sweep Beat Signal and the Beat Signal of lower frequency sweep Beat Signal and single-frequency continuous wave do Fourier transformation, upper frequency sweep beat
The frequency spectrum of signal and lower frequency sweep Beat Signal, which does to take absolute value after frequency spectrum offsets, carries out target pairing, can be surveyed using simple signal
The speed that is calculated with the target matched before of feature of speed, distance value are compared, and are had by way of establishing error function
Effect rejects false target, retains really distance, velocity amplitude;Frequency hopping is used simultaneously to prevent between different radar signals
It interferes with each other, improves the accuracy of multiple target pairing.
It gives one example:The distance of target one is 100m, speed 50m/s;The distance of target two is 200m, and speed is
30m/s;The distance of target three is 300m, speed 20m/s;The distance of target four is 400m, speed 40m/s;Target five
Distance is 500m, speed 60m/s.The corresponding intermediate-freuqncy signal for obtaining this five targets, splits out respectively such as Fig. 3, Fig. 4, Fig. 5 institute
Upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and the single-frequency Beat Signal shown.First to the upper frequency sweep beat of this five targets
Signal and lower frequency sweep Beat Signal carry out frequency spectrum and offset, and obtain the spectrogram of new frequency spectrum as shown in Figure 6;The new frequency spectrum is carried out
CFAR detection CFAR obtains the spectrogram after CFAR detection CFAR as shown in Figure 7;And obtain peak value for Fig. 7;Separately
Outside, to the peak value searching of the single-frequency Beat Signal of five targets, as shown in Figure 8;Fig. 9 and Figure 10 is that frequency sweep is poor in five targets
It claps signal and lower frequency sweep Beat Signal offsets, the target after CFAR, peak value searching is matched two-by-two various distances, speed may
Value;Figure 11 is five targets as obtained by upper frequency sweep Beat Signal and lower frequency sweep Beat Signal apart from velocity amplitude and single-frequency institute
The velocity amplitude obtained determines real goal by error function, by Figure 11 it is known that the distance of target one is 100.0488m, speed
Degree is 48.3398m/s;The distance of target two is 200.0977m, and the distance of speed 29.2969m/s, target three are 300m, speed
Degree is 20.5078m/s, and the distance of target four is 400.0488m, and the distance of speed 39.5508m/s, target five are
500.0977m speed 58.5938m/s.
The above-mentioned multiple mobile object matching process based on Modulation Continuous Wave Radar, by believing upper frequency sweep beat
Number, lower frequency sweep Beat Signal and single-frequency Beat Signal carry out FFT transform, for upper frequency sweep Beat Signal and lower frequency sweep Beat Signal
Carry out frequency spectrum offset, CFAR and peak value searching, peak value searching is carried out for single-frequency Beat Signal, for three signal acquisitions
Velocity amplitude carries out tolerance processing, obtains the actual distance and speed of target, has not only used unmodulated continuous wave to be used for testing the speed, but also use
Modulated linear frequency modulation continuous wave progress speed and distance measures.Using triangular wave plus single-frequency continuous wave mode, and believing
Number processing in original processing mode is improved, simplify multiple target pairing complexity, improve the accuracy of pairing, target
Speed preferably improved apart from coupling phenomenon.
As shown in figure 12, the present embodiment additionally provides the matching of the multiple mobile object based on Modulation Continuous Wave Radar system
System comprising signal acquiring unit 1, converter unit 2 offset unit 3, CFAR units 4, frequency point acquiring unit 5, second speed value
Acquiring unit 6 and tolerance processing unit 7.
Signal acquiring unit 1, for obtaining upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal.
Converter unit 2, for being carried out respectively to upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal
FFT transform.
Unit 3 is offseted, the frequency spectrum for frequency spectrum and lower frequency sweep Beat Signal to the upper frequency sweep Beat Signal after FFT transform
It carries out frequency spectrum to offset, obtains absolute value, form new frequency spectrum.
CFAR units 4 obtain target spectrum for carrying out CFAR detection CFAR to new frequency spectrum.
Frequency point acquiring unit 5, the corresponding frequency point of peak point for obtaining target spectrum according to target spectrum, and obtain the
One velocity amplitude and the first distance value.
Second speed value acquiring unit 6, for according to the single-frequency Beat Signal after FFT transform, obtaining several targets
Second speed value.
Tolerance processing unit 7 carries out First Speed value and second speed value at tolerance for establishing error function
Reason, obtains the actual distance and speed of target.
Further, in certain embodiments, above-mentioned signal acquiring unit 1 include intermediate-freuqncy signal acquisition module and
Frequency processing module.
