CN109507653A - A method of multi-information perception bioradar system and its acquisition target information based on UWB - Google Patents
A method of multi-information perception bioradar system and its acquisition target information based on UWB Download PDFInfo
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Classifications
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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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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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
Abstract
The multi-information perception bioradar system based on UWB that the invention particularly discloses a kind of and its method for obtaining target information, multi-information perception bioradar system includes transmitter system, receiver system, antenna system and control and processing system；The array antenna configuration that antenna system is received using 2 hairs 4；Transmitter system is used to receive the work order of control and processing system, and equally spaced stepped frequency continuous wave UWB signal is generated on the basis of constant-temperature crystal oscillator, is sent to transmitting antenna；Receiver system uses super-heterodyne architecture, and bioradar echo-signal is sent into control and processing system by receiver；Control and processing system include space time information processing module, behavioural information processing module and physiologic information processing module.By using stepped frequency continuous wave signal system, multichannel antenna array and modularization information processing technique, realizes bioradar and the comprehensive of human body space-time, behavior and physiologic information is perceived, improve the information Perception ability and practical value of bioradar.
Description
Technical field
It is the present invention relates to belonging to bioradar or radar type human life detection field, in particular to a kind of based on UWB's
Multi-information perception bioradar system and its method for obtaining target information.
Background technique
Bioradar be it is a kind of with life entity be detection and perceptive object new concept radar, be International Technology circle generally acknowledge
Emerging cutting edge technology.The technology can penetrate the obstacles such as clothing, ruins, wall using the electromagnetic wave of special radar emission as carrier, inspection
Body surface fine motion etc. caused by the vital signs such as the movement of human body target, or breathing, heartbeat is measured, to realize target identification, determine
Position and information Perception.Bioradar has the characteristics that non-contact, penetration power is strong, can be accurately positioned, in biomedical, country's peace
Entirely, the fields such as emergency management and rescue are with a wide range of applications.
The development experience of bioradar continuous wave (Continuous Wave, CW) system and ultra-wide spectrum (Ultra-wide
Band, UWB) two stages of system, it is solved from key technology and detects life entity under the conditions of penetrating whether there is or not, movable bodies
The problems such as dynamic, breath signal, heartbeat signal and Distance positioning.However, the main problem that the technology faces in practical applications
It is that the information that obtains is single, it is limited so as to cause the functions of the equipments developed or human life information or only can only be detected
It is dynamic that human body body of walking about or can only detect can be tracked, and actual human body target has typical noncooperative target characteristic, because
And existing bioradar technology and equipment is difficult to meet the acquisition of information under all kinds of human body attitudes and state.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-information perception bioradar system and its acquisition target letter based on UWB
The method of breath solves the problems, such as that existing bioradar technical functionality is limited, the human body information of acquisition is not complete.
The present invention is to be achieved through the following technical solutions:
The multi-information perception bioradar system based on UWB that the invention discloses a kind of, including transmitter system, receiver
System, antenna system and control and processing system；
Antenna system: electronics is based on including two secondary transmitting antennas and fourth officer receiving antenna, two pair transmitting antenna TX1 and TX2
Switch is successively to space radiated electromagnetic wave signal, fourth officer receiving antenna RX1-RX4 while receives echo-signal and feed-in receiver
System；
Transmitter system: for receiving the work order of control and processing system, stepped frequency continuous wave UWB letter is generated
Number, UWB signal is sent to transmitting antenna；
Receiver system: receiver uses super-heterodyne architecture, and bioradar echo-signal is sent into control and place by receiver
Reason system；
Control and processing system: for receiver system treated bioradar echo carries out processing analysis to obtain
Target information, including space time information processing module, behavioural information processing module and physiologic information processing module；
Space time information processing module, for extracting the presence or absence of target, number and orientation space time information；
Behavioural information processing module, for judging that the fine granularity of target acts and judges that target is people or animal；
Physiologic information processing module, for obtaining breathing and the heartbeat physiologic information of target.
Preferably, using the opposite plane log spiral antenna that polarizes, transmitting antenna is left-handed for transmitting antenna and receiving antenna,
Receiving antenna dextrorotation.
Preferably, transmitting antenna is flexible coupling with transmitter using fiber-coaxial cable, and receiving antenna and receiver use light
Fine coaxial cable is flexible coupling.
The invention also discloses obtain target information using the above-mentioned multi-information perception bioradar system based on UWB
Method, comprising the following steps:
1) control and processing system issue work order to transmitter system first, and transmitter system is using constant-temperature crystal oscillator as base
Standard generates equally spaced stepped frequency continuous wave UWB signal, is sent to transmitting antenna；
2) transmitting antenna is in the object that this side up and reflects the electricity encountered to space a direction radiated electromagnetic wave signal
Magnetic wave, receiving antenna receive reflected echo-signal, and receiver is by bioradar echo-signal and locally generated oscillation
Become intermediate-freuqncy signal after wave mixing, the amplitude and phase information for obtaining echo is demodulated through intermediate frequency quadrature, digitlization is carried out to it and is adopted
It is sent after sample to control and processing system and is handled；
3) when control and processing system are handled, three message processing module concurrent workings, respectively include:
Space time information processing module extracts the presence or absence of target, number based on the space time information Processing Algorithm of MIMO image enhancement
With orientation space time information；
Behavioural information processing module detects human body original place based on the human body fine granularity motion detection algorithm that distance unit is compressed
Fine granularity movement, while judging that target is people or animal based on the people of wavelet entropy threshold and animal identification algorithm；
The human body respiration enhancing detection algorithm detection human body respiration that physiologic information processing module is merged based on multi-channel data
Information, while human heartbeat's separation algorithm based on adaptive harmonic cancellation detects human heartbeat's information.
