CN109581348B - Method and system for adaptive detection and elimination of modulation leakage of continuous wave radar - Google Patents
Method and system for adaptive detection and elimination of modulation leakage of continuous wave radar Download PDFInfo
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Abstract
The invention discloses a method and a system for adaptive detection and elimination of modulation leakage of a continuous wave radar, wherein the method comprises the following steps: s1: taking a low-frequency intermediate-frequency signal obtained by mixing a high-frequency echo signal of a radar radio frequency end as an input; s2: extracting a leakage signal from the low-frequency intermediate-frequency signal, judging whether the modulation leakage is distinguished from a target echo in a time domain and/or a frequency domain, generating a cancellation signal of an initial debugging leakage signal, and controlling the initial phase of the cancellation signal; s3: the control signal is adjusted to perform subtraction operation with the low-frequency intermediate-frequency signal at the analog front end to eliminate the leakage signal. The system is based on the structure of the method. The invention has the advantages of simple structure, low cost, wide applicability and the like.
Description
Technical Field
The invention mainly relates to the technical field of frequency modulation continuous wave radars, in particular to a method and a system for adaptively detecting and eliminating modulation leakage of a continuous wave radar.
Background
Frequency modulated continuous waves and pulsed waves are two mainstream systems at present. Because the frequency modulation continuous wave has the characteristics of small system volume, low transmitting power, high precision and the like, the frequency modulation continuous wave is widely applied in the fields of security protection, unmanned aerial vehicles and automobiles at present. Because the working mode is that the transmission and the reception are carried out simultaneously, the nonlinear amplitude modulation, the insufficient receiving and transmitting isolation degree in the mixer chip, the coupling of the transmitting signal on the circuit board and other factors cause that the target signal after the frequency mixing contains a certain amount of amplitude modulation signals, and the frequency, the waveform and the modulation waveform are consistent.
The radar intermediate frequency signal amplifying circuit is a differential operational amplifier, leakage signals are modulated, if sawtooth waves generate waveforms higher than normal leakage signals at signal mutation positions, the waveforms can severely limit rear-end intermediate frequency amplification factors, a radar system can only reduce intermediate frequency gain to achieve the purpose of signal unsaturation, and therefore receiving sensitivity of the radar system is reduced, the signal to noise ratio is reduced, and the radar system is particularly limited in remote detection.
At present, the existing cancellation technology mainly comprises radio frequency end or pure digital end cancellation. The radio frequency end cancellation requires a phase shifter, an orthogonal coupler and the like, the radio frequency end cancellation is operated at high frequency, the cost of devices is high, the difficulty is high, and self-adaptive adjustment according to different actual environments is difficult to perform. Pure digital cancellation cannot enter the front-end processing from the IF signal, resulting in limited gain of the front-end op-amp. Because the general receiving channel of the continuous wave radar is not a single channel, the cancellation loop is connected in series in the signal loop, the difference between different channels can be superposed through different cancellation loops, and the different cancellation loops can not share a digital processing module, so that the cost is increased, the FFT analysis means is not introduced into pure digital cancellation, the signal amplitude is simply judged in the time domain, and whether the cancellation is complete or not is difficult to judge from the signals containing a target echo signal and a modulation leakage signal, which is also a main factor that the current frequency modulation continuous wave general radar does not adopt the modulation cancellation technology.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the method and the system for adaptively detecting and eliminating the modulation leakage of the continuous wave radar, which have the advantages of simple structure, low cost and wide applicability.
In order to solve the technical problems, the invention adopts the following technical scheme:
a method for adaptive detection and elimination of continuous wave radar modulation leakage comprises the following steps:
s1: taking a low-frequency intermediate-frequency signal obtained by mixing a high-frequency echo signal of a radar radio frequency end as an input;
s2: extracting a leakage signal from the low-frequency intermediate-frequency signal, judging whether the modulation leakage is distinguished from a target echo in a frequency domain, generating a cancellation signal of an initial debugging leakage signal, and controlling the initial phase of the cancellation signal;
s3: the control signal is adjusted to perform subtraction operation with the low-frequency intermediate-frequency signal at the analog front end to eliminate the leakage signal.