Intermediate-freuqncy signal acquisition module, for obtaining intermediate-freuqncy signal.
Frequency processing module, described that scaling down processing is carried out to the intermediate-freuqncy signal, frequency sweep Beat Signal, lower frequency sweep in acquisition
Beat Signal and single-frequency Beat Signal.
For above-mentioned intermediate-freuqncy signal acquisition module, intermediate-freuqncy signal emits signal and is mixed to obtain with signal is received
Beat Signal, the side being combined using the linear frequency modulation triangular wave radar of a cycle and one section of continuous single-frequency continuous wave radar
Formula, and the mode of frequency hopping is used to prevent interfering with each other between radar signal in the multicycle.Frequency hopping is used in radar
End occurs for signal, and the triangular wave for generating different frequency is added simple signal, the radar beat of different frequency is simulated using matlab
Signal frequency hopping can prevent different radars from believing since the triangular wave sent each time is different with the frequency of single-frequency continuous wave
Interference between number.
Wherein, as shown in Fig. 2, transmitting signal is to add one section of unmodulated single-frequency continuous wave using linear frequency modulation triangular wave,
Three sections of radar returns (receiving signal) are respectively received, the beat that three sections of Mid Frequencies are obtained after being mixed with transmitting signal is believed
Number, speed, range information are contained during upper frequency sweep Beat Signal and lower frequency sweep Beat Signal are flat, is contained in single-frequency Beat Signal
Velocity information.Radar Signal Processing process is improved, distance, the speed of solving target can greatly improve multiple target and match
To accuracy, eliminate range-velocity coupling the problem of.
Three kinds of signaling zones in intermediate-freuqncy signal are separated by above-mentioned frequency processing module, is respectively processed, just may be used
With the distance of solving target, speed, the problem of the accuracy of multiple target pairing can be greatly improved, eliminate range-velocity coupling.
Above-mentioned converter unit 2 respectively carries out upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal
FFT transform is denoted as S respectivelyup,Sdown,Sdp, corresponding n spectrum peak occur.
For it is above-mentioned offset unit 3 for, by the frequency spectrum of the frequency spectrum of upper frequency sweep Beat Signal and lower frequency sweep Beat Signal
It carries out frequency spectrum to offset, and takes absolute value, i.e. S=|Sup-Sdown|, there is more apparent 2n peak value in figure.Due to target
It is consistent in the spectrum amplitude that upper frequency sweep Beat Signal and lower frequency sweep Beat Signal obtain, fixed clutter is believed in upper frequency sweep beat
As number being with the frequency in lower frequency sweep Beat Signal, and moving target due to Doppler effect in upper frequency sweep Beat Signal and
Frequency in lower frequency sweep Beat Signal is different, can effectively inhibit fixed clutter using this point, is improved with improving
The accuracy of multiple target pairing.
Above-mentioned CFAR units 4 are specifically to simplify the complexity of multiple target pairing to simplify target.
Further, in certain embodiments, above-mentioned frequency point acquiring unit 5 includes peak value searching module and pairing
Module.
Peak value searching module searches out the corresponding frequency point of peak point for carrying out peak value searching to target spectrum.
Matching module, for passing throughWithFrequency point is matched, is obtained
First Speed value and the first distance value, wherein c is the light velocity, and T is effective time width, and B is effective bandwidth, f+For upper frequency sweep target
Centre frequency, f-For the centre frequency of lower frequency sweep target, f0For the centre frequency of radar signal.Specifically 2n frequency point is carried out
Pairing.
For above-mentioned second speed value acquiring unit 6, to the frequency spectrum S after the FFT variations of single-frequency Beat SignaldpIt carries out
Peak value searching obtains the velocity amplitude of n target.
Error function involved by above-mentioned tolerance processing unit 7 isWherein, v1mIt is first
Velocity amplitude, v2mFor second speed value, NFFTIt counts for FFT transform, fsFor sample frequency, c is the light velocity, f0For in radar signal
Frequency of heart.
Further, in certain embodiments, above-mentioned tolerance processing unit 7 establishes module including function, compares mould
Block and rejecting module.
Function establishes module, for establishing error function.
Comparison module filters out the speed of several targets for First Speed value to be compared with second speed value
And distance value.
It rejects module and obtains true target, and obtain real goal for rejecting false target out of several targets
Corresponding speed and distance value form the actual distance and speed of target.