Preferably, in step 3), the space time information Processing Algorithm, comprising the following steps:
(1) multi-channel system correction is carried out to the bioradar echo raw data in each channel, background is eliminated, low pass filtered
Involve discrete Fourier transform IFFT pretreatment, forms high spatial resolution one-dimensional range profile；
(2) MIMO imaging: the high spatial resolution one-dimensional range profile that pre-treatment step is obtained carry out back projection at
Picture, image sequence, fine motion detection, frequency mixer mixing and image enhancement processing, form three-dimensional data space；
(3) data projection is carried out to the three-dimensional data space that MIMO image sequence is formed, projected respectively flat to azimuth-range
Face and distance-plane of slow time, then obtain interference noise using CFAR local detectors, by shape filtering filtering clutter,
Finally judge to obtain in scene with the presence or absence of life entity, life entity quantity and each life entity orientation using cluster algorithm
Doubtful human body target, and comprehensive formed detects positioning result.
It is further preferred that the detection algorithm of CFAR local detectors estimates clutter mould using sliding window in step (3)
The size of type, sliding window is codetermined by the property of vital sign parameter signals, distance samples interval and slow temporal frequency sampling interval,
The Clutter Model and given false alarm rate that are then based on estimation calculate the threshold T of CFARCFAR, decision process such as following formula:
I (m, n) represents the pixel value of two dimensional image in formula.
Preferably, in step 3), the human body fine granularity motion detection algorithm based on distance unit compression, including with
Lower step:
(1) T/F spectrum TFR is obtained by carrying out time-frequency conversion to each distance unit signal of bioradar echo,
And assemble the TFR on different distance unit in order, entire human motion ultra-wideband radar signal is obtained in effective distance
Joint distance verses time-frequency distribution JRTFR cube；
(2) by entire JRTFR cube along distance axis to TFR obtained by each distance unit signal by respective weights coefficient into
Row distance accumulation obtains entire motor message comprehensive distance accumulation time-frequency distributions CDATFR；
Wherein, when selecting weight coefficient, the weaker distance unit TFR of energy value is assigned to biggish weight, and energy
It is worth biggish distance unit TFR and assigns lesser weight, the micro-doppler formed using anti-weight coefficient enhancing limb motion is special
Sign.
Preferably, which is characterized in that in step 3), the people based on wavelet entropy threshold and animal identification algorithm, packet
Include following steps:
(1) Wavelet Entropy analysis is done on slow time dimension to bioradar echo-signal, selection db7 wavelet function will first
Point signal does 6 layers of wavelet transformation, point signal be divided into the 6th layer low frequency component and 1-6 layers of high fdrequency component, it is contemplated that echo signal
The characteristics of and reduce data volume, exclude the first layer high fdrequency component of wavelet decomposition, later to each layer signal with 128 points be one
Wavelet energy is sought in frame, framing, then seeks the average wavelet energy entropy in the entire time；On this basis, using Wavelet Entropy standard
The degree of fluctuation of poor SDWE quantitative description Wavelet Entropy:
Wherein, SWTFor the Wavelet Entropy standard deviation of certain point signal, HWTFor the average Wavelet Entropy of signal,For a signal
The small echo entropy of i-th frame, NTFor a frame number for signal framing；
(2) using the automatic classification method of ROC curve analysis, the sensitive of all critical points of Wavelet Entropy standard deviation is first detected
Degree, specificity and False Rate, that is, 1- specificity are with the sensitivity of all critical points of Wavelet Entropy standard deviation, specificity and False Rate
1- specificity is that coordinate maps to obtain ROC curve, and the best cut point of Wavelet Entropy standard deviation is then determined using youden index method.
Preferably, in step 3), the human body respiration enhancing detection algorithm based on multi-channel data fusion, including with
Lower step:
(1) signal-to-noise ratio enhancing, background removal and normalizing are carried out to original echo first in 8 receiving channels of bioradar
Change pretreatment；
(2) it is then selected on each channel echo data respective distances point according to the priori range information of human body target
Slow time signal is associated the breath signal of the same target；
(3) data fusion is finally carried out using Kalman filter, the at the uniform velocity state of human body respiration is devised in filtering
Spatial model:
In formula,Represent the state vector at k moment, xkAnd vkRespectively indicate the position of chest fine motion during human body respiration
It sets and speed；State-transition matrix is represented, Δ t indicates the sampling interval for the time series that target association obtains；wkGeneration
The process noise vector that the table model error introduces is sweared using the process noise in adaptive fading factor On-line Estimation model
Amount, the x after convergencekIt represents fusion results and is used as detection output.
