CN109633567A - A kind of Radar Signal Processing System and method based on Python - Google Patents
A kind of Radar Signal Processing System and method based on Python Download PDFInfo
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- CN109633567A CN109633567A CN201811583862.6A CN201811583862A CN109633567A CN 109633567 A CN109633567 A CN 109633567A CN 201811583862 A CN201811583862 A CN 201811583862A CN 109633567 A CN109633567 A CN 109633567A
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Classifications
-
- 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
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
- G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of Radar Signal Processing System and method based on Python, which includes data acquisition module, for acquiring radar echo signal, and carries out analog-to-digital conversion；Modulated signal generation module, for generating serrated signal, and then modulate emission signal；Synchronization control module controls the road N acquisition channel synchronous acquisition echo-signal in data acquisition module for generating the pulse signal synchronous with serrated signal；The data of data collecting module collected are transmitted in signal processing module by usb communication module；Signal processing module, for carrying out signal processing to echo-signal, obtaining target information and transmitting it to control display module；Display module is controlled, for the open and close of control radar signal processing system, displaying target information, and can be carried out user identity authentication.Signal processing system of the invention has the characteristics that easy to operate, real-time is good, good compatibility, highly-safe, realizes real-time detection and information to target and shows.
Description
Technical field
The invention belongs to radar signal processing field, in particular to a kind of Radar Signal Processing System based on Python and
Method.
Background technique
Radar is that transmitter passes through antenna for electromagnetic wave energy directive space a direction, and the object for being in direction mountain is anti-
The electromagnetic wave encountered is penetrated, by receiving back wave, extracts distance about object, radial velocity, orientation, the information such as height set
It is standby.Since there are various environment clutters and electromagnetic interferences etc. in reflection signal, if needing to extract target information then
Need complicated Radar Signal Processing.
Because of the revolutionary effect that radar generates in modern war, Radar Technology had welcome in modern times advances by leaps and bounds
Development.From after technical development of computer, new developing direction is provided for the development of radar.Digital radar signal processing algorithm tool
There is the features such as data volume is big, and algorithm is complicated, high real-time, by computer technology, the accurate control to radar may be implemented, and
Can real time algorithm realize and as the result is shown.Using computer disposal radar signal, compared to traditional signal processing method come into
Row signal processing has portable high, the fast advantage of development rate, while can also shorten the development time, and it is multiple to reduce system
Miscellaneous degree improves system portability.
Conventional digital signal processing is had generally using the signal processing solution based on FPGA or dsp chip
Feature low in energy consumption, stability is strong, but the disadvantages of also have modification difficult simultaneously, lack flexibility.FPGA or DSP signal processing
Platform complex, and Radar Signal Processing is high to the requirement of real-time of system, and the development cycle is caused to extend.Rank is debugged in programming
Section causes downloading compilation time long, seriously affects the efficiency of modification program since programmed algorithm complexity is high.In addition, tradition letter
The poor operability of number processing mode causes system operatio not readily understood, is unfavorable for operator due to lacking visualization interface
Control to system.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of Radar Signal Processing System based on Python and side
Method.
The technical solution for realizing the aim of the invention is as follows: a kind of Radar Signal Processing System based on Python, including
Data acquisition module, modulated signal generation module, synchronization control module, usb communication module, signal processing module and control display
Module；
The data acquisition module for acquiring radar echo signal, and converts analog signals into digital signal；
The modulated signal generation module, for generating serrated signal, and then modulate emission signal；
The synchronization control module controls N in data acquisition module for generating the pulse signal synchronous with serrated signal
Road acquisition channel synchronous acquisition radar echo signal；
The usb communication module, the data of data collecting module collected are transmitted in signal processing module；
The signal processing module, for carrying out signal processing to the echo-signal of acquisition, obtain target information and by its
It is transmitted to control display module；The signal processing include data rearrangement, filtering, clutter recognition, moving-target detection, constant false alarm,
Target cohesion and angle measurement；
The control display module, for the open and close of control radar signal processing system, displaying target information, and
It can be carried out user identity authentication.
