CN109581348A - A kind of method and system for the self-adapting detecting and elimination that continuous wave radar modulation leaks - Google Patents
A kind of method and system for the self-adapting detecting and elimination that continuous wave radar modulation leaks Download PDFInfo
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- CN109581348A CN109581348A CN201811534790.6A CN201811534790A CN109581348A CN 109581348 A CN109581348 A CN 109581348A CN 201811534790 A CN201811534790 A CN 201811534790A CN 109581348 A CN109581348 A CN 109581348A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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Abstract
The invention discloses the method and system of a kind of self-adapting detecting of continuous wave radar modulation leakage and elimination, and steps of the method are S1: using low frequency medium frequency signal after mixing of the high frequency echo signal of radar radio-frequency head as inputting；S2: carrying out the extraction of leakage signal to low frequency medium frequency signal, judges whether modulation leakage distinguishes with target echo in time domain and/or frequency domain, generate initial debugging leakage signal offsets signal, and controls and offset signal start-phase；S3: being adjusted control signal, subtraction is carried out in AFE(analog front end) and low frequency medium frequency signal, with signal of stopping a leak.The system is the structure based on the above method.The present invention has many advantages, such as that structure is simple, at low cost, applicability is wide.
Description
Technical field
Present invention relates generally to frequency modulated continuous wave radar technical field, refer in particular to a kind of continuous wave radar modulation leakage from
The method and system for adapting to detection and eliminating.
Background technique
CW with frequency modulation and impulse wave are two kinds of systems of current mainstream.Due to CW with frequency modulation have system bulk it is small,
The features such as transmission power is low, precision is high, it is very widely used in security protection, unmanned plane, automotive field at present.Due to its Working mould
Formula transmitting and reception are to carry out simultaneously, and the receive-transmit isolation inside the non-linear of amplitude modulation, mixer chip is inadequate, transmitting is believed
Number on circuit boards factors such as coupling contain a certain amount of amplitude-modulated signal, frequency, waveform in the echo signal after leading to mixing
It is consistent with modulation waveform.
Radar intermediate frequency signal amplifying circuit is differential amplifier, modulates leakage signal, as sawtooth wave at sign mutation more
The waveform higher than normal leakage signal can be generated, which can seriously limit rear end intermediate frequency amplification factor, and radar system can only
It reduces intermediate-frequency gain and reaches the unsaturated purpose of signal, which results in the reduction of the receiving sensitivity of radar system, signal-to-noise ratio is reduced,
It is especially limited in long-range detection.
The cancellation techniques being currently, there are mainly have radio-frequency head or pure digi-tal end to offset.Radio-frequency head, which offsets, needs phase shifter, just
Coupler etc. is handed over, operation is in high frequency, and device cost is high, difficulty is big, and is difficult to do adaptive tune according to practical different environment
Section.Pure digi-tal, which offsets, to enter front-end processing from IF signal, and the gain of front end amplifier is caused to be restricted.Due to continuous wave radar
General receiving channel is not single channel, offsets circuit in series in signal circuit, and the difference between different channels is by different
Superposition will do it to canceller loop, be unable to common numbers processing module, lead to increased costs, pure digi-tal, which offsets, does not introduce FFT points
Analysis means, judge merely signal amplitude in the time domain, are difficult the judgement pair from comprising target echo signal and modulation leakage signal
Whether completely to disappear, this is also current CW with frequency modulation general purpose radar not using the principal element of modulation cancellation techniques.
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 of structure is simple, at low cost, applicability the is wide a kind of self-adapting detecting of continuous wave radar modulation leakage and the method for elimination and
System.
In order to solve the above technical problems, the invention adopts the following technical scheme:
A kind of method for the self-adapting detecting and elimination that continuous wave radar modulation leaks, the steps include:
S1: using the high frequency echo signal of radar radio-frequency head by mixing after low frequency medium frequency signal as input；
S2: carrying out the extraction of leakage signal to low frequency medium frequency signal, in time domain and/or frequency domain judgement modulation leakage and target echo
Whether distinguish, generate initial debugging leakage signal offsets signal, and controls and offset signal start-phase；
S3: being adjusted control signal, subtraction is carried out in AFE(analog front end) and low frequency medium frequency signal, with letter of stopping a leak
Number.