Preferably, which is characterized in that in step 3), the human heartbeat based on adaptive harmonic cancellation, which separates, to be calculated
Method, comprising the following steps:
(1) radar return is pre-processed by signal-to-noise ratio enhancing, background removal, normalization；
(2) the slow time signal r on human body target respective distances point is selected3(n) as input, and by the Z of the signalnProlong
Slow d (n)=r3(n-Zn) as reference, the error e (n) of input and reference, which is used to adjust automatic FIR filter, washes one's face and rinses one's mouth w (n), together
When filter output y (n) crest frequency calculated with adjust automatically delay time Z by FFTn。
Compared with prior art, the invention has the following beneficial technical effects:
Multi-information perception bioradar system disclosed by the invention based on UWB, including transmitter system, receiver system
System, antenna system and control and processing system, the aerial array that antenna system is received using 2 hairs 4, receiver use superhet knot
Structure generates equally spaced step frequency after transmitter is connected to control and the work order of processing system on the basis of constant-temperature crystal oscillator
Continuous wave UWB signal is sent after Jing Gongfen, frequency conversion amplification to transmitting antenna；Bioradar echo-signal is sent into and is controlled by receiver
And processing subsystem carries out processing analysis；Control and processing subsystem include space time information processing module, behavioural information processing mould
Block and physiologic information processing module are realized the detection of human body target multi information and are extracted.By using stepped frequency continuous wave signal
System, multichannel antenna array and modularization information processing technique realize bioradar and believe human body space-time, behavior and physiology
The multiple information synthesis of breath perceives, and improves the information Perception ability and practical value of bioradar.
Further, antenna system is flexible coupling with radar rest part using fiber-coaxial cable, can be according to actual detection need
Array format needed for asking flexible arrangement dual-mode antenna relative position to form.
The method that multi-information perception bioradar system disclosed by the invention based on UWB obtains target information, produces first
Then raw stepped frequency continuous wave UWB signal emits UWB signal, is received and acquisition process, using modularized processing skill
Art is analyzed and processed human body information data flow, i.e., it is big to be divided into space-time, behavior and physiology three according to human body information main feature
Class establishes modularized processing algorithm respectively, embodies difference while utmostly keeping its general character, to dissolve complicated numerous
The signal processing tasks of weight can effectively take into account the parallel promotion of penetration capacity, detectivity, guarantee to many attitude and state
The information obtaining ability of human body target.
Further, it is pre-processed by bioradar echo of the space time information processing module to each channel, removal system
The interference that system and transmission channel introduce, forms high spatial resolution one-dimensional range profile；Then by MIMO be imaged, improve clutter with
Degree of being spatially separating between human body target and more human body targets, human body vital sign signal are further enhanced；Next right
MIMO image sequence formed three-dimensional data space carry out data projection, project respectively to azimuth-range plane and distance-it is slow when
Between plane, doubtful human body target is obtained using CFAR local detectors, shape filtering and cluster, and comprehensive form detection positioning knot
Fruit judges to whether there is life entity in scene, has several life entities and each life entity orientation.
Further, by the human body fine granularity motion detection method compressed based on distance unit, life can not only effectively be obtained
The walking about, run etc. of life body has distance to advance movement, moreover it is possible to acquisition jump, waves, squat down stand up, the original places fine granularity such as gesture is moved
Make.
Further, by people based on wavelet entropy threshold and animal discrimination method, it can effectively identify that objective body is people
Or animal has the 95% dog quilt from target complete when the radar return Wavelet Entropy standard deviation of target is greater than 0.0959
Correct identification has 95% human body target can be from complete when the radar return Wavelet Entropy standard deviation of target is less than 0.0959
It is correctly validated in portion's human body target.
Further, of the invention based on multi-channel data when target bearing and posture are unfavorable for bioradar detection
The human body respiration of fusion enhances detection method, merges by using multi-channel data and successfully detects target faint breath.
Further, the letter of adaptive line enhancer is mainly utilized based on human heartbeat's separation method of adaptive harmonic cancellation
Number separating capacity, while using the delay time of the human body respiration frequency adjust automatically ALE reference signal detected, it is formed adaptive
Filter is answered to eliminate breathing and its harmonic components in multi-information perception bioradar echo, to isolate the faint human body heart
Jump signal, no matter objective body relative to radar use which kind of posture, be all finally that can detecte out heartbeat signal frequency spectrum.
Detailed description of the invention
Fig. 1 is the system principle diagram of UWB multi-information perception bioradar；
Fig. 2 is the modularized processing framework of UWB multi-information perception bioradar system；
Fig. 3 is the space time information Processing Algorithm process based on MIMO image enhancement；
Fig. 4 is the human body fine granularity motion detection algorithm flow compressed based on distance unit；
Fig. 5 is people and animal identification algorithm process based on wavelet entropy threshold；
Fig. 6 is that the human body respiration merged based on multi-channel data enhances detection algorithm process；
Fig. 7 is human heartbeat's separation algorithm process based on adaptive harmonic cancellation；
Fig. 8 is that UWB multi-information perception bioradar space time information perceives scene signal；
Fig. 9 is that UWB multi-information perception bioradar space time information perceives experimental result: after (a) representing MIMO imaging
Experimental result, the experimental result after (b) representing CFAR detection processing (c) represents shape filtering treated experimental result,
(d) clustering is represented treated experimental result；
Figure 10 is that the movement of human body fine granularity penetrates detection experimental result: being (a) experimental result when remaining where one is, (b) is
The experimental result squatted down when picking up object, experimental result when (c) waving for original place are (d) experimental result when caprioling, (e)
Experimental result when arbitrarily to stand, (f) experimental result to sit quietly when breathing；
Figure 11 is to penetrate detection experimental result details when human body original place is waved；
The Wavelet Entropy standard deviation that Figure 12 behaves with animal identification experiment；
Figure 13 is that human body respiration enhances test experience result: (a) 1 channel time domain waveform；(b) 1 channel time domain waveform is corresponding
Power spectrum；(c) output waveform after merging；(d) the corresponding power spectrum of output waveform after merging；
Figure 14 is human heartbeat's separating experiment result.
