CN109298417A - A kind of constructure inner structure detection method and device based on Radar Signal Processing - Google Patents
A kind of constructure inner structure detection method and device based on Radar Signal Processing Download PDFInfo
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- CN109298417A CN109298417A CN201811156010.9A CN201811156010A CN109298417A CN 109298417 A CN109298417 A CN 109298417A CN 201811156010 A CN201811156010 A CN 201811156010A CN 109298417 A CN109298417 A CN 109298417A
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
- G01S13/888—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons through wall detection
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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Abstract
The present invention discloses a kind of constructure inner structure detection method and device based on Radar Signal Processing, this method step includes: outside fixed and arranged radar system of the S1. in building to be measured, radar system uses multiple-input multiple-output antenna array configuration equivalent array to form effective aperture, target area is detected by the radar system of arrangement, obtains the multi-channel back wave signal of target area；S2. all channel echoes domain signal that step S1 is obtained is converted into image domain data；S3. the image domain data transformation that step S2 is obtained is characterized binary map, inverting obtains constructure inner structure；The device includes multi-channel back wave signal acquisition module, image domain data conversion module and internal structure inverting module.The present invention have many advantages, such as to realize it is easy to operate, be easily achieved, detection accuracy and high-efficient and strong real-time.
Description
Technical field
The present invention relates to the radar exploration technique field more particularly to a kind of interior of building knots based on Radar Signal Processing
Structure detection method and device.
Background technique
Using the penetrability of electromagnetic wave, through-wall imaging radar can visit the human eyes such as wall or the invisible shielded area of optics
It surveys, after echo information is handled, can show imaging interesting target region, thus be widely used in military operations in urban terrain, anti-terrorism bucket
It strives and the military civil field such as Post disaster relief.By being blended to structure inversion in building and target acquisition result, can obtain
The panoramic information for obtaining investigative range, it is true to fight in building reference, precision strike terror offender and target relative position
Fixed wait has important practical value, thus by determining that architectural composition also becomes current research to structure inversion in building
With the important directions of development.
Structure in building is detected based on radar detection mode, is usually all to use synthetic aperture array at present,
Multiple aperture echo data is obtained by portable antenna, then multiple aperture echo data is handled, and obtains certain building
Interior structure feature realizes the imaging to building masonry wall using synthetic aperture principle, typically that is, by movable radar position
It is such as structured the formation the through-wall radar of mode using multicast or the multiple-input multiple-output antenna that is time-multiplexed, is both needed in each visual angle by more
Secondary portable antenna is shifted one's position, to obtain multiple aperture data.But it is realized using above-mentioned using synthetic aperture radar mode
Structure detects in building, and not only complicated for operation, realization difficulty needs multiple portable antenna to shift one's position, and real-time is poor,
It is unfavorable for real time signal processing, needs just to can be carried out Radar Signal Processing after the completion of each position detection, can not reflect in real time
Constructure inner structure and dbjective state, can not be suitable for the high occasion of requirement of real-time.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind realize it is easy to operate, be easily achieved, detection accuracy and high-efficient and strong real-time the building based on Radar Signal Processing
Internal structure detection method and device.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
A kind of constructure inner structure detection method based on Radar Signal Processing, step include:
S1. the fixed and arranged radar system on the outside of building to be measured, the radar system use multiple-input multiple-output aerial array
Equivalent array is constructed to form effective aperture, target area is detected by the radar system of arrangement, obtains target
The multi-channel back wave signal in region；
S2. the step S1 all channel echoes domain signal obtained is converted into image domain data；
S3. the image domain data transformation that the step S2 is obtained is characterized binary map, inverting obtains interior of building knot
Structure.
As the further improvement of the method for the present invention, to throwing after all channel echoes domain signal is used in the step S2
Shadow BP algorithm carries out coherent superposition processing, is converted to image domain data.