Further improvement as the method for the present invention: in the step S2, signal is carried out to low frequency medium frequency signal and is put
Big processing, the signal of amplification include modulation leakage signal and target echo signal.
Further improvement as the method for the present invention: in the step S2 extraction of leakage signal include:
When radar is to empty or antenna nearby front end placement absorbing material occasion, a cycle signal of acquisition is exactly modulation leakage
Signal, the temporal signatures of signal are linear at this time；
When radar is in outdoor normal working environment, acquires modulation leakage and the hybrid waveform of target echo, use
Smooth mode initial fitting from mixed signal goes out leakage signal；
In the case where radar works normally, the signal of acquisition includes the mixed signal of modulation leakage and target, is carried out to data
FFT transform distinguishes in frequency spectrum.
Further improvement as the method for the present invention: the smooth principle is carried out based on the linear characteristic of modulated signal.
Further improvement as the method for the present invention: in the step S2, the phase combination radio frequency synchronization arteries and veins of signal is offseted
Punching, by multi collect, fitting, exports by being compared accurate output, offsets circulation and constantly reach adaptive abatement and let out
The target of leakage signal.
Further improvement as the method for the present invention: in parallel using being used with radar signal system in the step S1
Mode, it is independent to be attached with radio frequency synchronization pulse.
The present invention further provides the system of a kind of self-adapting detecting of continuous wave radar modulation leakage and elimination, packets
It includes:
Signal acquisition and modulation module remove DC component for the IF signal after offseting radio frequency, will offset signal adjustment mould
The signal and IF signal of block input carry out subtraction；
Simulation process module, for the signal after signal acquisition and modulation module output to be amplified, adjustable gain；
Digital processing module carries out numerical analysis, and the adjustable signal of output phase after digitizing signal；
Signal adjusting module is offseted, for receiving the signal of digital processing module output, and signal scale without phase shift defeated
Signal acquisition and modulation module are arrived out.
Further improvement as present system: the digital processing module includes:
Signal digital unit, for that will include that modulation leaks the analog signal digital mixed with target echo；
Detecting signal unit keeps the signal into ADC unsaturated, for smoothly going out for adjusting the gain of simulation process module
Initial debugging leakage signal judges that modulation leakage is with target echo in frequency domain for digitized signal to be carried out FFT transform
It is no to distinguish；
Reference signal generation unit is offseted, for generating the signal that offsets of initial debugging leakage signal, control signal start-phase.
Further improvement as present system: signal enter the first order be signal acquisition and modulation module, it is described
Signal acquisition and modulation module include the subtraction circuit being made of separated by direct communication capacitor, amplifier.
Further improvement as present system: the simulation process module is gain controllable low noise, is connected in parallel on letter
The signal exported on number circuit to signal acquisition and modulation module amplifies, and amplified signal enters digital processing module.
Compared with the prior art, the advantages of the present invention are as follows:
1, the method and system of the self-adapting detecting of continuous wave radar of the present invention modulation leakage and elimination, using with signal path simultaneously
The mode of connection, the independent lock-out pulse obtained in radio-frequency modulations chip, is sampled with ADC in individual, high sampling rate piece,
The ADC in intermediate-freuqncy signal front end, with target is offseted without directly contacting, a digital processing module can be shared with channel, reached
In the target that IF signal input front end eliminates leakage signal, do not influenced by specific radar processor model, performance etc.,
It is applied widely.
2, the method and system of the self-adapting detecting of continuous wave radar modulation leakage of the present invention and elimination, in digital processing mould
Block introduces fft analysis, and simple signal time domain, height analysis are difficult from comprising echo signal and modulation leakage letter in the digital domain
Modulation leakage signal is isolated in number to be judged, the output for offseting signal is and guided.Digital processing module by darkroom or
To the memory in Altitude to the shape, frequency of modulation leakage waves shape, the signal after digitizing to signal carries out FFT transform,
Completely whether the amplitude judgement of frequency corresponding position in frequency spectrum of observation modulation leakage signal offset, and instructs in conjunction with time-domain signal
DAC output in digital processing module offsets signal.
