CN109799499A - A kind of through-wall radar wall method for parameter estimation - Google Patents
A kind of through-wall radar wall method for parameter estimation Download PDFInfo
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Abstract
A kind of through-wall radar wall method for parameter estimation mainly solves the problems, such as that existing method time delay precision of estimation result is poor and causes wall parameter estimation result deviation big.The delay inequality of wall front surface and rear surface back wave is estimated using the sparse algorithm for reconstructing of orthogonal matching pursuit by seven steps, the time delay estimation value of M observation position and delay inequality theoretical value are configured to objective function, the thickness and relative dielectric constant of wall are accurately estimated by minimizing objective function, single base transceiver is being combined accurately to be estimated with the conductivity for setting lower wall rear surface and front surface reflection wave amplitude comparison wall.The round trip transmission time delay difference of wall front surface and rear surface is estimated using orthogonal matching pursuit sparse algorithm for reconstructing in wall parameter estimation procedure, the resolution ratio and accuracy of time delay estimation result under low signal-to-noise ratio are improved, to ensure that the accuracy of wall parameter Estimation.The present invention is especially suitable in the case of low signal-to-noise ratio to the parameter Estimation of thin layer wall.
Description
Technical field
The present invention relates to through-wall radar technical field more particularly to a kind of through-wall radar wall method for parameter estimation, the party
Method is mainly used in the fields such as city law enforcement, disaster assistance and military operation, especially suitable in the case of low signal-to-noise ratio to thin layer
The parameter Estimation of wall.
Background technique
The perspective that through-wall radar, which is a kind of low frequency through characteristic using electromagnetic wave, detects concealed target after wall at
As technology, in through-wall radar detection process, if wall parameter (dielectric constant, conductivity, thickness of wall body) it is known that much at
The positional shift effect as caused by wall is eliminated as algorithm (such as back-projection algorithm etc.) is easy.But in practical applications, wall
Body parameter can not know in advance, the estimated accuracy of wall parameter will cause image quality decline, target position positioning it is inclined
Difference and there is the problems such as false target.Therefore, how effectively accurate estimation is carried out to wall parameter, is current through-wall radar face
One of problem faced.
For the wall parameter Estimation of through-wall radar, has several scholars and it is studied and proposes a series of sides
Method.It is divided into two kinds from the point of view of echo utilization power, one is the letter comprising wall parameter is extracted from wall front and rear surfaces echo
Breath, determines wall parameter by correlation function formula to calculating；Another target echo data and is carried out to it after acquisition wall
Imaging positioning seeks optimal wall parameter by multiple image quality measure, positioning amendment.
Currently, wall parameter can be estimated by the method for measurement wall front and rear surfaces reflection echo delay inequality, it is existing
Delay time estimation method is generallyd use based on Fast Fourier Transform (FFT) and subspace super-resolution method, but these methods are by wall
Thickness size and measurement data signal-to-noise ratio restriction, the time delay precision of estimation result of wall front surface and rear surface reflection echo
It is poor, there is very large deviation so as to cause wall parameter estimation result.
Summary of the invention
The technical problem to be solved by the present invention is in view of the above shortcomings of the prior art, provide a kind of through-wall radar wall ginseng
Number estimation method, realization accurately estimate wall parameter in through-wall radar detection process.It is dilute using orthogonal matching pursuit
Dredge the delay inequality of algorithm for reconstructing estimation wall front surface and rear surface back wave, the time delay estimation value based on M observation position
Construct objective function with delay inequality theoretical value, by minimize objective function realize to the thickness of wall and relative dielectric constant into
Row accurately estimation, in the single base transceiver of combination with the conductivity for setting lower wall rear surface and front surface reflection wave amplitude comparison wall
Accurately estimated.