As a further improvement of the process of the invention: in step S2, the low-frequency intermediate-frequency signal is amplified, and the amplified signal includes a modulation leakage signal and a target echo signal.
As a further improvement of the process of the invention: the extracting of the leakage signal in step S2 includes:
when the radar is in the field of placing wave-absorbing materials at the front end of the space or the near part of the antenna, the collected periodic signal is a modulation leakage signal, and the time domain characteristic of the signal is linear at the moment;
when the radar is in an outdoor normal working environment and a mixed waveform of modulation leakage and a target echo is collected, a leakage signal is preliminarily fitted from the mixed signal in a smooth mode;
under the condition that the radar normally works, the acquired signals comprise mixed signals of modulation leakage and targets, FFT (fast Fourier transform) is carried out on the data, and the data are distinguished in frequency spectrums.
As a further improvement of the method of the invention: the smoothing principle is based on the linear behavior of the modulated signal.
As a further improvement of the process of the invention: in step S2, the phase of the cancellation signal is combined with the radio frequency synchronization pulse, and the cancellation signal is output more accurately, and the target of adaptively reducing the leakage signal is continuously achieved through multiple acquisition, fitting, output, and cancellation cycles.
As a further improvement of the process of the invention: in step S1, the radar signal system is connected in parallel to be independently connected to the rf synchronization pulse.
The present invention further provides a system for adaptive detection and cancellation of continuous wave radar modulation leakage, comprising:
the signal acquisition and modulation module is used for removing direct current components from the IF signal after radio frequency cancellation and performing subtraction operation on the signal input by the cancellation signal adjustment module and the IF signal;
the analog processing module is used for amplifying the signal output by the signal acquisition and modulation module, and the gain is adjustable;
the digital processing module is used for carrying out digital analysis after digitizing the signals and outputting signals with adjustable phases;
and the cancellation signal adjusting module is used for receiving the signal output by the digital processing module, carrying out non-phase-shift scaling on the signal and outputting the signal to the signal acquisition and modulation module.
As a further improvement of the system of the invention: the digital processing module includes:
a signal digitizing unit for digitizing an analog signal containing modulation leakage mixed with the target echo;
the signal detection unit is used for adjusting the gain of the analog processing module to ensure that the signal entering the ADC is not saturated, sliding out the initial debugging leakage signal, performing FFT (fast Fourier transform) on the digitized signal, and judging whether the modulation leakage is distinguished from the target echo in a frequency domain;
and the cancellation reference signal generating unit is used for generating a cancellation signal of the initial debugging leakage signal and controlling the initial phase of the signal.
As a further improvement of the system of the invention: the first stage of signal entry is a signal acquisition and modulation module, which comprises a subtraction circuit consisting of a blocking AC capacitor and an operational amplifier.
As a further improvement of the system of the invention: the analog processing module is a gain-controllable low-noise amplifier and is connected in parallel to the signal loop to amplify the signal output by the signal acquisition and modulation module, and the amplified signal enters the digital processing module.
Compared with the prior art, the invention has the advantages that:
1. the invention relates to a method and a system for adaptive detection and elimination of modulation leakage of a continuous wave radar, which independently acquire synchronous pulses in a radio frequency modulation chip by adopting a mode of being connected with a signal channel in parallel, sample by using an independent on-chip ADC with a high sampling rate, have no direct connection with the ADC of a target at the front end of an intermediate frequency signal, can share one digital processing module with the same channel, achieve the aim of eliminating the leakage signal at the front end of an IF signal input, are not influenced by the specific radar processor model, performance and the like, and have wide application range.