Specific embodiment
Below with reference to specific embodiment, the present invention is described in further detail, it is described be explanation of the invention and
It is not to limit.
As shown in Figure 1, the multi-information perception bioradar system of the invention based on UWB is made of four systems, respectively
For transmitter system, receiver system, antenna system and control and processing system.Transmitter system is connected to control and processing system
Work order after, equally spaced stepped frequency continuous wave UWB signal is generated on the basis of constant-temperature crystal oscillator, Jing Gongfen, frequency conversion are put
It send after big to transmitting antenna；Receiver system uses super-heterodyne architecture, becomes after bioradar echo-signal is mixed with local oscillator
Intermediate-freuqncy signal demodulates the amplitude and phase information for obtaining echo through intermediate frequency quadrature, is sent into control after digitized sampling is carried out to it
And processing system；Antenna system includes two secondary transmitting antennas and fourth officer receiving antenna, transmitting antenna and receiving antenna using polarization
Opposite plane log spiral antenna (transmitting is left-handed and receives dextrorotation), wherein two secondary transmitting antennas (TX1 and TX2) are based on electronics
Switch is successively to space radiated electromagnetic wave signal, fourth officer receiving antenna (RX1-RX4) receives echo-signal and feed-in reception simultaneously
Machine；Control and processing system are responsible for parameter setting, instruction transmission, Echo Processing, data storage etc., to provide bioradar system
Man-machine interactive interface, echo data is analyzed and processed using modular technology, realize human body target multi information detection and
It extracts.
Working principle and system parameter (being shown in Table 1) to the multi-information perception bioradar system based on UWB carry out simple
Explanation.The key technical indexes of system is as shown in table 1:
The key technical indexes of 1 UWB multi-information perception bioradar system of table
UWB bioradar according to the present invention uses stepped frequency continuous wave system, bandwidth of operation 510.7MHz-
4410.7MHz, and the aerial array received using 2 hairs 4, can effectively be taken into account the parallel promotion of penetration capacity, detectivity, guaranteed
To the information obtaining ability of many attitude and state human body target.
The modularized processing framework of UWB multi-information perception bioradar system is described in detail: as shown in Fig. 2, raw
Object radar system uses modularized processing technology, is divided into space time information processing module, behavior letter according to human body information main feature
Cease processing module and physiologic information processing module three categories.Wherein, space time information processing module is mainly using based on MIMO
The space time information Processing Algorithm of (Multiple Input and Multiple Output, multiple-input and multiple-output) image enhancement,
Extract the basic space time informations such as the presence or absence of human body target, number and orientation；Behavioural information module is mainly using based on distance unit
The human body fine granularity motion detection algorithm detection human body jump of compression, wave, squat down stand up, the original places fine granularity movement such as gesture,
It is different from echo caused by the behavioral difference of animal using people simultaneously, design the people based on wavelet entropy threshold and animal identification algorithm
To judge people or animal；Physiologic information module is respectively adopted the human body respiration enhancing detection based on multi-channel data fusion and calculates
Method and realized based on human heartbeat's separation algorithm of adaptive harmonic cancellation human body respiration and both basic physiologicals of heartbeat letter
The non-contact detecting of breath.
1, space time information processing module
Current bioradar Echo Processing is only capable of effectively obtaining the presence or absence of life entity and range information, and life entity
The information such as number, orientation are still detected less than, these information illustrations spatiality of the human body under specific time, are answered bioradar
It is of great significance for fields such as national security, emergency management and rescue.The module is provided using UWB multi-information perception bioradar
Coherent accumulation ability and High Range Resolution, enhance imaging technique using MIMO, realize human body based on space time information Processing Algorithm
Target whether there is or not, the identification and perception in number, orientation.
As shown in figure 3, the step of space time information Processing Algorithm handles echo are as follows: first to the biology in each channel
Radar return is pre-processed, and is removed the interference of system and transmission channel introducing, is formed high spatial resolution one-dimensional range profile；So
It is imaged afterwards by MIMO, improves the degree of being spatially separating between clutter and human body target and more human body targets, human body vital sign letter
It number is further enhanced；Next data projection is carried out to the three-dimensional data space that MIMO image sequence is formed, projected respectively
To azimuth-range plane and the slow time plane of distance-, using CFAR (Constant False Alarm Rate, constant false alarm rate)
Local detectors, shape filtering and cluster obtain doubtful human body target, and comprehensive formed detects positioning result.