As the further improvement of the method for the present invention, the step that coherent superposition processing is carried out using rear orientation projection's BP algorithm
Suddenly include:
S21. imaging region is divided into M × N number of pixel；
S22. calculate each pixel combined with all dual-mode antennas between round trip time delay；
S23. according to the phase compensation for the round trip time-delay calculation each pixel being calculated；
S24. each aperture numeric field data in the effective aperture is calculated according to the phase compensation, by each aperture domain
Obtain calculating coherent superposition after data accumulation as a result, and as the described image numeric field data being converted to.
As the further improvement of the method for the present invention, the step S22 is specifically calculated as follows to obtain each pixel
(xn,ym) combined with all dual-mode antennas between round trip delay, τk:
Wherein, ymAnd xnDistance is respectively indicated to the coordinate value with pixel in orientation, m=1,2 ..., M, n=1,
2 ..., N, k=1,2 ..., NUM be channel labels, NUM is effective aperture number, (xT(k),yTIt (k)) is transmitting antenna coordinate,
(xR(k),yRIt (k)) is receiving antenna coordinate, c indicates the light velocity, dTFor the distance of pixel to transmitting antenna, dRIt is arrived for pixel
The distance of receiving antenna；
Each pixel (x is calculated in the step S23n,ym) phase compensation phasekExpression formula are as follows:
phasek(xn,ym)=exp (j2 π fc·(dT+dR)/c)
Wherein, fcFor carrier frequency, c is the light velocity；
Coherent superposition result I is calculated in the step S24 according to the following formulas(x, y) and as described image numeric field data；
Wherein, zk(x, y)=echos(t-τk(x,y))×phasek(x, y) indicates k-th of aperture numeric field data, echos(t-
τk(x, y)) it is channel echo-signal after time delay adjustment.
As the further improvement of the method for the present invention, image domain data is subjected to two dimension CFAR detection in the step S3,
Constructure inner structure feature binary map to be measured is obtained, inverting obtains constructure inner structure；The progress two dimension CFAR detection
Step includes: to determine detection threshold value in the difference of image area previously according to human body echo and building echo, with list to be detected
Centered on member, the obtained image domain data of the step S2 is compared with the detection threshold value, is obtained by comparison result
The constructure inner structure feature binary map to be measured.
As the further improvement of the method for the present invention, the determination step of the detection threshold value includes: to be respectively arranged to
Avoid target from the protection window of shadowing effect, for estimating unit reference background window to be checked and corresponding detection probability PA, according to
The protection window, reference window and the detection probability P being arrangedAStatistical value determination obtain the detection threshold value.
As the further improvement of the method for the present invention, in the step S2 by all channel echoes domain signal use based on away from
Imaging algorithm from Doppler is converted to image domain data.
As the further improvement of the method for the present invention, in the step S3 by image domain data using maximum threshold method into
Row processing, obtains constructure inner structure feature binary map to be measured, inverting obtains constructure inner structure, and specific steps include:
Search maximum value max (x, y) in the array of described image numeric field data, the specified multiple amax (x, y) that is maximized as than
Compared with threshold value, wherein 0 < a < 1, by each pixel point value, threshold value is compared compared with described, will be greater than the picture of the relatively threshold value
Vegetarian refreshments value takes 1, otherwise takes 0, obtains the constructure inner structure feature binary map to be measured.
A kind of constructure inner structure detection device based on Radar Signal Processing, comprising:
Multi-channel back wave signal acquisition module, for fixed and arranged radar system, the radar on the outside of building to be measured
System uses multiple-input multiple-output antenna array configuration equivalent array to form effective aperture, by the radar system of arrangement to mesh
Mark region is detected, and the multi-channel back wave signal of target area is obtained；
Image domain data conversion module, all channel echoes domain signal for obtaining the step S1 are converted to image
Numeric field data；
Internal structure inverting module, the image domain data transformation for obtaining the step S2 are characterized binary map, instead
It drills to obtain constructure inner structure.