3, the method and system of the self-adapting detecting of continuous wave radar modulation leakage of the present invention and elimination, are combined using modulus
Mode, avoid simple simulation cancellation system structure is complicated, the alignment of phase difficulty, cannot be unstable according to temperature and environment etc.
Factor carries out dynamic regulation, avoids simple digital canceller that from cannot being handled from IF input front end, leads to the increasing of front end amplifier
Benefit is caused amplifier saturation to be limited by modulation leakage signal, cannot effectively be utilized the gamut of amplifier and ADC, be limited noise
Than the promotion with measuring distance, using part is offseted in analog domain, self-adapting detecting judges, offsets the generation of signal in number
The method in domain can make full use of the advantage and disadvantage between simulation process, digital processing, offset so as to effective, accurate judgement
Effect go forward side by side Mobile state adjusting.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention.
Fig. 2 is the structure composition schematic diagram of present system.
Fig. 3 is the schematic diagram of present invention modulation leakage and the mixed signal of target in specific application example.
Fig. 4 is the schematic diagram for offseting signal that the present invention fits in specific application example.
Fig. 5 is that present invention cancellation system in specific application example is stopped a leak the schematic diagram of the echo signal after signal.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
As shown in Figure 1, the method for the self-adapting detecting and elimination of continuous wave radar modulation leakage of the invention, step
Are as follows:
S1: by low frequency medium frequency signal (the referred to herein as IF signal) conduct of the high frequency echo signal of radar radio-frequency head after mixing
Input；
S2: carrying out the extraction of leakage signal to low frequency medium frequency signal, in time domain and/or frequency domain judgement modulation leakage and target echo
Whether distinguish, generate initial debugging leakage signal offsets signal, and controls and offset signal start-phase；
S3: being adjusted control signal, subtraction is carried out in AFE(analog front end) and low frequency medium frequency signal, with letter of stopping a leak
Number.
In above-mentioned steps S2, signal further is carried out to low frequency medium frequency signal and amplifies processing, the signal packet of amplification
Include modulation leakage signal and target echo signal；
In above-mentioned steps S2, the extraction of leakage signal includes:
When to empty or antenna, nearby the occasions such as the similar microwave dark room such as absorbing material, a cycle letter of acquisition are placed in front end to radar
Number be exactly to modulate leakage signal, the temporal signatures of signal are linear at this time, in frequency domain a crest frequency of leakage signal with
Modulating frequency is consistent, and can be relatively easy to the high goodness of fit of output in this case offsets signal.
When radar is in outdoor normal working environment, acquires modulation leakage and the hybrid waveform of target echo,
Initial fitting goes out leakage signal from mixed signal by the way of smooth, and smooth waveform can be in reference unit memory internal
Leakage waveform；Smooth principle is carried out based on the linear characteristic of modulated signal, such as triangular wave, sawtooth wave.
In the case where radar works normally, the signal of acquisition includes the mixed signal of modulation leakage and target, Dan Congshi
Be difficult to judge whether leakage signal offsets completely in the signal amplitude of domain, the hybrid waveform of multi-frequency distinguish it is simple, have efficacious prescriptions
Formula is to carry out FFT transform to data, is distinguished in frequency spectrum.
In above-mentioned steps S2, the phase combination radio frequency synchronization pulse for offseting signal can be compared accurate output,
It generally requires by multi collect, fitting, export, offset the target that circulation constantly reaches adaptive abatement leakage signal.
In above-mentioned steps S1, using with radar signal system using by the way of in parallel, independent and radio frequency synchronization pulse into
Row connection.