Wherein, the part CFAR detection algorithm is realized by sliding window, the size of sliding window by vital sign parameter signals property,
Distance samples interval and slow temporal frequency sampling interval codetermine, the false alarm rate for being then based on the Clutter Model of estimation and giving
Calculate the threshold T of CFARCFAR, decision process such as following formula:
In formula, I (m, n) represents the pixel value of two dimensional image；Since noise is usually expressed as small size in CFAR image
Bright spot, and area biggish Dynamic Clutter interference shows as large scale speck in CFAR image, above two interference and raw
There are notable differences for the size of life sign, so carrying out morphologic filtering to CFAR result filters out above-mentioned two classes clutter；Most
Judge to whether there is life entity (target) in scene using clustering algorithm afterwards, have several life entities and each life entity orientation.
2, behavioural information processing module
Current bioradar Echo Processing be only capable of effectively obtaining life entity walk about, run etc. have distance advance movement,
Jump, wave, squat down stand up, the original places fine granularity movement such as gesture still cannot be obtained effectively, these information are life entity physiology systems
The external manifestation of system high-grade movable has important reference value for research human spirit and psychological condition.In addition, early-stage study
Show that humans and animals can also be distinguished by carrying out analysis and assessment to the life entity behavioural information that radar obtains.Behavioural information of the invention
Processing module is based primarily upon the human body fine granularity motion detection algorithm of distance unit compression and the people based on wavelet entropy threshold and moves
Object identification algorithm judges the fine granularity movement of target and judges that target is people or animal.
The 2.1 human body fine granularity motion detections based on distance unit compression
In UWB bioradar echo, the movement of each scattering center of human body (each body part) will be roughly distributed in not
Same distance unit, to form different frequency modulation(PFM)s to echo-signal, the present invention makes full use of UWB bioradar echo to believe
The Time-Frequency Information of different scattering center signals on number different distance unit establishes the fine granularity movement based on distance unit compression
Micro-Doppler feature detection method.
As shown in figure 4, this method is obtained by carrying out time-frequency conversion to each distance unit signal of UWB bioradar echo
T/F composes (time-frequency-representation, TFR), and in order by the TFR on different distance unit
Aggregation is to obtain joint distance verses time-frequency distribution of the entire human motion ultra-wideband radar signal in effective distance
(joint-range-time-frequency-representation, JRTFR) cube；Then, by entire JRTFR cubes
Body carries out distance accumulation by respective weights coefficient to TFR obtained by each distance unit signal along distance axis, finally obtains entire fortune
Dynamic signal synthesis distance accumulation time-frequency distributions (comprehensive distance accumulation time-frequency
Representation, CDATFR).When selecting weight coefficient, the weaker distance unit TFR of energy value is assigned to biggish power
The lesser weight of the biggish distance unit TFR imparting of energy value again, to be enhanced using anti-weight coefficient by limbs such as arm, legs
Body moves to form micro-Doppler feature.
2.2 people based on wavelet entropy threshold and animal recognize
The common animals autonomous control ability such as pig, dog is weaker, comprising a large amount of in bioradar echo when detecting to it
Information caused by autonomous agent is not dynamic, therefore the present invention measures the abundant degree of bioradar echo using entropy, establishes and is based on
The people of wavelet entropy threshold and animal discrimination method.
As shown in figure 5, this method does Wavelet Entropy analysis to UWB bioradar echo-signal on slow time dimension, first
It chooses db7 wavelet function and a signal is done into 6 layers of wavelet transformation, point signal is divided into the 6th layer of low frequency component and 1-6 layers of high frequency division
Amount, it is contemplated that the characteristics of echo signal and reduce data volume, the first layer high fdrequency component of wavelet decomposition is excluded, later to each layer
Signal with 128 points for a frame, seek wavelet energy, then seek the average wavelet energy entropy in the entire time by framing.On this basis,
Using Wavelet Entropy standard deviation (Standard Deviation of Wavelet Entropy, SDWE) quantitative description Wavelet Entropy
Degree of fluctuation:
Wherein SWTFor the Wavelet Entropy standard deviation of certain point signal, HWTFor the average Wavelet Entropy of signal,For a signal
The small echo entropy of i-th frame, NTFor a frame number for signal framing.On this basis, the automatic classification side analyzed using ROC curve
Method detects sensitivity, specificity and the False Rate (1- specificity) of all critical points of Wavelet Entropy standard deviation first as coordinate mapping
ROC curve is obtained, the best cut point of Wavelet Entropy standard deviation is then determined using youden index method.
3, physiologic information processing module
Current bioradar Echo Processing is only capable of effectively obtaining the physiologic informations such as human body respiration, heartbeat under nature,
Pressure is buried, human body respiration still cannot be detected effectively under the undernatured states such as injury；And relative to human body respiration, heartbeat causes
Body surface fine motion it is fainter, especially under undernatured state the variation of respiratory rhythm to heartbeat formed interfere, to bioradar
Heartbeat signal is efficiently separated in Echo Processing proposes new challenge.Physiologic information processing module of the invention is based primarily upon multi-pass
The human body respiration enhancing detection algorithm of track data fusion and human heartbeat's separation algorithm based on adaptive harmonic cancellation, obtain people
Body breathing and heartbeat physiologic information.