As the further improvement of apparatus of the present invention, described image numeric field data conversion module uses the image based on BP algorithm
Numeric field data conversion module turns for all channel echoes domain signal to be carried out coherent superposition processing using rear orientation projection's BP algorithm
Get image domain data in return；
The internal structure inverting module uses the internal structure inverting module detected based on CFAR, is used for image area number
According to two dimension CFAR detection is carried out, constructure inner structure feature binary map to be measured is obtained, inverting obtains constructure inner structure.
Compared with the prior art, the advantages of the present invention are as follows:
1, the present invention is based on the constructure inner structure detection methods and device of Radar Signal Processing, by using fixed bit
The effective aperture mode set obtains multi-channel back wave signal, after echo numeric field data is converted to image domain data, by image area
Data inversion obtains constructure inner structure, can realize interior of building knot in the way of effective aperture based on fixed radar
Structure detection, realizes detection compared to conventionally employed movable radar in the way of synthetic aperture, is not necessarily to movable radar device, passes through
Constructure inner structure detection can be realized in primary radar detection, can substantially reduce operation complexity, improves detection efficient, together
The real-time of Shi Tigao detection, is particularly suitable for the higher application of requirement of real-time.
2, it the present invention is based on the constructure inner structure detection method and device of Radar Signal Processing, is visited by primary radar
Survey can obtain multi-channel back wave signal, may be implemented the real-time detection of constructure inner structure, and then can directly and building
Interior target detection signal processing mode blends, and is conducive to the real-time status position for accurately determining constructure inner structure and target
It sets.
3, the present invention is based on the constructure inner structure detection methods and device of Radar Signal Processing, further utilize fixation
The effective aperture multi-channel back wave signal data of position carries out relevant BP imaging, and primary detection can be obtained multi-channel back wave number
According to according to human body echo and fabric structure characteristic to figure after constructure inner structure progress real time inversion, BP being imaged
Image field data carry out two dimension CFAR detection, and energy exact inversion goes out constructure inner structure, and can easily be directly and in building
Target acquisition is merged.
Detailed description of the invention
Fig. 1 is the implementation process signal of constructure inner structure detection method of the present embodiment based on Radar Signal Processing
Figure.
Fig. 2 is the schematic illustration of actual detection scene in concrete application embodiment of the present invention.
Fig. 3 is the specific implementation flow schematic diagram that the present embodiment realizes constructure inner structure detection.
Fig. 4 is measured data simulation process result schematic diagram in concrete application embodiment.
Fig. 5 is the result schematic diagram for using the method for the present invention to obtain measured data in concrete application embodiment.
Fig. 6 is that single goal in building is moved the detection result schematic diagram blended with the method for the present invention.
Specific embodiment
Below in conjunction with Figure of description and specific preferred embodiment, the invention will be further described, but not therefore and
It limits the scope of the invention.
As shown in Figure 1, constructure inner structure detection method of the present embodiment based on Radar Signal Processing, step include:
S1. the fixed and arranged radar system on the outside of building to be measured, radar system use multiple-input multiple-output antenna array configuration
Equivalent array detects target area by the radar system of arrangement with forming effective aperture, obtains the more of target area
Channel echo-signal.
S2. all channel echoes domain signal that step S1 is obtained is converted into image domain data；
S3. the image domain data transformation that step S2 is obtained is characterized binary map, inverting obtains constructure inner structure.
The present embodiment radar system is specially ultra-broadband wall-through radar equipment, is built using the through-wall radar of fixed and arranged is to be measured
It builds and is detected inside object, return to radar echo signal；Due to working frequency range determine under the premise of, using array antenna design
Construction equivalent array, which forms effective aperture, can increase array element density to avoid graing lobe, while can also improve the resolution ratio of imaging, this
Embodiment utilizes above-mentioned characteristic, uses multiple-input multiple-output antenna array configuration equivalent array to form effective aperture by radar, with
Multi-channel back wave signal is obtained using the effective aperture mode of fixed position, echo numeric field data is converted into image domain data
Afterwards, inverting obtains constructure inner structure after being characterized binary map by image domain data transformation, to be utilized based on fixed radar
The mode of effective aperture realizes that constructure inner structure detects, compared to conventionally employed movable radar in the way of synthetic aperture
It realizes detection, is not necessarily to movable radar device, constructure inner structure detection can be realized by primary radar detection, it can be significantly
Operation complexity is reduced, detection efficient is improved, while improving the real-time of detection, is particularly suitable for higher to requirement of real-time
Application.