Method for processing radar signals based on the Radar Signal Processing System, comprising the following steps:
Step 1 controls data collecting module collected radar echo signal by synchronization control module, control display module,
And convert analog signals into digital signal；
Step 2, the digital signal for obtaining step 1 pass through usb communication module transfer to signal processing module；
Step 3, signal processing module are filtered the signal received, data rearrangement, clutter recognition, moving-target are examined
Survey, constant false alarm, target cohesion and angle measurement, obtain the distance, speed and angle information of target；
Step 4, by the distance, speed and angle information of the target that step 3 obtains be transmitted to control display module show
Show, completes Radar Signal Processing.
Compared with prior art, the present invention its remarkable advantage are as follows: 1) present invention can control number using synchronization control module
According to acquisition module to the synchronous acquisition of the road N radar echo signal；2) in signal processing module of the invention, pass through clutter recognition mould
Block effectively inhibits Clutter and interference；3) the angle measurement function of system is realized in the present invention by phase method, algorithm is simply easy
In realization；4) control display module of the invention provides operation and the display interface of system for user, user-friendly；5) originally
Identity authentication function in invention control display module provides guarantee for the safety of system.
The invention will now be described in further detail with reference to the accompanying drawings.
Detailed description of the invention
Fig. 1 is that the present invention is based on the structural block diagrams of the software implementation Radar Signal Processing System of Python.
Fig. 2 is the structural block diagram of data acquisition module in the present invention.
Fig. 3 is the result block diagram of signal processing module in the present invention.
Specific embodiment
In conjunction with Fig. 1, a kind of software implementation Radar Signal Processing System based on Python of the invention, including data acquisition module
Block, modulated signal generation module, synchronization control module, usb communication module, signal processing module and control display module；
Data acquisition module for acquiring radar echo signal, and converts analog signals into digital signal；
Modulated signal generation module, for generating serrated signal, and then modulate emission signal；
Synchronization control module controls the road N in data acquisition module and adopts for generating the pulse signal synchronous with serrated signal
Collect Channel Synchronous and acquires radar echo signal；
The data of data collecting module collected are transmitted in signal processing module by usb communication module；
Signal processing module obtains target information and is transmitted for carrying out signal processing to the echo-signal of acquisition
To control display module；Signal processing includes filtering, data rearrangement, clutter recognition, moving-target detection, constant false alarm, target cohesion
And angle measurement；
Display module is controlled, for the open and close of control radar signal processing system, displaying target information, and can be into
Row user identity authentication.
Further, data acquisition module includes:
Echo reception module, for receiving the radar echo signal of detection target；
AD acquisition module realizes the synchronous acquisition of multiple signals.
As a kind of specific example, in conjunction with Fig. 2, data acquisition module includes: USB6211 collector, radar sensor K-
MC4, working method are as follows:
Generate the synchronization signal that the pulse signal that a frequency is 1kHz is generated as sawtooth wave and data acquire.Generate one
A frequency is 1kHz, and minimum voltage 1V, ceiling voltage is the serrated signal of 10V, and trigger source is the pulse signal of 1kHz, will be sawed
FM signal of the tooth wave signal as radar sensor, for modulating the transmitted waveform of radar；
USB6211 collector synchronizes acquisition, sample frequency 50kHz, triggering to 4 tunnel echo-signal of radar sensor
Source is the pulse signal of 1kHz, in the reading task of foundation, creates 4 voltages and reads virtual channel, setting voltage virtually leads to
The reading manner in road is unlimited reading, and it is 20000 that every subtask, which is arranged, to read single channel to read points, obtains a 4*20000
Type be Rarray matrix.
Further, modulated signal generation module, synchronization control module pass through USB6211 collector and realize.
As a kind of specific example, modulated signal generation module is realized by USB6211 collector specifically: USB6211
Collector generates 0~10V serrated signal, and then modulate emission signal.
As a kind of specific example, synchronization control module is realized by USB6211 collector specifically: USB6211 acquisition
Device generates the pulse signal synchronous with serrated signal, for controlling the synchronous acquisition of the road N signal.
Further, usb communication module includes:
Cache module caches the data after analog-to-digital conversion；
Transmission module establishes the acquisition virtual channel of radar echo signal, and echo-signal is transmitted to signal processing mould
Block.
