CN108710116A - Moving target phase recovery method of MIMO radar - Google Patents
Moving target phase recovery method of MIMO radar Download PDFInfo
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- CN108710116A CN108710116A CN201810517031.2A CN201810517031A CN108710116A CN 108710116 A CN108710116 A CN 108710116A CN 201810517031 A CN201810517031 A CN 201810517031A CN 108710116 A CN108710116 A CN 108710116A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
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- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a method for recovering a moving target phase of an MIMO radar. The technical scheme is as follows: the virtual antenna array elements corresponding to the time division multiplexing frequency modulation continuous wave MIMO radar are sequentially numbered from the 1 st array element to the MN th antenna array element, and through the time division multiplexing time sequence of the specific transmitting antenna array element and the specific receiving antenna array element, the virtual antenna array obtains each round of receiving signals according to the sequence of the 1 st array element, the 4 th array element, the 2 nd array element, the 3 rd array element, the 5 th array element, the 6 th array element, the 7 th array element, the 8 th array element, … and the MN th array element. In the signal processing process, the phases of the first 4 array elements of the virtual antenna array are processed to extract a phase item vector introduced by target motion, and then a phase recovery matrix is constructed to carry out phase recovery on the received signals of the virtual antenna array. The method does not need to calculate the target speed, does not need to design a redundant virtual array element, and realizes the phase recovery of the moving target under the condition of not reducing the angular resolution of the radar.
Description
Technical field
The invention belongs to Radar Signal Processing Technology fields, are related to a kind of MIMO (Multiple Input Multiple
Output, multiple-input and multiple-output) radar moving target phase recovery method.
Background technology
MIMO radar realizes that bore is larger compared with single input and multi-output radar, using the aerial array of less scale
Virtual antenna array, to improve the angular resolution of radar.Frequency modulated continuous wave radar has at low cost, simple in structure, volume
Small feature, meanwhile, the distance and speed of target can accurately be measured, in conjunction with the application of aerial array, may be implemented pair
The angle measurement of target.CW with frequency modulation MIMO radar in summary two kinds of radars the advantages of, utilize the simpler day of structure
Linear array realizes higher radar angular resolution.
Be time-multiplexed CW with frequency modulation MIMOLei Da [R.Feger,C.Wagner,S.Schuster,
S.Scheiblhofer,H.Jager,A.Stelzer,“A 77-GHz FMCW MIMO Radar Based on an SiGe
Single-Chip Transceiver.”IEEE Transactions on Microwave Theory&Techniques
57.5(2009):1020-1035.]It is a kind of CW with frequency modulation MIMO orthogonal using time-division multiplex technology realization transmitted waveform
Radar passes through the transmitting and reception of the timing control signal that is specifically time-multiplexed in the radar.But this method is scarce
Point is：The phase of the reception signal of virtual antenna array is not only determined by the angle of target, also related with target velocity, usually
In the case of, the phase term that target movement introduces is a fixed constant, if do not compensated to the phase term, it will cause
Target angle calculates mistake.
The relevant time division multiplexing CW with frequency modulation MIMO radar moving target phase recovery method of domestic and international institutions conduct
Research, is mainly the following method：
1, by the design of redundant virtual array element, phase caused by extraction target movement, and then phase is carried out to aerial array
Position compensation [C.M.Schmid,R.Feger,C.Pfeffer,A.Stelzer."Motion compensation and
efficient array design for TDMA FMCW MIMO radar systems."European Conference
on Antennas and Propagation IEEE,2012:1746-1750.].This method can recover the true of target
Reality position, still, the presence of redundant virtual array element reduce the effective aperture of virtual antenna array, reduce the angle point of radar
Resolution.
2, using the reception signal detection target of individual antenna, and target speed is calculated, to calculate target movement
The phase term of introducing finally carries out Xiang Weibuchang [ to target echo signal;Z.Dominik,and A.Ziroff."Phase
migration effects in moving target localization using switched MIMO arrays."
european radar conference(2015):85-88.].The shortcomings that this method, is：It needs to accurately calculate target speed
Otherwise degree will cause the phase only pupil filter result of target echo signal inaccurate.
Invention content
The object of the present invention is to provide a kind of moving target phase recovery methods of MIMO radar, for the frequency modulation that is time-multiplexed
Continuous wave MIMO radar restores the phase of received signal of virtual antenna array, can avoid problems of the prior art,
During this, redundant virtual array element need not be designed, need not also calculate the speed of target.