3.1 human body respirations based on multi-channel data fusion enhance detection
The multichannel gain that this method is provided using the multiple receiving antennas of multi-information perception bioradar, is filtered using Kalman
Wave carries out multi-channel data fusion.As shown in fig. 6, first to original echo in 8 receiving channels of UWB multi information bioradar
The pretreatment such as signal-to-noise ratio enhancing, background removal, normalization is carried out, is then selected respectively according to the priori range information of human body target
Slow time signal on a channel echo data respective distances point is associated the breath signal of the same target；Finally
Data fusion is carried out using Kalman filter, the at the uniform velocity state-space model of human body respiration is devised in filtering:
In formula,The state vector that represents the k moment, wherein xkAnd vkRespectively indicate chest fine motion during human body respiration
Position and speed,Represent the sampling of state-transition matrix, the time series that wherein Δ t expression target association obtains
Interval, wkThe process noise vector of model error introducing is represented, and using in adaptive fading factor On-line Estimation model
Process noise vector, the x after convergencekIt represents fusion results and is used as detection output.
3.2 human heartbeat's separation algorithms based on adaptive harmonic cancellation
This method mainly utilizes the Signal separator energy of adaptive line enhancer (Adaptive Line Enhancer, ALE)
Power, while using the delay time of the human body respiration frequency adjust automatically ALE reference signal detected, form sef-adapting filter
The breathing in multi-information perception bioradar echo and its harmonic components are eliminated, to isolate faint human heartbeat's signal.
As shown in fig. 7, UWB multi information bioradar echo selects after the pretreatment such as signal-to-noise ratio enhancing, background removal, normalization
Slow time signal r on human body target respective distances point3(n) as input, and by the Z of the signalnPostpone d (n)=r3(n-Zn)
As reference, the error e (n) of input and reference is used to adjust automatic FIR filter and washes one's face and rinses one's mouth w (n), while filter output y (n)
Crest frequency is calculated by FFT with adjust automatically delay time Zn.After filter convergence, breath signal is contained mainly in filter
Wave device exports in y (n), and heartbeat signal is mainly included in error signal e (n).In view of input signal amplitude variation may be led
Output signal distortion is caused, the present invention is adjusted using the convergence method of (Normalized Least-Mean-Square, NLMS)
Coefficients w (n)；In addition, in addition to faint heartbeat signal still includes noise in e (n), to overcome conventional treatment method
(such as correlation function, power spectrum) only the disadvantage sensitive to additive noise, the present invention use Higher Order Cumulants (High Order
Cumulant, HOC) it is enhanced.
The effect of above-mentioned UWB multi-information perception bioradar system is further illustrated according to several detections experiment:
1, space time information perception experiment
It is placed as shown in figure 8, UWB multi-information perception bioradar is close to 30cm thickness brick wall, antenna configuration is at uniform line
Battle array, antenna spacing 0.6m, transmitting antenna are located at linear array both ends, and 3 volunteers keep quiet after being located at brick wall as detection target
Only stand, wherein target 1 apart from wall 3m, deviate linear array middle line 0.8m, target 2 apart from wall 4m, be located at linear array middle line, target
3 apart from wall 3m, deviation linear array middle line 1.1m.
Detection result as shown in figure 9, bioradar echo data through MIMO imaging results image enhancement, CFAR detection and shape
Clutter is significantly suppressed after state filtering, and finally cluster output result is consistent with the actual number of target and spatial distribution.
2, behavioural information perception experiment
In the movement penetration-detection experiment of human body fine granularity, 1 volunteer carries out original place as detection target after wall and steps on
Walk, squat down pick up object, original place is waved, capriole, arbitrarily stand or sit quietly breathing 6 kinds movement, UWB multi-information perception bioradar
It carries out penetrating detection respectively in the wall other side, the results are shown in Figure 10 for echo signal processing.The result shows that using distance is based on
The human body fine granularity movement micro-Doppler feature detection method of cell compression can significantly distinguish above-mentioned different movements and state.Figure 11
Show that original place is waved the details of testing result, the micro-doppler information of each component such as trunk, limbs can be from the result
It clearlyes distinguish.
In people and animal identification experiment, 19 adult males and 19 dogs are detected under the conditions of penetrating
Wavelet Entropy standard deviation is as shown in figure 12.In figure 12 it can be seen that human body target and the Wavelet Entropy standard deviation of dog have obviously
Difference, but partial data has intersection, and this has a certain impact to the accuracy for distinguishing human body target and animal target.It is basic herein
On, ROC curve analysis further is done to Wavelet Entropy standard deviation result, is calculated and as shown in table 2, youden index of listing youden index
Maximum value be 0.900, corresponding Wavelet Entropy standard deviation be 0.0959, this value is best critical value, corresponding sensitivity
It is 0.950, specificity 0.050 shows there is 95% when the radar return Wavelet Entropy standard deviation of target is greater than 0.0959
Dog is correctly validated from target complete, when the radar return Wavelet Entropy standard deviation of target is less than 0.0959, there is 95%
Human body target can be correctly validated from whole human body targets.
The youden index of the Wavelet Entropy standard deviation of 2 people of table and animal identification experiment
3, physiologic information perception experiment
In human body respiration enhancing test experience, state is rolled up in 6m holding after volunteer is located at the brick wall of 28cm thickness, at this time
Human body target orientation and posture are unfavorable for bioradar detection, and echo is caused to believe miscellaneous noise ratio sharp fall.As shown in figure 13,
It is merged on the basis of UWB multi-information perception bioradar using multi-channel data and successfully detects target faint breath, i.e.,
Power peak in Figure 13 (d) at 0.2Hz, the power peak respective frequencies are consistent with practical respiratory rate, and with Figure 13 (a) and
(b) for, show not detecting that target is breathed using single channel.