Real-time detection signal is needed to be handled when target acquisition in building, the present embodiment above method, by primary
Radar detection can obtain multi-channel back wave signal, may be implemented the real-time detection of constructure inner structure, and in building
Target acquisition process can execute parallel independently of each other, without impacting to target acquisition in building, thus above-mentioned build
Building the detection of object internal structure can directly blend with target detection signal processing mode in building, be conducive to accurately determine building
The real-time status position of object internal structure and target.
In concrete application embodiment, when step S1 extracts multi-channel back wave signal, first with tripod or other set
Standby to fix ULTRA-WIDEBAND RADAR equipment patch wall, which uses multiple-input multiple-output antenna array configuration equivalent array,
To form effective aperture, all channels successively emit and receive electromagnetic wave signal, primary by directly carrying out to target area
Detection obtains target area multi-channel back wave signal, and actual detection scene in concrete application embodiment is as shown in Fig. 2, wherein room
Between be about 27.3m, width is greater than 8m, radar arrangement is placed away from ground certain altitude patch wall, center far from left side window about 4.4m,
There are 3 0.5m*0.5m load-bearing cylinders inside room at about 7m, 14m, 21m, left side 4m, 11m and 15m are window and rear side
There are 3 windows, without wall between 19m-22.65m.
All channel echoes domain signal for specifically obtaining step S1 in the present embodiment step S2 is calculated using rear orientation projection BP
Method carries out coherent superposition processing, is converted to image domain data.Echo numeric field data is converted by using rear orientation projection's BP algorithm
For image domain data, operation is simple and strong real-time, can be further improved the real-time of detection.
In the present embodiment, include: using the step of rear orientation projection's BP algorithm progress coherent superposition processing
S21. imaging region is divided into M × N number of pixel, by ym(m=1,2 ..., M) and xn(m=1,2 ..., N) point
Not Biao Shi distance to the coordinate value with pixel in orientation；
S22. each pixel (x is calculatedn,ym) combined with all dual-mode antennas between round trip time delay；
S23. according to the phase compensation for the round trip time-delay calculation each pixel being calculated；
S24. each aperture numeric field data in the effective aperture is calculated according to phase compensation, by each aperture domain data accumulation
Obtain calculating coherent superposition afterwards as a result, and as the described image numeric field data being converted to.
Through the above steps, the multi-channel back wave data obtained by effective aperture can be converted to image domain data, on
It states and is handled by coherent superposition, noncoherent clutter, noise and secondary lobe between channel can be inhibited, and inhibitory effect is good.
Specifically each pixel (x is calculated in (1), (2), (3) to above-mentioned steps S22 as the following formulan,ym) and all transmitting-receivings
Round trip time delay between antenna combination:
Wherein, ym(m=1,2 ..., M) and xn(n=1,2 ..., N) respectively indicate distance to pixel in orientation
Coordinate value, k=1,2 ..., NUM be channel labels, NUM be effective aperture number, (xT(k),yTIt (k)) is transmitting antenna coordinate,
(xR(k),yRIt (k)) is receiving antenna coordinate, c indicates the light velocity, dTFor the distance of pixel to transmitting antenna, dRIt is arrived for pixel
The distance of receiving antenna；
Each pixel (x is calculated in step S23n,ym) phase compensation phasekExpression formula are as follows:
phasek(xn,ym)=exp (j2 π fc·(dT+dR)/c) (4)
Wherein, fcFor carrier frequency, c is the light velocity；
Coherent superposition result I is calculated in (5) according to the following formula in step S24s(x, y) and as image domain data；
Wherein, zk(x, y)=echos(t-τk(x,y))×phasek(x, y) indicates k-th of aperture numeric field data, echos(t-
τk(x, y)) it is channel echo-signal after time delay adjustment.