First Speed value is compared with second speed value by error function, to filter out n target speed, away from
From value, rejectA false target,
The side being combined using the linear frequency modulation triangular wave radar of a cycle and one section of continuous single-frequency continuous wave radar
Formula, and use the mode of frequency hopping to prevent interfering with each other between radar signal in the multicycle, it is right respectively in the signal processing
Upper frequency sweep Beat Signal and the Beat Signal of lower frequency sweep Beat Signal and single-frequency continuous wave do Fourier transformation, upper frequency sweep beat
The frequency spectrum of signal and lower frequency sweep Beat Signal, which does to take absolute value after frequency spectrum offsets, carries out target pairing, can be surveyed using simple signal
The speed that is calculated with the target matched before of feature of speed, distance value are compared, and are had by way of establishing error function
Effect rejects false target, retains really distance, velocity amplitude;Frequency hopping is used simultaneously to prevent between different radar signals
It interferes with each other, improves the accuracy of multiple target pairing.
It gives one example:The distance of target one is 100m, speed 50m/s;The distance of target two is 200m, and speed is
30m/s;The distance of target three is 300m, speed 20m/s;The distance of target four is 400m, speed 40m/s;Target five
Distance is 500m, speed 60m/s.The corresponding intermediate-freuqncy signal for obtaining this five targets, splits out respectively such as Fig. 3, Fig. 4, Fig. 5 institute
Upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and the single-frequency Beat Signal shown.First to the upper frequency sweep beat of this five targets
Signal and lower frequency sweep Beat Signal carry out frequency spectrum and offset, and obtain the spectrogram of new frequency spectrum as shown in Figure 6;The new frequency spectrum is carried out
CFAR detection CFAR obtains the spectrogram after CFAR detection CFAR as shown in Figure 7;And obtain peak value for Fig. 7;Separately
Outside, to the peak value searching of the single-frequency Beat Signal of five targets, as shown in Figure 8;Fig. 9 be in five targets frequency sweep Beat Signal with
And lower frequency sweep Beat Signal offsets, the target after CFAR, peak value searching is matched two-by-two various distances, speed probable value;Figure 10
The speed obtained by the velocity amplitude and single-frequency for being five targets as obtained by upper frequency sweep Beat Signal and lower frequency sweep Beat Signal
Angle value determines real goal by error function, and by Figure 10 it is known that the distance of target one is 100.0488m, speed is
48.3398m/s;The distance of target two is 200.0977m, and the distance of speed 29.2969m/s, target three are 300m, and speed is
The distance of 20.5078m/s, target four are 400.0488m, and the distance of speed 39.5508m/s, target five are 500.0977m,
Speed is 58.5938m/s.
The above-mentioned multiple mobile object matching system based on Modulation Continuous Wave Radar, by believing upper frequency sweep beat
Number, lower frequency sweep Beat Signal and single-frequency Beat Signal carry out FFT transform, for upper frequency sweep Beat Signal and lower frequency sweep Beat Signal
Carry out frequency spectrum offset, CFAR and peak value searching, peak value searching is carried out for single-frequency Beat Signal, for three signal acquisitions
Velocity amplitude carries out tolerance processing, obtains the actual distance and speed of target, has not only used unmodulated continuous wave to be used for testing the speed, but also use
Modulated linear frequency modulation continuous wave progress speed and distance measures.Using triangular wave plus single-frequency continuous wave mode, and believing
Number processing in original processing mode is improved, simplify multiple target pairing complexity, improve the accuracy of pairing, target
Speed preferably improved apart from coupling phenomenon.
It is above-mentioned only with embodiment come the technology contents that further illustrate the present invention, in order to which reader is easier to understand, but not
It represents embodiments of the present invention and is only limitted to this, any technology done according to the present invention extends or recreation, by the present invention's
Protection.Protection scope of the present invention is subject to claims.
Claims (9)
1. the multiple mobile object matching process based on Modulation Continuous Wave Radar, which is characterized in that the method includes:
Frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal in acquisition;
FFT transform is carried out to upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal respectively;
The frequency spectrum of frequency spectrum and lower frequency sweep Beat Signal to the upper frequency sweep Beat Signal after FFT transform carries out frequency spectrum and offsets, and obtains
Absolute value forms new frequency spectrum;
CFAR detection CFAR is carried out to new frequency spectrum, obtains target spectrum;
The corresponding frequency point of peak point of target spectrum is obtained according to target spectrum, and obtains First Speed value and the first distance value;
According to the single-frequency Beat Signal after FFT transform, the second speed value of several targets is obtained;
Establish error function, First Speed value and second speed value be subjected to tolerance processing, obtain target actual distance and
Speed.