2. The invention relates to a method and a system for adaptive detection and elimination of modulation leakage of a continuous wave radar.A Fast Fourier Transform (FFT) analysis is introduced into a digital processing module, and the modulation leakage signal is difficult to separate from a target signal and the modulation leakage signal for judgment by simple signal time domain and amplitude analysis in a digital domain, and the output of a cancellation signal is guided. The digital processing module carries out FFT transformation on the signal after the signal is digitized through memorizing the shape and the frequency of the modulation leakage waveform in a darkroom or an air environment, observes the amplitude of the frequency of the modulation leakage signal at the corresponding position in a frequency spectrum to judge whether cancellation is complete or not, and guides a DAC in the digital processing module to output a cancellation signal by combining a time domain signal.
3. The invention relates to a method and a system for adaptive detection and elimination of modulation leakage of a continuous wave radar, which adopt an analog-digital combination mode to avoid the problems that a simple analog cancellation system has a complex structure, the phase is difficult to align, and the dynamic adjustment cannot be carried out according to unstable factors such as temperature and environment, and the like, avoid the problems that the gain of a front-end operational amplifier is limited by the saturation of the operational amplifier caused by modulation leakage signals because the simple digital cancellation cannot be input from an IF input front end, the full range of the operational amplifier and an ADC cannot be effectively utilized, the improvement of the signal-to-noise ratio and the test distance is limited, adopt a method that a cancellation part is in an analog domain, and adaptively detect, judge and cancel signals are generated in a digital domain, can fully utilize the advantages and disadvantages between analog processing and digital processing, thereby effectively and accurately judging the cancellation effect and carrying out the dynamic adjustment.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention.
FIG. 2 is a schematic diagram of the structural components of the system of the present invention.
Fig. 3 is a schematic diagram of the mixed signal of the modulation leakage and the target in the specific application example of the invention.
Fig. 4 is a schematic diagram of the cancellation signal fitted in a specific application example of the present invention.
Fig. 5 is a schematic diagram of a target signal after a cancellation system cancels a leakage signal in a specific application example of the present invention.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
As shown in fig. 1, the method for adaptive detection and elimination of modulated leakage of continuous wave radar of the present invention comprises the following steps:
s1: taking a low-frequency intermediate-frequency signal (called as an IF signal herein) obtained by mixing a high-frequency echo signal at a radar radio frequency end as an input;
s2: extracting a leakage signal from the low-frequency intermediate-frequency signal, judging whether the modulation leakage is distinguished from a target echo in a frequency domain, generating a cancellation signal of an initial debugging leakage signal, and controlling the initial phase of the cancellation signal;
s3: the control signal is adjusted to perform subtraction operation with the low-frequency intermediate-frequency signal at the analog front end to eliminate the leakage signal.
In step S2, further performing signal amplification processing on the low-frequency intermediate-frequency signal, where the amplified signal includes a modulation leakage signal and a target echo signal;
in the above step S2, the extraction of the leakage signal includes:
when the radar is used in the places such as a microwave anechoic chamber and the like, wherein wave-absorbing materials and the like are placed at the front end of the space or the near part of the antenna, one collected periodic signal is a modulation leakage signal, the time domain characteristic of the signal is linear, and the primary peak frequency of the leakage signal in the frequency domain is consistent with the modulation frequency.
When the radar is in an outdoor normal working environment and a mixed waveform of modulation leakage and a target echo is collected, a leakage signal is preliminarily fitted from the mixed signal in a smooth mode, and the smooth waveform can refer to the leakage waveform memorized in the unit; the principle of smoothing is based on the linear characteristics of the modulated signal, such as triangular, sawtooth.
Under the condition that the radar normally works, the acquired signals comprise mixed signals of modulation leakage and a target, whether the leakage signals are completely canceled is difficult to judge from the amplitude of the time domain signals, and a simple and effective mode for distinguishing the mixed waveforms of various frequencies is to perform FFT (fast Fourier transform) on data and distinguish in frequency spectrums.