It each channel echo domain signal is converted into image domain data can also adopt according to actual needs it should be understood that above-mentioned
With other methods to reduce implementation complexity etc..
In the present embodiment, image domain data is subjected to two dimension CFAR detection in step S3, obtains interior of building knot to be measured
Structure feature binary map, inverting obtain constructure inner structure；Carrying out two dimension CFAR detecting step includes: previously according to human body echo
Difference with building echo in image area determines detection threshold value, centered on unit to be detected, figure that step S2 is obtained
Image field data are compared with detection threshold value, are obtained constructure inner structure feature binary map to be measured by comparison result, are such as worked as
The pixel value of image domain data takes 1 when being greater than detection threshold value, is taken as 0 otherwise to get feature binary map is arrived.It human body echo and builds
It includes difference of the distance to width and area that object echo, which is built, in the difference of image area, i.e., is existed using human body echo and building echo
Distance carries out two dimension CFAR detection to width and area different characteristics in image area.
Image domain data conversion is characterized binary map above by two-dimentional CFAR detection, using human body echo and can be built
The difference that object echo is built in image area accurately detects target, so that it is accurately finally inversed by constructure inner structure feature, and
The size and width of suitable window need to be only chosen in CFAR detection, so that it may so that threshold value makes adaptive strain according to echo strength
Change, guarantees to be optimal detection in each regional area, target detection probability can be improved.
In the present embodiment, the determination step of detection threshold value includes: to be respectively arranged to avoid target from shadowing effect
Protection window, for estimating unit reference background window to be checked and corresponding detection probability PA, according to the protection window of setting, reference window with
And detection probability PAStatistical value determination obtain threshold value, expression are as follows:
In formula, α is threshold factor, PAFor detection probability, N is to participate in average protection window and reference window sum, and T is last
Obtained threshold value.
After determining threshold value by the above method, the image domain data that step S2 is obtained compares with the threshold value respectively
Compared with the binary map characterized by conversion, it can fully consider that target further increases the precision of detection from shadowing effect.
It is understood that it is above-mentioned constructure inner structure feature binary map to be measured is obtained by image domain data can be with root
Other methods are used according to actual demand, such as use maximum threshold method, i.e., the image domain data obtained step S2 uses maximum
Value threshold method is handled, and constructure inner structure feature binary map to be measured is obtained, and inverting obtains constructure inner structure, specifically
Step include: search described image numeric field data array in maximum value max (x, y), the specified multiple amax being maximized (x,
Y) as threshold value is compared, wherein 0 < a < 1, by each pixel point value, threshold value is compared compared with described, will be greater than comparing threshold value
Pixel point value take 1, otherwise take 0, obtain constructure inner structure feature binary map to be measured.
As shown in figure 3, when the present embodiment is based on structure detection in Radar Signal Processing realization building, it is specifically fixed first
Behind ULTRA-WIDEBAND RADAR position, by directly carrying out one-time detection to target area, target area multi-channel back wave signal is obtained；So
All channel echoes domain signal that will acquire afterwards obtains image area after carrying out coherent superposition processing using rear orientation projection's BP algorithm
Data；Then to obtained image domain data, two dimension CFAR detection is carried out according to fabric structure characteristic, and then be finally inversed by building
Object internal structure.The above-mentioned effective aperture multi-channel back wave signal data using fixed position carries out relevant BP and is imaged, primary to visit
Survey can be obtained multi-channel back wave data, so as to carry out real time inversion to constructure inner structure, according to people after BP imaging
Body echo and fabric structure characteristic carry out two dimension CFAR detection to image domain data, and energy exact inversion goes out interior of building knot
Structure, strong real-time, practical operation are simple and high-efficient, and can directly blend with target acquisition in building.