2. the multiple mobile object matching process according to claim 1 based on Modulation Continuous Wave Radar, feature exist
In, in acquisition the step of frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal, including step in detail below:
Obtain intermediate-freuqncy signal;
Scaling down processing is carried out to the intermediate-freuqncy signal, in acquisitions frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency beat believe
Number.
3. the multiple mobile object matching process according to claim 2 based on Modulation Continuous Wave Radar, feature exist
In obtaining the corresponding frequency point of peak point of target spectrum according to target spectrum, and obtain First Speed value and the first distance value
Step, including step in detail below:
Peak value searching is carried out to target spectrum, searches out the corresponding frequency point of peak point;
Pass throughWithFrequency point is matched, obtain First Speed value and first away from
From value, wherein c is the light velocity, and T is effective time width, and B is effective bandwidth, f+For the centre frequency of upper frequency sweep target, f-For lower frequency sweep
The centre frequency of target, f0For the centre frequency of radar signal.
4. the multiple mobile object matching process according to any one of claims 1 to 3 based on Modulation Continuous Wave Radar,
It is characterized in that, establishing error function, First Speed value and second speed value are subjected to tolerance processing, obtain the true of target
In the step of distance and speed, the error function isWherein, v1mFor First Speed value, v2mFor
Second speed value, NFFTIt counts for FFT transform, fsFor sample frequency, c is the light velocity, f0For the centre frequency of radar signal.
5. the multiple mobile object matching process according to claim 4 based on Modulation Continuous Wave Radar, feature exist
In establishing error function, First Speed value and second speed value carried out tolerance processing, obtain the actual distance and speed of target
The step of spending, including step in detail below:
Establish error function;
First Speed value is compared with second speed value, filters out the speed and distance value of several targets;
Reject false target out of several targets, obtain true target, and obtain the corresponding speed of real goal and away from
From value, the actual distance and speed of target are formed.
6. the multiple mobile object matching system based on Modulation Continuous Wave Radar, which is characterized in that including signal acquiring unit,
Converter unit offsets unit, CFAR units, frequency point acquiring unit, second speed value acquiring unit and tolerance processing unit;
The signal acquiring unit, for obtaining upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal;
The converter unit, for carrying out FFT to upper frequency sweep Beat Signal, lower frequency sweep Beat Signal and single-frequency Beat Signal respectively
Transformation;
It is described to offset unit, the frequency spectrum for frequency spectrum and lower frequency sweep Beat Signal to the upper frequency sweep Beat Signal after FFT transform
It carries out frequency spectrum to offset, obtains absolute value, form new frequency spectrum;
The CFAR units obtain target spectrum for carrying out CFAR detection CFAR to new frequency spectrum;
The frequency point acquiring unit, the corresponding frequency point of peak point for obtaining target spectrum according to target spectrum, and obtain the
One velocity amplitude and the first distance value;
The second speed value acquiring unit, for according to the single-frequency Beat Signal after FFT transform, obtaining several targets
Two velocity amplitudes;
First Speed value and second speed value are carried out tolerance processing by the tolerance processing unit for establishing error function,
Obtain the actual distance and speed of target.
7. the multiple mobile object matching system according to claim 6 based on Modulation Continuous Wave Radar, feature exist
In the signal acquiring unit includes intermediate-freuqncy signal acquisition module and frequency processing module;
The intermediate-freuqncy signal acquisition module, for obtaining intermediate-freuqncy signal;
The frequency processing module, described that scaling down processing is carried out to the intermediate-freuqncy signal, frequency sweep Beat Signal, lower frequency sweep in acquisition
Beat Signal and single-frequency Beat Signal.
8. the multiple mobile object matching system according to claim 7 based on Modulation Continuous Wave Radar, feature exist
In the frequency point acquiring unit includes peak value searching module and matching module;
The peak value searching module searches out the corresponding frequency point of peak point for carrying out peak value searching to target spectrum;
The matching module, for passing throughWithFrequency point is matched, is obtained
First Speed value and the first distance value, wherein c is the light velocity, and T is effective time width, and B is effective bandwidth, f+For upper frequency sweep target
Centre frequency, f-For the centre frequency of lower frequency sweep target, f0For the centre frequency of radar signal.
9. the multiple mobile object matching system according to claim 8 based on Modulation Continuous Wave Radar, feature exist
In the tolerance processing unit includes that function establishes module, comparison module and rejects module;
The function establishes module, for establishing error function;
The comparison module filters out the speed of several targets for First Speed value to be compared with second speed value
And distance value;
The rejecting module obtains true target, and obtain real goal for rejecting false target out of several targets
Corresponding speed and distance value form the actual distance and speed of target.
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