In human heartbeat's separating experiment, in human body respiration enhancing test experience, volunteer is located at the brick wall of 28cm thickness
2m remain stationary standing afterwards, and in an experiment, human body target relative to radar use three kinds of different gestures: face radar, back to
It radar and leans to one side to stand, UWB bioradar echo data measured by three kinds of postures is after the processing of adaptive harmonic Elimination Method
The heartbeat signal for obtaining target is as shown in figure 14, estimates the heart by the Energy maximum value of heartbeat signal frequency spectrum in the case of in Figure 14 three kinds
Frequency hopping rate, frequency values are 1.289Hz, 1.304Hz and 1.318Hz respectively, and wherein when human body target face radar, cardiac motion is rung
Response is most weak when answering most by force, and leaning to one side to stand, this is consistent with respirometric response.
The present invention guarantees the acquisition of human body target multi information based on stepped frequency continuous wave UWB signal transmitting-receiving system
Ability technically solves the heavy signal processing tasks of human body target multi information, most end form using modularized processing technology herein
At a kind of multi information bioradar of synthesis sensing capability for having human life's body space time information, behavioural information and physiologic information
Technology, to solve the problems, such as that existing bioradar technical functionality is single, the human body information of acquisition is not complete, for biomedical, state
The non-contact perception of the human body information in the fields such as family's safety, emergency management and rescue provides new ways and means.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of multi-information perception bioradar system based on UWB, which is characterized in that including transmitter system, receiver system
System, antenna system and control and processing system；
Antenna system: electronic switch is based on including two secondary transmitting antennas and fourth officer receiving antenna, two pair transmitting antenna TX1 and TX2
Successively to space radiated electromagnetic wave signal, fourth officer receiving antenna RX1-RX4 while receives echo-signal and feed-in receiver system；
Transmitter system: for receiving the work order of control and processing system, generation stepped frequency continuous wave UWB signal will
UWB signal is sent to transmitting antenna；
Receiver system: receiver uses super-heterodyne architecture, and bioradar echo-signal is sent into control and processing system by receiver
System；
Control and processing system: for receiver system treated bioradar echo carries out processing analysis to obtain target
Information, including space time information processing module, behavioural information processing module and physiologic information processing module；
Space time information processing module, for extracting the presence or absence of target, number and orientation space time information；
Behavioural information processing module, for judging that the fine granularity of target acts and judges that target is people or animal；
Physiologic information processing module, for obtaining breathing and the heartbeat physiologic information of target.
2. a kind of multi-information perception bioradar system based on UWB according to claim 1, which is characterized in that transmitting
Antenna and receiving antenna are using the opposite plane log spiral antenna that polarizes, and transmitting antenna is left-handed, receiving antenna dextrorotation.
3. a kind of multi-information perception bioradar system based on UWB according to claim 1, which is characterized in that transmitting
Antenna is flexible coupling with transmitter using fiber-coaxial cable, and receiving antenna is flexible coupling with receiver using fiber-coaxial cable.
4. obtaining target letter using the multi-information perception bioradar system described in claims 1 to 3 any one based on UWB
The method of breath, which comprises the following steps:
1) control and processing system issue work order to transmitter system first, and transmitter system is produced on the basis of constant-temperature crystal oscillator
Raw equally spaced stepped frequency continuous wave UWB signal, is sent to transmitting antenna；
2) transmitting antenna is in the object that this side up and reflects the electromagnetism encountered to space a direction radiated electromagnetic wave signal
Wave, receiving antenna receive reflected echo-signal, and receiver is by bioradar echo-signal and locally generated oscillation wave
Become intermediate-freuqncy signal after mixing, the amplitude and phase information for obtaining echo is demodulated through intermediate frequency quadrature, digitized sampling is carried out to it
After send to control and processing system handled；
3) when control and processing system are handled, three message processing module concurrent workings, respectively include:
Space time information processing module extracts the presence or absence of target, number and side based on the space time information Processing Algorithm of MIMO image enhancement
Position space time information；
Behavioural information processing module detects human body original place particulate based on the human body fine granularity motion detection algorithm that distance unit is compressed
Degree movement, while judging that target is people or animal based on the people of wavelet entropy threshold and animal identification algorithm；
The human body respiration enhancing detection algorithm detection human body respiration information that physiologic information processing module is merged based on multi-channel data,
Human heartbeat's separation algorithm based on adaptive harmonic cancellation detects human heartbeat's information simultaneously.