In the step S2, the phase of the cancellation signal may be combined with the rf synchronization pulse to perform relatively accurate output, and generally, the cancellation signal needs to be acquired, fitted, output, and cancelled repeatedly to achieve the goal of adaptively reducing the leakage signal.
In step S1, the radar signal system is connected in parallel to the rf synchronization pulse independently.
As shown in fig. 2, the present invention further provides a system for adaptive detection and cancellation of modulated leakage of a continuous wave radar, comprising:
the signal acquisition and modulation module 1 is used for removing direct current components from the IF signals after radio frequency cancellation, and performing subtraction operation on the signals input by the cancellation signal adjustment module 4 and the IF signals;
the analog processing module 2 is used for amplifying the signal output by the signal acquisition and modulation module 1, and the gain is adjustable;
the digital processing module 3 is used for digitizing the signals, performing digital analysis and outputting signals with adjustable phases;
and the cancellation signal adjusting module 4 is used for receiving the signal output by the digital processing module 3, scaling the signal without phase shift and outputting the scaled signal to the signal acquiring and modulating module 1.
In a specific application example, the digital processing module 3 includes:
a signal digitizing unit 31 for digitizing an analog signal containing modulation leakage mixed with the target echo;
the signal detection unit 32 is configured to adjust the gain of the analog processing module 2, so that the signal entering the ADC is not saturated, slide out of the initial debug leakage signal, perform FFT on the digitized signal, and determine whether the modulation leakage is distinguished from the target echo in the frequency domain;
a cancellation reference signal generating unit 33, configured to generate a cancellation signal of the initial debug leakage signal, and control a signal start phase.
In a specific application example, the first stage of signal entering is a signal acquisition and modulation module 1, and the signal acquisition and modulation module 1 comprises a subtraction circuit composed of a direct current blocking AC capacitor, an operational amplifier and the like.
In a specific application example, the analog processing module 2 is a gain-controllable low-noise amplifier and is connected in parallel to a signal loop to amplify the signal output by the signal acquisition and modulation module 1; the amplified signal comprises a modulation leakage signal and a target echo signal, the gain is controllable to enable the amplifier to be unsaturated, and the amplified signal enters the digital processing module 3.
In a specific application example, the digital processing module 3 can adopt an MCU technology which is mature and rapidly developed at present, and a single-chip microcomputer can constitute the module, so that the structure is simple. The module comprises a signal digitization unit, a signal processing unit and a cancellation reference signal generation unit; wherein:
the signal digitization unit performs digital conversion on a mixed signal containing a target echo signal and a modulation leakage signal by using an ADC (analog to digital converter), and acquires and stores an AD (analog-to-digital) value in a modulation period by combining with a synchronous pulse in the modulation process of a radio frequency chip, wherein the signal is as shown in figure 1.
The signal processing unit functions as:
extraction of leakage signal: when the radar is on the air or on the occasion that a microwave absorbing material and the like similar to a microwave darkroom are placed at the front end close to the antenna, one periodic signal acquired by the digital processing module 3 is a modulation leakage signal, the time domain characteristic of the signal is linear at the moment, the primary peak frequency of the leakage signal in the frequency domain is consistent with the modulation frequency, and under the condition, the digital processing module 3 can output a cancellation signal with high goodness of fit relatively easily. When the radar is in an outdoor normal working environment, the signal processing unit collects a mixed waveform of modulation leakage and a target echo, a leakage signal is preliminarily fitted from the mixed signal in a smooth mode, and the smooth waveform can refer to the leakage waveform in the internal memory of the unit; the principle of smoothing is based on the linear characteristics of the modulated signal, such as triangular, sawtooth.