To achieve the goals above, the present invention provides a kind of moving target phase recovery method of MIMO radar, when being used for
Divide multiplexing CW with frequency modulation MIMO radar, which is characterized in that setting time division multiplexing CW with frequency modulation MIMO radar has M transmitting antenna
Array element and N number of reception antenna array element, corresponding virtual antenna arrays are classified as uniform straight line array, and have MN bay, press
According to space virtual location number consecutively be the 1st array element to MN bays, pass through specific transmitting antenna array element and reception
The time division multiplexing sequential of bay so that virtual antenna array is according to the 1st array element, the 4th array element, the 2nd array element, the 3rd array element,
5 array elements, the 6th array element, the 7th array element, the 8th array element ..., the sequences of MN array elements obtain often wheel and receive signal, i.e., opened from the 5th array element
Begin to receive signal according to the sequence that array element number is sequentially increased.The reception signal in MN frequency modulation period is then obtained altogether.
In signal processing, processing is carried out to the phase of preceding 4 array element of virtual antenna array and extracts target fortune
The dynamic phase term vector introduced, and then build phase recovery matrix and phase recovery is carried out to the reception signal of virtual antenna array.
Beneficial effects of the present invention：
The moving target phase recovery method of a kind of MIMO radar proposed by the present invention, when time division multiplexing through the invention
Sequence carries out MN switching gating to the array element of transmitting antenna array and receiving antenna array, utilizes first 4 of virtual antenna array
The phase of array element carries out processing and extracts the phase term vector that target movement introduces.The present invention is not necessarily to without calculating target velocity
Redundant virtual array element is designed, the phase recovery of moving target is realized in the case where not reducing radar angular resolution.
Description of the drawings
Fig. 1 is the principle schematic that the present invention is applied to time division multiplexing CW with frequency modulation MIMO radar；
Fig. 2 is the aerial array Aperture distribution schematic diagram that the present invention is applied to time division multiplexing CW with frequency modulation MIMO radar；
Fig. 3 is the virtual antenna array schematic diagram that the present invention is applied to time division multiplexing CW with frequency modulation MIMO radar；
Fig. 4 is the time division multiplexing time diagram that the present invention is applied to time division multiplexing CW with frequency modulation MIMO radar；
Fig. 5 is the receiving antenna array phase simulation result obtained using the present invention；
Fig. 6 is the simulation result that target angle is calculated using the result that the present invention obtains；
Fig. 7 is the principle of the present invention flow diagram.
Specific implementation mode
Below in conjunction with drawings and examples, the present invention is described further.
Fig. 1 is the principle signal that the present invention is applied to time division multiplexing CW with frequency modulation MIMO radar (hereinafter referred to as radar)
Figure, as shown, the transmitting terminal of radar includes CW with frequency modulation signal generator module, single channel transmitting module, transmitting antenna
Array radio-frequency switch module and transmitting antenna array, the receiving terminal of radar include that receiving antenna array, receiving antenna array are penetrated
Frequency switch module, single channel receiving module, phase restoring module and Radar Signal Processing module, wherein transmitting antenna array is penetrated
Frequency switch module is used to switch the array element of gated transmission aerial array, and the element number of array of transmitting antenna array is M, TmIndicate m
A transmitting antenna array element, m=1,2 ..., M；Receiving antenna array radio-frequency switch module is used to switch gating receiving antenna array
The element number of array of array element, receiving antenna array is N, RnIndicate n-th of reception antenna array element, n=1,2 ..., N；Single channel receives
Module is used to receive and acquire the signal of receiving antenna array, and phase restoring module is used to correct the reception letter of virtual antenna array
Number, Radar Signal Processing module calculates the distance, speed and angle of target for the signal processing after the present invention.
Fig. 2 is the aerial array Aperture distribution schematic diagram that the present invention is applied to radar, with the transmitting antenna array and N of M=4
For=8 receiving antenna array, hollow round expression transmitting antenna array, square hollow indicates receiving antenna array, and 8 yuan connect
It is d that receipts aerial array, which is array element spacing,rUniform linear array, 4 yuan of transmitting antenna arrays are then made of two groups of submatrixs.Per height
Battle array array number beArray element spacing isThis two groups of submatrixs are distributed in receiving antenna array both sides, left
The spacing of the last one array element of side submatrix and first array element of receiving antenna array isFirst of right side submatrix
The spacing of the last one of array element and receiving antenna array array element is also dtr, meeting the aerial array of this Aperture distribution can wait
Effect is that adjacent array element spacing is dtM × N=32 member virtual antenna arrays, as shown in Figure 3.It is suitable according to the arrangement of array element in Fig. 3
Array element is numbered in sequence, is followed successively by the 1st array element, the 2nd array element to the 32nd array element, and it is d to number adjacent array element space spacingt。
The virtual antenna arrays of Fig. 3 are classified as uniform straight line array, aerial array shown in Fig. 2 can be utilized to realize, can also utilize other mouths
The aerial array of diameter distribution mode is realized, such as launching antenna array is listed in left, receiving antenna array and is listed in right mode.