As shown in Fig. 2, present invention further propose that the self-adapting detecting and elimination of a kind of modulation leakage of continuous wave radar
System, comprising:
Signal acquisition and modulation module 1 remove DC component for the IF signal after offseting radio frequency, will offset signal adjustment mould
The signal and IF signal that block 4 inputs carry out subtraction；
Simulation process module 2 amplifies, adjustable gain for the signal after exporting signal acquisition and modulation module 1；
Digital processing module 3 carries out numerical analysis, and the adjustable signal of output phase after digitizing signal；
Signal adjusting module 4 is offseted, scale without phase shift for receiving the signal of the output of digital processing module 3, and to signal
It is output to signal acquisition and modulation module 1.
In specific application example, above-mentioned digital processing module 3 includes:
Signal digital unit 31, for that will include that modulation leaks the analog signal digital mixed with target echo；
Detecting signal unit 32 keeps the signal into ADC unsaturated, for smooth for adjusting the gain of simulation process module 2
Initial debugging leakage signal out judges to modulate leakage and target echo in frequency domain for digitized signal to be carried out FFT transform
Whether distinguish；
Reference signal generation unit 33 is offseted, for generating the signal that offsets of initial debugging leakage signal, control signal start-up phase
Position.
In specific application example, the first order that signal enters is signal acquisition and modulation module 1, signal acquisition and modulation
Module 1 includes the subtraction circuit being made of separated by direct communication capacitor, amplifier etc..
In specific application example, simulation process module 2 is gain controllable low noise, is connected in parallel on signal circuit to signal
The signal that acquisition and modulation module 1 export amplifies；The signal of amplification includes modulation leakage signal and target echo signal, is increased
Beneficial controllably to make amplifier unsaturated, amplified signal enters digital processing module 3.
In specific application example, digital processing module 3 can be using based on MCU that is mature at present and quickly growing
Technology, if the single-chip microcontroller of monolithic can form the module, structure is simple.The module includes signal digital unit, at signal
It manages unit and offsets reference signal generation unit；Wherein:
Mixed signal comprising target echo signal and modulation leakage signal is carried out number using ADC and turned by signal digital unit
It changes, in conjunction with the lock-out pulse in radio frequency chip modulated process, acquisition saves AD value in a modulation period, signal such as Fig. 1.
The function of signal processing unit are as follows:
The extraction of leakage signal: when to empty or antenna, nearby the occasions such as the similar microwave dark room such as absorbing material are placed in front end to radar,
The a cycle signal that digital processing module 3 acquires is exactly to modulate leakage signal, and the temporal signatures of signal are linear at this time, frequency
A crest frequency of leakage signal is consistent with modulating frequency in domain, and digital processing module 3 can be easier in this case
The output high goodness of fit offset signal.When radar is in outdoor normal working environment, signal processing unit acquires tune
When system leakage and the hybrid waveform of target echo, initial fitting goes out leakage signal from mixed signal by the way of smooth, puts down
Sliding waveform can be with the leakage waveform in reference unit memory internal；Smooth principle based on the linear characteristic of modulated signal into
Row, such as triangular wave, sawtooth wave.
Offset the judgement of effect: in the case where radar works normally, the signal of signal processing unit acquisition includes modulation
The mixed signal of leakage and target, single to be difficult to judge whether leakage signal offsets completely from time-domain signal amplitude, multi-frequency
Hybrid waveform distinguish simple, effective means be to data carry out FFT transform, distinguished in frequency spectrum, due to modulation let out
The frequency of leakage signal can obtain the number of ways such as sky acquisition by condition entry, radar, so by detecting in frequency spectrum
The amplitude of leakage signal judges that the effect offseted is accurate, simple, efficiently.When offseting incomplete, difference can be in simulation process
It is amplified, is then realized by constantly smooth, fitting again adaptive in module 2；
Reference signal generation unit is offseted, offsets signal for generating, offsets the generation of signal by digital processing module 3
DAC output, the source of signal as set forth above, it is possible to be radar to sky when the signal that acquires, can be in working environment according to letting out
The signal that leakage signal shape is smooth, fits.The phase combination radio frequency synchronization pulse for offseting signal can be compared accurately
Output generally requires by multi collect, fitting, exports, offsets the target that circulation constantly reaches adaptive abatement leakage signal.