To verify effectiveness of the invention, measured data shown in Fig. 2 is respectively adopted in simulation process and the present invention
The method of stating is handled, Fig. 4 be to after measured data simulation process as shown in Figure 2 as a result, Fig. 5 is using the above method of the present invention
Carry out constructure inner structure detection as a result, by Fig. 4,5 it is found that the constructure inner structure detected using the method for the present invention
It is matched substantially with actual detection scene, is capable of detecting when the prominent wall part in rear wall, cylinder and left side window side, it can be accurate
Inverting obtain constructure inner structure；Further single goal movement and the above method of the present invention in building are blended to obtain
Detection result as shown in fig. 6, single goal motion result and constructure inner structure detecting structure in building will be detected
Mutually fusion, wherein curve indicates dbjective state track, and oblique line frame filling region indicates fabric structure detection result.
Device of the present embodiment based on radar detection inverting constructure inner structure, comprising:
Multi-channel back wave signal acquisition module, for fixed and arranged radar system, radar system on the outside of building to be measured
Use multiple-input multiple-output antenna array configuration equivalent array to form effective aperture, by the radar system of arrangement to target area
Domain is detected, and the multi-channel back wave signal of target area is obtained；
Image domain data conversion module, all channel echoes domain letter for obtaining multi-channel back wave signal acquisition module
Number be converted to image domain data；
Internal structure inverting module, the image domain data transformation for obtaining image domain data conversion module are characterized two
Value figure, inverting obtain constructure inner structure.
In the present embodiment, image domain data conversion module uses the image domain data conversion module based on BP algorithm, is used for
All channel echoes domain signal is subjected to coherent superposition processing using rear orientation projection's BP algorithm, is converted to image domain data；
Internal structure inverting module uses the internal structure inverting module that detect based on CFAR, be used for by image domain data into
Row two dimension CFAR detection, obtains constructure inner structure feature binary map to be measured, inverting obtains constructure inner structure.
The present embodiment above-mentioned apparatus and the above-mentioned constructure inner structure detection method one based on Radar Signal Processing are a pair of
It answers, this is no longer going to repeat them.
Above-mentioned only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form.Although of the invention
It has been disclosed in a preferred embodiment above, however, it is not intended to limit the invention.Therefore, all without departing from technical solution of the present invention
Content, technical spirit any simple modifications, equivalents, and modifications made to the above embodiment, should all fall according to the present invention
In the range of technical solution of the present invention protection.
Claims (10)
1. a kind of constructure inner structure detection method based on Radar Signal Processing, which is characterized in that step includes:
S1. the fixed and arranged radar system on the outside of building to be measured, the radar system use multiple-input multiple-output antenna array configuration
Equivalent array detects target area by the radar system of arrangement with forming effective aperture, obtains target area
Multi-channel back wave signal；
S2. the step S1 all channel echoes domain signal obtained is converted into image domain data；
S3. the image domain data transformation that the step S2 is obtained is characterized binary map, inverting obtains constructure inner structure.
2. the constructure inner structure detection method according to claim 1 based on Radar Signal Processing, which is characterized in that
All channel echoes domain signal is subjected to coherent superposition processing using rear orientation projection's BP algorithm in the step S2, is converted to figure
Image field data.
3. the constructure inner structure detection method according to claim 2 based on Radar Signal Processing, which is characterized in that
It is described using rear orientation projection's BP algorithm carry out coherent superposition processing the step of include:
S21. imaging region is divided into M × N number of pixel；
S22. calculate each pixel combined with all dual-mode antennas between round trip time delay；
S23. according to the phase compensation for the round trip time-delay calculation each pixel being calculated；
S24. each aperture numeric field data in the effective aperture is calculated according to the phase compensation, by each aperture numeric field data
Obtain calculating coherent superposition after cumulative as a result, and as the described image numeric field data being converted to.