And (3) judging the cancellation effect: under the condition that the radar normally works, signals collected by the signal processing unit comprise mixed signals of modulation leakage and a target, whether the leakage signals completely cancel is difficult to judge from the amplitude of time domain signals, a simple and effective mode for distinguishing mixed waveforms of various frequencies is to carry out FFT (fast Fourier transform) on data and distinguish in frequency spectrum, and because the frequency of the modulation leakage signals can be obtained through various ways such as condition input, radar space collection and the like, the effect of cancellation is judged accurately, simply and efficiently by detecting the amplitude of the leakage signals in the frequency spectrum. When the cancellation is incomplete, the difference value is amplified in the analog processing module 2, and then self-adaptation is realized through continuous smoothing and fitting;
and the cancellation reference signal generation unit is used for generating a cancellation signal, the cancellation signal is generated and output by the DAC in the digital processing module 3, and the source of the signal is, as described above, a signal acquired by the radar in the space time, or a signal smoothly fitted according to the shape of the leakage signal in the working environment. The phase of the cancellation signal can be accurately output by combining with the radio frequency synchronous pulse, and the aim of self-adaptive leakage signal reduction is generally achieved continuously through multiple acquisition, fitting, output and cancellation cycles.
The offset signal adjusting module 4 and the digital processing module 3 adopt a single MCU mode, the amplitude of the DAC output signal is limited by the amplitude of the reference voltage of the chip, and the DAC signal is subjected to voltage amplitude scaling, high-frequency filtering and the like through the signal adjusting module built by an external operational amplifier, so that the reference signal entering the signal collecting and modulating module 1 is stable and controllable, and noise and signal limitation generated in the DAC quantization process which is possibly introduced are avoided.
Referring to fig. 3, in a triangular wave radar modulation system, a normal signal should be a standard sine wave, but due to leakage of a triangular wave modulation signal, an actually acquired signal is a combination of a triangular wave and a sine wave (fig. 3), that is, two waveforms are superimposed, so that a subtraction circuit can be removed at an analog front end.
Fig. 4 is a cancellation signal fitted from the mixed waveform of fig. 3 or a signal after radio frequency mixing when the radar antenna end is attached to the wave-absorbing material, that is, a triangular wave modulation leakage signal, which is subtracted from the signal of fig. 3, the cancellation signal and the mixed signal need to be kept synchronous, the periods are the same (realized by adjusting the initial phase of the modulation leakage signal), the modulation leakage is eliminated, and a sine wave signal fig. 5 (target echo) is obtained. Fig. 5 shows the waveform of the target signal after the modulation leakage is canceled, and the echo signal of a single fixed target is a sine wave.
In fact, fig. 3 is a superposition of fig. 5 and fig. 4, fig. 5 is a superposition of fig. 3 after the modulation leakage signal is canceled in fig. 3, fig. 4 and fig. 5 are signals simulated by using circuit simulation software, and the actual echo of the radar is consistent with the simulation, but the simulation effect is more obvious.
It can be known from the above that, the whole cancellation system collects signals by the analog processing module 2, the digital processing module 3 processes the signals and generates cancellation waveforms, the cancellation signal modulation module 4 adjusts the signals and inputs the adjusted signals into the signal collection and modulation module 1 for subtraction cancellation, the several modules form a closed-loop control system together, and the purpose of gradually eliminating leakage signals is achieved through continuous closed-loop adjustment of the system.
The whole system carries out cancellation processing from an IF input end, so that leakage is eliminated at the first level, the system and a radar signal system adopt a parallel connection mode, and are independently connected with radio frequency synchronous pulses, the signal gain and the phase of the radar system are not influenced, the system is not restricted by a rear-end processor of the radar system, an independent, multi-channel and self-adaptive cancellation system can be realized by using a single digital processing chip and an operational amplifier, the structure is simple, the cancellation effect is good, and the leakage signal change brought by self-adaptive temperature, environment and the like can be realized.