Signal adjusting module 4 is offseted, digital processing module 3 is by the way of list MCU, and the amplitude of DAC output signal is by core
The amplitude of piece reference voltage limits, the signal adjusting module built by external amplifier to DAC signal carry out voltage amplitude scaling,
High frequency filter etc. can make the DAC that the reference signal in entering signal acquisition and modulation module 1 is stably and controllable, possibility is avoided to introduce
The noise and signal that quantizing process generates limit.
It is the echo letter of a fixed range target in microwave dark room in triangular wave radar modulating system referring to Fig. 3
Number, normal signal should be the sine wave of standard, but due to the leakage of triangular modulation signal, the signal of actual acquisition is three
The combination (Fig. 3) of angle wave and sine wave, that is, two addition of waveforms, so can be gone in AFE(analog front end) using subtraction circuit
Fall, the contents of the present invention be exactly how to generate this subtraction circuit offset waveform and detection offset whether completely, so as to adjust
Waveform is offseted, and as why not influenced normal signal circuit (intervening mode in parallel).
Fig. 4 is that offset signal or the radar fitted from Fig. 3 hybrid waveform is close to empty or radar antenna end to inhale wave material
Signal when material after radio frequency mixing, that is, triangular modulation leakage signal carry out subtraction with the signal and Fig. 3 signal, offset
Signal needs holding synchronous with mixed signal, and the period is identical (start-phase by adjusting modulation leakage signal is realized), eliminates
Modulation leakage, obtains sine wave signal Fig. 5 (target echo).Fig. 5 is the echo signal waveform eliminated after modulation leakage, individually
Fixed echo signal is sine wave.
In fact, it is exactly Fig. 3 that Fig. 5 is superimposed with Fig. 4, and it is exactly Fig. 5 after being offseted in Fig. 3 to modulation leakage signal, figure
3, Fig. 4, Fig. 5 are the signals emulated using circuit simulating software, and radar actual ghosts and emulation are consistent, but simulated effect is brighter
It is aobvious.
From the foregoing, it will be observed that entire cancellation system acquires signal by simulation process module 2, digital processing module 3 handles signal simultaneously
Generation offsets waveform, offsets signal modulation module 4 and is adjusted to be input in signal acquisition and modulation module 1 to signal and subtracts
Method offsets, and several modules form closed-loop control system together, and the continuous closed loop adjustment by system reaches successive elimination leakage letter
Number purpose.
Whole system carries out offseting processing from IF input terminal, eliminates leakage in the first order, uses with radar signal system
Mode in parallel, it is independent to be attached with radio frequency synchronization pulse, the signal gain and phase of radar system are not influenced, not by radar
The constraint of System Back-end processor adds amplifier to can be achieved with independence, multichannel, adaptive pair using single-chip digital processing chip
Sterilizing system, structure is simple, it is good to offset effect, the brings leakage signal variation such as energy self-adaptive temperature, environment.
The self-adapting detecting of continuous wave radar modulation leakage proposed by the present invention and the method and system of elimination, are based on mesh
Preceding IC chip technology mature and in high speed development, can be achieved with signal acquisition, modulation using single amplifier chip
Module, simulation process module can be achieved with digital processing module using single singlechip chip, reach inexpensive, small size
Feature.The present invention can believe multipath reception channel, more modulation in continuous wave radar in such a way that simple modulus combines
Number amplitude modulation leakage carry out dynamic self-adapting offset, can eliminate modulation leakage limitation intermediate frequency amplification factor, make radar system
Intermediate frequency amplification factor can be increased substantially, radar range and precision are promoted.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (10)
1. a kind of method of the self-adapting detecting and elimination of continuous wave radar modulation leakage, which is characterized in that step are as follows:
S1: using the high frequency echo signal of radar radio-frequency head by mixing after low frequency medium frequency signal as input；
S2: carrying out the extraction of leakage signal to low frequency medium frequency signal, in time domain and/or frequency domain judgement modulation leakage and target echo
Whether distinguish, generate initial debugging leakage signal offsets signal, and controls and offset signal start-phase；
S3: being adjusted control signal, subtraction is carried out in AFE(analog front end) and low frequency medium frequency signal, with letter of stopping a leak
Number.