The present invention radar time division multiplexing sequential as shown in figure 4, in order to obtain virtual antenna array the 1st, 4,2,3,5,
6,7,8 ..., 31,32 array element received signals, i.e., the sequence being sequentially increased according to array element number since the 5th array element receive letter
Number.Select specifically to be time-multiplexed sequential as T1/R1、T2/R2、T2/R1、T1/R2、T1/R3、T2/R3、T1/R4、T2/R4、T1/R5、
T2/R5、T1/R6、T2/R6、T1/R7、T2/R7、T1/R8、T2/R8、T3/R1、T4/R1、T3/R2、T4/R2、T3/R3、T4/R3、T3/R4、T4/
R4、T3/R5、T4/R5、T3/R6、T4/R6、T3/R7、T4/R7、T3/R8、T4/R8, letter is received using above-mentioned time division multiplexing sequential as a wheel
Number sequential cycle receive target echo-signal.T1/R1Combination indicate transmitting antenna array radio-frequency switch module switching gating
1st transmitting antenna array element T1Carry out signal transmitting, while receiving antenna array radio-frequency switch module switching the 1st reception of gating
Bay R1Carry out echo signal reception.Wherein, once switch the frequency modulation period that strobe cycle is equal to CW with frequency modulation signal
T, then a wheel reception signal period is 32T.Different aerial arrays corresponds to different transmittings/reception combination, but as long as so that empty
Quasi- antenna array profit obtains often wheel according to specific time division multiplexing sequential and receives signal.
Time division multiplexing sequential according to the present invention, it is assumed that a certain wheel signal that the virtual antenna array of radar receives
Sorigin(i) it is：
S (i)=s [s1(i) s4(i) s2(i) s3(i) s5(i) s6(i) L s32(i)]
Wherein, s1(i)=[s1(1) s1(2) … s1(i) … s1(I)]HIndicate that the 1st array element of virtual antenna array connects
The 1 frequency modulation periodic signal received, i.e. switching gating T1/R1The 1 frequency modulation periodic signal , [ received;]HExpression transposition, i=1,
2 ..., I, I indicate the sampling number in switching strobe cycle T at one, and so on, it can indicate the letter that remaining array element receives
Number.Signal S (i) is rearranged according to the sequence of the array element from the 1st to the 32nd, obtains signal Sorigin(i), it is expressed as：
Sorigin(i)=[s1(i) s2(i) s3(i) s4(i) s5(i) s6(i) L s32(i)]
Using Fast Fourier Transform (FFT) method to Sorigin(i) handled, obtain distance to distance be r distance to
Signal Sorigin(r), it is expressed as：
Srange(r)=[s1(r) s2(r) s3(r) s4(r) s5(r) s6(r) L s32(r)]
Wherein, r ∈ [0,R], R indicates the maximum distance of radar detection, and extraction distance is to signal Sorigin(r) phase
ψrange(r) it is expressed as：
The phase term vector that target movement introduces is extracted by following formula：
The phase term vector introduced using the target movement of calculatingBuild phase compensation matrix ψre(r), it is expressed as：
Utilize phase recovery matrix ψre(r) it adjusts the distance to signal Sorigin(r) restored, the distance after being restored to
Signal Sre(r) it is expressed as：
Wherein, " × " representing matrix corresponding element is multiplied.
Using inverse Fourier transform method to the distance after recovery to signal Sre(r) it is handled, the void after being restored
Quasi- antenna array signals Sre(i), it is expressed as：
Sre(i)=[sre_1(i) sre_2(i) sre_3(i) sre_4(i) sre_5(i) sre_6(i) L sre_32(i)]
The above process is the phase recovery realized to moving target signal.
After the moving target phase recovery method of radar proposed by the present invention, traditional digital beam froming side is utilized
Fa [Van Trees,H.Optimum Array Processing.New York:Wiley-Interscience,2002.]It is right
Virtual antenna arrays column signal S after recoveryre(i) it is handled, you can be computed correctly the angle of target.
It is specifically described with reference to emulation embodiment.
Emulating the radar parameter of setting is：Frequency modulation cycle T=0.1ms；Sampling number I=2000；Launching antenna array array
First number M=4, receiving antenna array array number N=8；The maximum distance R=3000m of radar detection.Emulation one mesh of setting
Mark, angle where target is 0 °, and speed is 8m/s.