The method and the system for the adaptive detection and elimination of the modulation leakage of the continuous wave radar are based on the mature IC chip technology which is developed at a high speed at present, a single operational amplifier chip can be used for realizing a signal acquisition and modulation module, an analog processing module and a single chip microcomputer chip can be used for realizing a digital processing module, and the characteristics of low cost and small volume are achieved. The invention can perform dynamic self-adaptive cancellation on amplitude modulation leakage of multiple receiving channels and multiple modulation signals in the continuous wave radar in a simple analog-digital combination mode, and can eliminate the intermediate frequency amplification factor limited by modulation leakage, so that a radar system can greatly improve the intermediate frequency amplification factor and improve the detection distance and precision of the radar.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (6)
1. A method for adaptive detection and elimination of continuous wave radar modulation leakage is characterized by comprising the following steps:
s1: taking a low-frequency intermediate-frequency signal obtained by mixing a high-frequency echo signal at a radar radio frequency end as an input;
in the step S1, the radar signal system is connected in parallel and independently connected with the radio frequency synchronization pulse;
s2: extracting a leakage signal from the low-frequency intermediate-frequency signal, judging whether the modulation leakage is distinguished from a target echo in a frequency domain, generating a cancellation signal of an initial debugging leakage signal, and controlling the initial phase of the cancellation signal;
the extracting of the leakage signal in step S2 includes:
when the radar is in the field of placing wave-absorbing materials at the front end of the space or the near part of the antenna, the collected periodic signal is a modulation leakage signal, and the time domain characteristic of the signal is linear at the moment;
when the radar is in an outdoor normal working environment and a mixed waveform of modulation leakage and a target echo is collected, a leakage signal is preliminarily fitted from the mixed signal in a smooth mode;
under the condition that the radar normally works, the acquired signals comprise mixed signals of modulation leakage and a target, FFT (fast Fourier transform) is carried out on the data, and the data are distinguished in a frequency spectrum;
s3: the control signal is adjusted to perform subtraction operation with the low-frequency intermediate-frequency signal at the analog front end to eliminate the leakage signal.
2. The method for adaptive detection and cancellation of modulation leakage in continuous wave radar as claimed in claim 1, wherein in step S2, the low frequency intermediate frequency signal is amplified, and the amplified signal includes a modulation leakage signal and a target echo signal.
3. The method of adaptive detection and cancellation of modulation leakage for continuous wave radar of claim 1, wherein the smoothing principle is based on linear characteristics of the modulation signal.
4. The method according to any one of claims 1 to 3, wherein in step S2, the cancellation signal is combined with the RF synchronization pulse to perform relatively accurate output, and the target of adaptive leakage signal reduction is continuously achieved through multiple acquisition, fitting, output and cancellation cycles.
5. A system for adaptive detection and cancellation of modulated leakage in a continuous wave radar, comprising:
the signal acquisition and modulation module is used for removing direct current components from the IF signals after radio frequency cancellation and carrying out subtraction operation on the signals input by the cancellation signal adjustment module and the IF signals;
the analog processing module is used for amplifying the signal output by the signal acquisition and modulation module, and the gain is adjustable;
the digital processing module is used for carrying out digital analysis after digitizing the signals and outputting signals with adjustable phases;
the cancellation signal adjusting module is used for receiving the signal output by the digital processing module, carrying out non-phase-shift scaling on the signal and outputting the signal to the signal acquisition and modulation module;
the digital processing module includes:
a signal digitizing unit for digitizing an analog signal containing modulation leakage mixed with the target echo;
the signal detection unit is used for adjusting the gain of the analog processing module to ensure that the signal entering the ADC is not saturated, sliding out the initial debugging leakage signal, performing FFT (fast Fourier transform) on the digitized signal, and judging whether the modulation leakage is distinguished from the target echo in a frequency domain;
the offset reference signal generating unit is used for generating an offset signal of the initial debugging leakage signal and controlling the initial phase of the signal;
the analog processing module is a gain-controllable low-noise amplifier and is connected in parallel to the signal loop to amplify the signal output by the signal acquisition and modulation module, and the amplified signal enters the digital processing module.
6. The system according to claim 5, wherein the first stage of signal entry is a signal acquisition and modulation module comprising a subtraction circuit consisting of a DC blocking AC capacitor and an operational amplifier.
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