Further, in conjunction with Fig. 3, signal processing module includes the filter module being sequentially connected, data rearrangement module, clutter
Suppression module, moving-target detection module, constant false alarm module, target agglomerate module, angle measurement module；Wherein,
Filter module, for being filtered to collected radar echo signal；
Data rearrangement module for filtered signal to be rearranged to the road N/2 complex signal, and is translated into 2 dimension squares
Battle array；
Clutter recognition module, for carrying out clutter recognition processing to the signal after rearrangement；
Moving-target detection module, for extracting distance, the velocity information of detection target from the signal after clutter recognition；
Constant false alarm module, false alarm rate is constant when for keeping signal detection；
Target agglomerates module, and the target information cohesion for obtaining constant false alarm resume module is point mark information；
Angle measurement module, for measuring the angle of target in the horizontal direction relative to radar.
As a kind of specific example, the working method of signal processing module is as follows:
The 4 road signals that data rearrangement module first transmits data acquisition module are divided into two-way I, Q orthogonal signalling, will
Rarray matrix is changed to the matrix Rarray1 and Rarray2 that two orders are 2 again, and each matrix size is 50*400, respectively
Store the orthogonal signal of two-way；
In clutter recognition module, in continuous wave radar, since clutter power concentrates near zero-frequency in most cases, institute
The DC component in echo-signal can be removed by the method for removing direct current, filtered out not using FIR filter in measurement range
Interior signal, and moving target indication technique is used, inhibit Clutter；
Moving-target detection module carries out two to the matrix Rarray1 and Rarray2 of the 50*400 by clutter recognition respectively
FFT is tieed up, and rejects the 400*25 point that corresponding target range is negative；
Matrix Rarray1 and Rarray2 after constant false alarm module detects moving-target use adaptive threshold, to determination
On specific point is target or clutter；
Target agglomerate module by finish constant false alarm treated in Rarray1 and Rarray2 matrix in centrum shape
Target information cohesion is a mark information；
Angle measurement module is by the phase of the target point in two data matrixes Rarray1 and Rarray2 after target agglomeration process
Position makes the difference, and obtains system angle information in the horizontal direction by the mirror angular curve of radar sensor.
Further, control display module includes:
Control module, for control data acquisition module frequency acquisition and Radar Signal Processing System overall operation when
Between；
Display module, the correlation for carrying out control module set and display the relevant information of detection target.
Authentication module, for verifying the identity of user.
To sum up, as a kind of specific example, the working method of the Radar Signal Processing System based on Python is as follows:
Authentication module authenticates user, when the identifying code of input is identical as the password of authentication module, whole system
Start, when identifying code with not being inconsistent originally, jumps out warning and prevent the operation of system.
After authentication module authenticates successfully, system brings into operation, and the pulse signal generation module in data acquisition module generates
Frequency is the pulse synchronous signal of 1kHz, and it is 1kHz's that sawtooth wave generation module, which uses synchronization signal to generate frequency as trigger source,
Sawtooth signal, the task of the newly-built acquisition virtual channel with 4 road input voltages of data acquisition module, passes through the task
The setting sampling period is 50kHz, while data acquisition module BOB(beginning of block) data acquire；
Data are sent into buffer area by data acquisition module, and the data in buffer area are through usb communication module transfer at signal
It manages in module, then signal processing is done to data, 4 road signals are become two-way I, Q complex signal by data rearrangement module, and by signal
It is rearranged to the matrix of 400*50, clutter recognition module is completed DC processing first, i.e., is averaging to every row in matrix, and will
Each data in matrix subtract its average value for corresponding to row, then are handled by Moveing target indication, remove the clutter of stationary object.
Two-dimensional FFT processing is carried out to the matrix Jing Guo clutter recognition module, and rejects the 400*25 point of left one side of something that distance is negative,
Retain the matrix of the 400*25 of right one side of something.Constant false alarm and target agglomeration process are carried out to remaining matrix, in two after processing
Find out speed and range information that transverse and longitudinal coordinate corresponding to the value of non-zero is converted into target in a data matrix, and by target point
Phase difference by comparison mirror angular curve obtain target angle information, finally by the speed of target, distance and angle information transmit
To display module.
Speed, distance and the angle module of display module detection target are shown, and are shown in map.
Method for processing radar signals based on Radar Signal Processing System, comprising the following steps:
Step 1 controls data collecting module collected radar echo signal by synchronization control module, control display module,
And convert analog signals into digital signal；
Step 2, the digital signal for obtaining step 1 pass through usb communication module transfer to signal processing module；
Step 3, signal processing module carry out data rearrangement, filtering, clutter recognition, moving-target inspection to the signal received
Survey, constant false alarm, target cohesion and angle measurement, obtain the distance, speed and angle information of target；
Step 4, by the distance, speed and angle information of the target that step 3 obtains be transmitted to control display module show
Show, completes Radar Signal Processing.