Fig. 5 is the phase simulation result obtained using the Radar Moving Target phase recovery method of the present invention, abscissa table
Show that array element, ordinate indicate that normalization phase, soft dot indicate the moving target phase potential theory of CW with frequency modulation MIMO radar
Value, dotted line, solid line indicate Radar Moving Target phase recovery respectively before, the phase value after phase recovery.Observation is it is found that frequency modulation connects
The moving target phase theoretical value of continuous wave MIMO radar is 0 °, when method not using the present invention carries out phase recovery, is observed
The moving target phase of radar generates distortion.After method using the present invention carries out phase recovery, the moving target phase of radar
It is overlapped with theoretical value.Illustrate the accuracy of the phase recovery result of the present invention.
Fig. 6 is the simulation result that target angle is calculated using the result that the present invention obtains, and abscissa indicates angle, ordinate
Indicate normalized radiation pattern, dotted line, solid line indicate the moving target phase recovery of radar respectively before, the target angle after phase recovery
Spend simulation result.It is observed that when method using the present invention does not carry out phase recovery, the object beam angle that is calculated
It is 6 °, after method using the present invention carries out phase recovery, utilizes the reception signal meter of the virtual antenna array after phase recovery
Obtained object beam angle is 0 °, illustrates that method of the signal by the present invention that receive of virtual antenna array carries out phase
After recovery, it can be used for accurately calculating target angle.
In addition, the present invention is based on the principle values that specific time division multiplexing sequential carries out the phase term extraction that target movement introduces
It must further illustrate.
Still to be illustrated for the receiving antenna array of the transmitting antenna array of M=4 and N=8, it is assumed that a target
Movement velocity be v, angle θt, time division multiplexing sequential using the present invention, virtual antenna array the 1st, 4,2,3,5,6 ...,
The Moving Target Return signal phase that 32 array elements receiveIt is followed successively by：
Wherein,Proper phase for the echo-signal determined by target range,The virtual day determined for target angle
The adjacent array element phase difference of linear array,The phase term introduced for target movement.
When carrying out digital beam froming processing, it should be rearranged according to from the 1st to the sequence of the 32nd array element, i.e. phase
PositionIt is changed to：
From above-mentioned phaseExpression formula in, utilize phasePreceding 3 elementsIt carries out
Operation can obtain following as a result, i.e.：
Based on above-mentioned principle, the present invention utilizes formulaWhat i.e. extractable target movement introduced
Phase termAs can be seen that can derive the phase that target movement introduces using preceding 4 phases from above-mentioned principle analysis
, this process is simple and practicable.Fig. 7 is the principle of the present invention flow diagram.
The explanation of the preferred embodiment of the present invention contained above, this be for the technical characteristic that the present invention will be described in detail, and
Be not intended to invention content being limited in concrete form described in embodiment, according to the present invention content purport carry out other
Modifications and variations are also protected by this patent.The purport of the content of present invention is to be defined by the claims, rather than by embodiment
Specific descriptions are defined.
Claims (1)
1. a kind of moving target phase recovery method of MIMO radar, MIMO refer to multiple-input and multiple-output, which is characterized in that when setting
Multiplexing CW with frequency modulation MIMO radar is divided to have M transmitting antenna array element and N number of reception antenna array element, corresponding virtual antenna arrays
It is classified as uniform straight line array, and has MN bay, the virtual location number consecutively according to space is the 1st array element to the MN days
Linear array member, passes through the time division multiplexing sequential of specific transmitting antenna array element and reception antenna array element so that virtual antenna array is pressed
According to the 1st array element, the 4th array element, the 2nd array element, the 3rd array element, the 5th array element, the 6th array element, the 7th array element, the 8th array element ..., MN array elements
Sequence obtain often wheel receive signal；
In signal processing, the phase of preceding 4 array element of virtual antenna array handle to extract target and move and is drawn
The phase term vector entered, and then build phase recovery matrix and phase recovery is carried out to the reception signal of virtual antenna array.
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Cited By (2)
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| CN109975806A (en) * | 2019-04-15 | 2019-07-05 | 西安中电科西电科大雷达技术协同创新研究院有限公司 | Time-division MIMO radar motion compensation process based on array element phase difference |
| CN112666526A (en) * | 2021-01-28 | 2021-04-16 | 深圳成谷科技有限公司 | Radar target positioning method, system, equipment and storage medium |
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| CN112666526A (en) * | 2021-01-28 | 2021-04-16 | 深圳成谷科技有限公司 | Radar target positioning method, system, equipment and storage medium |
| CN112666526B (en) * | 2021-01-28 | 2024-02-13 | 深圳成谷科技有限公司 | Radar target positioning method, system, equipment and storage medium |
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