5. the method that the multi-information perception bioradar system based on UWB obtains target information as claimed in claim 4, special
Sign is, in step 3), the space time information Processing Algorithm, comprising the following steps:
(1) multi-channel system correction is carried out to the bioradar echo raw data in each channel, background is eliminated, low pass filtered involves
Discrete Fourier transform IFFT pretreatment, forms high spatial resolution one-dimensional range profile；
(2) MIMO imaging: the high spatial resolution one-dimensional range profile that pre-treatment step is obtained carries out back projection imaging, figure
As sequence, fine motion detection, frequency mixer mixing and image enhancement processing, three-dimensional data space is formed；
(3) data projection is carried out to the three-dimensional data space that MIMO image sequence is formed, projected respectively to azimuth-range plane and
The slow time plane of distance-, then obtains interference noise using CFAR local detectors, by shape filtering filtering clutter, finally
Judge to obtain doubtful in scene with the presence or absence of life entity, life entity quantity and each life entity orientation using cluster algorithm
Human body target, and comprehensive formed detects positioning result.
6. the method that the multi-information perception bioradar system based on UWB obtains target information as claimed in claim 5, special
Sign is, in step (3), the detection algorithm of CFAR local detectors estimates Clutter Model, the size of sliding window using sliding window
It is codetermined by the property of vital sign parameter signals, distance samples interval and slow temporal frequency sampling interval, is then based on estimation
Clutter Model and given false alarm rate calculate the threshold T of CFARCFAR, decision process such as following formula:
I (m, n) represents the pixel value of two dimensional image in formula.
7. the method that the multi-information perception bioradar system based on UWB obtains target information as claimed in claim 4, special
Sign is, in step 3), the human body fine granularity motion detection algorithm based on distance unit compression, comprising the following steps:
(1) T/F spectrum TFR is obtained by carrying out time-frequency conversion to each distance unit signal of bioradar echo, and will
TFR on different distance unit assembles in order, obtains connection of the entire human motion ultra-wideband radar signal in effective distance
Close distance verses time-frequency distribution JRTFR cube；
(2) by entire JRTFR cube along distance axis to TFR obtained by each distance unit signal by respective weights coefficient carry out away from
From accumulation, entire motor message comprehensive distance accumulation time-frequency distributions CDATFR is obtained；
Wherein, when selecting weight coefficient, assign the weaker distance unit TFR of energy value to biggish weight, and energy value compared with
Big distance unit TFR assigns lesser weight, the micro-Doppler feature formed using anti-weight coefficient enhancing limb motion.
8. the method that the multi-information perception bioradar system based on UWB obtains target information as claimed in claim 4, special
Sign is, in step 3), the people based on wavelet entropy threshold and animal identification algorithm, comprising the following steps:
(1) Wavelet Entropy analysis is done on slow time dimension to bioradar echo-signal, chooses db7 wavelet function first for a letter
Number do 6 floor wavelet transformation, point signal be divided into the 6th layer low frequency component and 1-6 layers of high fdrequency component, it is contemplated that the spy of echo signal
Point and reduce data volume, exclude the first layer high fdrequency component of wavelet decomposition, later to each layer signal with 128 points be a frame, point
Frame seeks wavelet energy, then seeks the average wavelet energy entropy in the entire time；On this basis, using Wavelet Entropy standard deviation SDWE
The degree of fluctuation of quantitative description Wavelet Entropy:
Wherein, SWTFor the Wavelet Entropy standard deviation of certain point signal, HWTFor the average Wavelet Entropy of signal,For signal i-th
The small echo entropy of frame, NTFor a frame number for signal framing；
(2) using the automatic classification method of ROC curve analysis, sensitivity, the spy of all critical points of Wavelet Entropy standard deviation are first detected
Different degree and False Rate, that is, 1- specificity, it is special with the sensitivity of all critical points of Wavelet Entropy standard deviation, specificity and False Rate, that is, 1-
Different degree is that coordinate maps to obtain ROC curve, and the best cut point of Wavelet Entropy standard deviation is then determined using youden index method.
9. a kind of multi-information perception bioradar system based on UWB as claimed in claim 4, which is characterized in that step 3)
In, the human body respiration based on multi-channel data fusion enhances detection algorithm, comprising the following steps:
(1) signal-to-noise ratio enhancing, background removal and normalization are carried out in advance to original echo first in 8 receiving channels of bioradar
Processing；
(2) when then according to the priori range information of human body target selecting slow on each channel echo data respective distances point
Between signal, the breath signal of the same target is associated；
(3) data fusion is finally carried out using Kalman filter, the at the uniform velocity state space of human body respiration is devised in filtering
Model:
In formula,Represent the state vector at k moment, xkAnd vkRespectively indicate during human body respiration the position of chest fine motion and
Speed；State-transition matrix is represented, Δ t indicates the sampling interval for the time series that target association obtains；wkRepresenting should
The process noise vector that model error introduces is received using the process noise vector in adaptive fading factor On-line Estimation model
X after holding backkIt represents fusion results and is used as detection output.
10. the method that the multi-information perception bioradar system based on UWB obtains target information as claimed in claim 4,
It is characterized in that, in step 3), human heartbeat's separation algorithm based on adaptive harmonic cancellation, comprising the following steps:
(1) radar return is pre-processed by signal-to-noise ratio enhancing, background removal, normalization；
(2) the slow time signal r on human body target respective distances point is selected3(n) as input, and by the Z of the signalnPostpone d
(n)=r3(n-Zn) as reference, the error e (n) of input and reference, which is used to adjust automatic FIR filter, washes one's face and rinses one's mouth w (n), filters simultaneously
Wave device exports y (n) and calculates crest frequency by FFT with adjust automatically delay time Zn。
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