2. the method for the self-adapting detecting and elimination of continuous wave radar modulation leakage according to claim 1, feature exist
In in the step S2, carrying out signal to low frequency medium frequency signal and amplify processing, the signal of amplification includes modulating leakage signal
With target echo signal.
3. the method for the self-adapting detecting and elimination of continuous wave radar modulation leakage according to claim 1, feature exist
In, in the step S2 extraction of leakage signal include:
When radar is to empty or antenna nearby front end placement absorbing material occasion, a cycle signal of acquisition is exactly modulation leakage
Signal, the temporal signatures of signal are linear at this time；
When radar is in outdoor normal working environment, acquires modulation leakage and the hybrid waveform of target echo, use
Smooth mode initial fitting from mixed signal goes out leakage signal；
In the case where radar works normally, the signal of acquisition includes the mixed signal of modulation leakage and target, is carried out to data
FFT transform distinguishes in frequency spectrum.
4. the method for the self-adapting detecting and elimination of continuous wave radar modulation leakage according to claim 3, feature exist
In the smooth principle is carried out based on the linear characteristic of modulated signal.
5. the side of the self-adapting detecting of the modulation of continuous wave radar described in any one of -4 leakage and elimination according to claim 1
Method, which is characterized in that in the step S2, the phase combination radio frequency synchronization pulse for offseting signal is accurately defeated by being compared
Out, by multi collect, fitting, export, offset the target that circulation constantly reaches adaptive abatement leakage signal.
6. the side of the self-adapting detecting of the modulation of continuous wave radar described in any one of -4 leakage and elimination according to claim 1
Method, which is characterized in that in the step S1, by the way of in parallel with the use of radar signal system, independent and radio frequency synchronization arteries and veins
Punching is attached.
7. a kind of self-adapting detecting of continuous wave radar modulation leakage and the system of elimination characterized by comprising
Signal acquisition and modulation module remove DC component for the IF signal after offseting radio frequency, will offset signal adjustment mould
The signal and IF signal of block input carry out subtraction；
Simulation process module, for the signal after signal acquisition and modulation module output to be amplified, adjustable gain；
Digital processing module carries out numerical analysis, and the adjustable signal of output phase after digitizing signal；
Signal adjusting module is offseted, for receiving the signal of digital processing module output, and signal scale without phase shift defeated
Signal acquisition and modulation module are arrived out.
8. the self-adapting detecting of continuous wave radar modulation leakage according to claim 7 and the system of elimination, feature exist
In the digital processing module includes:
Signal digital unit, for that will include that modulation leaks the analog signal digital mixed with target echo；
Detecting signal unit keeps the signal into ADC unsaturated, for smoothly going out for adjusting the gain of simulation process module
Initial debugging leakage signal judges that modulation leakage is with target echo in frequency domain for digitized signal to be carried out FFT transform
It is no to distinguish；
Reference signal generation unit is offseted, for generating the signal that offsets of initial debugging leakage signal, control signal start-phase.
9. the self-adapting detecting of continuous wave radar modulation leakage according to claim 7 and the system of elimination, feature exist
In the first order that signal enters is signal acquisition and modulation module, and the signal acquisition and modulation module include by separated by direct communication
The subtraction circuit of capacitor, amplifier composition.
10. the self-adapting detecting of continuous wave radar modulation leakage according to claim 7 and the system of elimination, feature exist
In the simulation process module is gain controllable low noise, is connected in parallel on signal circuit to signal acquisition and modulation module output
Signal amplify, amplified signal enters digital processing module.
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| CN111122972A (en) * | 2019-12-25 | 2020-05-08 | 国网北京市电力公司 | Frequency tracking measurement method and device |
| CN112526502A (en) * | 2020-11-06 | 2021-03-19 | 广州辰创科技发展有限公司 | Method and device for improving isolation of linear frequency modulation millimeter wave radar and storage device |
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