Signal processing system of the invention has the characteristics that easy to operate, real-time is good, good compatibility, highly-safe, reality
Show real-time detection and information to target to show.
Claims (9)
1. a kind of Radar Signal Processing System based on Python, which is characterized in that produced including data acquisition module, modulated signal
Raw module, synchronization control module, usb communication module, signal processing module and control display module；
The data acquisition module for acquiring radar echo signal, and converts analog signals into digital signal；
The modulated signal generation module, for generating serrated signal, and then modulate emission signal；
The synchronization control module controls the road N in data acquisition module and adopts for generating the pulse signal synchronous with serrated signal
Collect Channel Synchronous and acquires radar echo signal；
The usb communication module, the data of data collecting module collected are transmitted in signal processing module；
The signal processing module obtains target information and is transmitted for carrying out signal processing to the echo-signal of acquisition
To control display module；The signal processing includes filtering, data rearrangement, clutter recognition, moving-target detection, constant false alarm, target
Cohesion and angle measurement；
The control display module, for the open and close of control radar signal processing system, displaying target information, and can be into
Row user identity authentication.
2. the Radar Signal Processing System according to claim 1 based on Python, which is characterized in that the data acquisition
Module includes:
Echo reception module, for receiving the radar echo signal of detection target；
AD acquisition module realizes the synchronous acquisition of multiple signals.
3. the Radar Signal Processing System according to claim 2 based on Python, which is characterized in that the echo reception
Module is specially radar sensor.
4. the Radar Signal Processing System according to claim 1 based on Python, which is characterized in that the modulated signal
Generation module, synchronization control module pass through USB6211 collector and realize.
5. the Radar Signal Processing System according to claim 1 based on Python, which is characterized in that the usb communication
Module includes:
Cache module caches the data after analog-to-digital conversion；
Transmission module, establishes the acquisition virtual channel of radar echo signal, and echo-signal is transmitted to signal processing module.
6. the Radar Signal Processing System according to claim 1 based on Python, which is characterized in that the signal processing
Module includes the filter module being sequentially connected, data rearrangement module, clutter recognition module, moving-target detection module, constant false alarm mould
Block, target agglomerate module, angle measurement module；Wherein,
Filter module, for being filtered to collected radar echo signal；
Data rearrangement module for filtered signal to be rearranged to the road N/2 complex signal, and is translated into 2 dimension matrixes；
Clutter recognition module, for carrying out clutter recognition processing to the signal after rearrangement；
Moving-target detection module, for extracting distance, the velocity information of detection target from the signal after clutter recognition；
Constant false alarm module, false alarm rate is constant when for keeping signal detection；
Target agglomerates module, and the target information cohesion for obtaining constant false alarm resume module is point mark information；
Angle measurement module, for measuring the angle of target in the horizontal direction relative to radar.
7. the Radar Signal Processing System according to claim 6 based on Python, which is characterized in that the measurement target
Angle of the phase method measurement target relative to radar in the horizontal direction is specifically used relative to the angle of radar in the horizontal direction
Degree.
8. the Radar Signal Processing System according to claim 1 based on Python, which is characterized in that the control display
Module includes:
Control module, for controlling the frequency acquisition of data acquisition module and the overall operation time of Radar Signal Processing System；
Display module, the correlation for carrying out control module set and display the relevant information of detection target；
Authentication module, for verifying the identity of user.
9. the method for processing radar signals based on Radar Signal Processing System described in claim 1, which is characterized in that including following
Step:
Step 1 controls data collecting module collected radar echo signal by synchronization control module, control display module, and will
Analog signal is converted to digital signal；
Step 2, the digital signal for obtaining step 1 pass through usb communication module transfer to signal processing module；
Step 3, signal processing module are filtered the signal received, data rearrangement, clutter recognition, moving-target detect, permanent
False-alarm, target cohesion and angle measurement, obtain the distance, speed and angle information of target；
Step 4, by the distance, speed and angle information of the target that step 3 obtains be transmitted to control display module show, it is complete
At Radar Signal Processing.
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Application publication date: 20190416 |