4. the constructure inner structure detection method according to claim 3 based on Radar Signal Processing, which is characterized in that
The step S22 is specifically calculated as follows to obtain each pixel (xn,ym) combined with all dual-mode antennas between round trip when
Prolong S22 to be specifically calculated as follows to obtain each pixel (xn,ym) combined with all dual-mode antennas between round trip delay, τk:
Wherein, ymAnd xnDistance is respectively indicated to the coordinate value with pixel in orientation, m=1,2 ..., M, n=1,2 ...,
N, k=1,2 ..., NUM are channel labels, and NUM is effective aperture number, (xT(k),yTIt (k)) is transmitting antenna coordinate, (xR(k),
yRIt (k)) is receiving antenna coordinate, c indicates the light velocity, dTFor the distance of pixel to transmitting antenna, dRFor pixel to receiving antenna
Distance；
Each pixel (x is calculated in the step S23n,ym) phase compensation phasekExpression formula are as follows:
phasek(xn,ym)=exp (j2 π fc·(dT+dR)/c)
Wherein, fcFor carrier frequency, c is the light velocity；
Coherent superposition result I is calculated in the step S24 according to the following formulas(x, y) and as described image numeric field data；
Wherein, zk(x, y)=echos(t-τk(x,y))×phasek(x, y) indicates k-th of aperture numeric field data, echos(t-τk
(x, y)) it is channel echo-signal after time delay adjustment.
5. the constructure inner structure detection side described according to claim 1~any one of 4 based on Radar Signal Processing
Method, which is characterized in that image domain data is subjected to two dimension CFAR detection in the step S3, obtains constructure inner structure to be measured
Feature binary map, inverting obtain constructure inner structure；The progress two dimension CFAR detecting step includes: to return previously according to human body
Wave and building echo determine detection threshold value in the difference of image area, and centered on unit to be detected, the step S2 is obtained
To image domain data be compared with the detection threshold value, it is special to obtain the constructure inner structure to be measured by comparison result
Levy binary map.
6. the constructure inner structure detection method according to claim 5 based on Radar Signal Processing, which is characterized in that
The determination step of the detection threshold value include: be respectively arranged to avoid target from the protection window of shadowing effect, for estimating
Unit reference background window to be checked and corresponding detection probability PA, according to the protection window, reference window and the detection probability P of settingA
Statistical value determination obtain the detection threshold value.
7. the constructure inner structure detection side described according to claim 1~any one of 4 based on Radar Signal Processing
Method, which is characterized in that turn all channel echoes domain signal using the imaging algorithm based on range Doppler in the step S2
It is changed to image domain data.
8. the constructure inner structure detection side described according to claim 1~any one of 4 based on Radar Signal Processing
Method, which is characterized in that image domain data is handled using maximum threshold method in the step S3, obtains building to be measured
Inner structural features binary map, inverting obtain constructure inner structure, and specific steps include: to search the number of described image numeric field data
Maximum value max (x, y) in group, the specified multiple amax (x, y) being maximized, which are used as, compares threshold value, wherein 0 < a < 1, it will be each
Pixel point value threshold value compared with described is compared, and the pixel point value that will be greater than the relatively threshold value takes 1, is otherwise taken 0, is obtained institute
State constructure inner structure feature binary map to be measured.
9. a kind of constructure inner structure detection device based on Radar Signal Processing characterized by comprising
Multi-channel back wave signal acquisition module, for fixed and arranged radar system, the radar system on the outside of building to be measured
Use multiple-input multiple-output antenna array configuration equivalent array to form effective aperture, by the radar system of arrangement to target area
Domain is detected, and the multi-channel back wave signal of target area is obtained；
Image domain data conversion module, all channel echoes domain letter for obtaining the multi-channel back wave signal acquisition module
Number be converted to image domain data；
Internal structure inverting module, the image domain data transformation for obtaining described image numeric field data conversion module are characterized two
Value figure, inverting obtain constructure inner structure.
10. the constructure inner structure detection device according to claim 9 based on Radar Signal Processing, feature exist
In described image numeric field data conversion module uses the image domain data conversion module based on BP algorithm, for going back to all channels
Wave zone signal carries out coherent superposition processing using rear orientation projection's BP algorithm, is converted to image domain data；
The internal structure inverting module uses the internal structure inverting module that detect based on CFAR, be used for by image domain data into
Row two dimension CFAR detection, obtains constructure inner structure feature binary map to be measured, inverting obtains constructure inner structure.
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