To achieve the above object, the present invention adopts the following technical scheme: a kind of through-wall radar wall method for parameter estimation, packet
Include following steps:
Step 1: the distance of through-wall radar transmitting antenna and receiving antenna to wall front surface is r, and transmitting antenna is kept
Motionless, receiving antenna is moved M times along horizontal line direction by fixed step size, M observation position is obtained, in each observation bit
Set the measurement data for recording N number of uniform frequency point, by m (m=0,1 ..., M-1) a observation position measurement data be expressed as N ×
1 dimensional vector Tm=[Tm(f0),Tm(f1),…,Tm(fN-1)]T, fn=f0+ n Δ f is a Frequency point of n-th (n=0,1 ..., N-1)
Frequency, f0For the initial frequency of Through-Wall Radar System, Δ f is frequency stepped intervals；
Step 2: dual-mode antenna being placed in free space, the corresponding each and identical dual-mode antenna spacing of step 1, record
The antenna direct wave measurement data of N number of uniform frequency point indicates a observation position measurement data of m (m=0,1 ..., M-1)
For the dimensional vector of N × 1 bm=[bm(f0),bm(f1),…,bm(fN-1)]T；
Step 3: the antenna direct-path signal in measurement data obtained using background cancel method removal step 1 obtains wall
Body echometric measurement data.A observation position wall echometric measurement data of m (m=0,1 ..., M-1) are expressed as the dimensional vector of N × 1
ym=Tm-bm.Maximum round trip propagation delay time τ is setmax, by maximum round trip propagation delay time τmaxIt is evenly dividing as Q time delay grid,
Then available Q × 1 ties up round trip propagation delay time vector τ=[τ0,τ1,…,τQ-1]T.Then a observation of m (m=0,1 ..., M-1)
Position wall echometric measurement data are expressed as the form of matrix-vector, as shown in formula (1):
ym=Asm+nm (1)
Wherein, ym=[ym(f0),ym(f1),…,ym(fN-1)]TWall echo is tieed up for m-th of observation position corresponding N × 1
Measurement data vector, sm=[sm(0),sm(1),…,sm(Q-1)]TAmplitude vector, n are tieed up for Q × 1mFor N × 1 tie up measurement noise to
Amount, A=[a0,a1,…,aQ-1] it is that N × Q ties up dictionary matrix, q (q=0,1 ..., Q-1) is arranged as shown in formula (2):
Step 4: in m (m=0,1 ..., M-1) a observation position, using the sparse algorithm for reconstructing of orthogonal matching pursuit to each
Wall echometric measurement data under a dual-mode antenna spacing carry out time delay estimation, obtain wall front surface and rear surface back wave
Time delay estimation valueSpecific steps are as follows:
1. initializing residual error rm0=ym, supported collection Ω0For empty set, the number of iterations k=0；
2. calculating residual error rmkWith indexed set, i.e. Λ corresponding to the maximum value in dictionary matrix column inner product of vectorsk=
argmaxq{um(q) }, wherein related coefficient um(q)=| < rmk,aq> |, q=0,1 ..., Q-1；
3. updating supported collection Ωk+1=Ωk∪Λk, calculate
4. updating residual error
5. the number of iterations k adds 1, as k < 2,2. return step, otherwise stops iteration；
6. obtaining the round trip transmission time delay difference estimated value of wall front surface and rear surface back wave, it is denoted as
Step 5: the theoretical delay inequality Δ t of wall front surface and rear surface back wave is calculated by geometrical modelm(d,εr),
In m-th of observation position, the theoretical delay inequality of wall front surface and rear surface back wave is expressed as follows:
Wherein 2LmIt is the distance of m-th observation position transmitting antenna and receiving antenna, c is that electromagnetic wave is propagated in a vacuum
Speed, d are thickness of wall body, εrFor the relative dielectric constant of wall.xmIndicate the position of the corresponding refraction point P of m-th of observation position
It sets, is represented by
Step 6: construction objective function f (d, εr), obtain thickness of wall body d and relative dielectric constant εrEstimated value；
Utilize the time delay estimation value for the M observation position that step 4 obtainsThe M observation position obtained with step 5
Delay inequality theoretical value Δ tm(d,εr) construction objective function it is as follows:
Minimum value by solving objective function shown in formula (5) obtains thickness of wall body d and relative dielectric constant εrEstimation
Value.
Step 7: using the conductivityσ of the solving result estimation wall of step 6, the specific method is as follows:
Transmitting-receiving is set antenna together to be placed at wall front surface r, obtains the back wave of wall front surface and rear surface
Amplitude R1And R2, therefore, the Amplitude Ratio of the back wave of wall rear surface and front surface is
Solution formula (6) obtains wall loss attenuation rate expression formula
The thickness of wall body d and relative dielectric constant ε that step 6 is estimatedrIt brings formula (8) into, acquires wall loss attenuation rate α.
Lower wall is lost for electromagnetic wave, the conductivityσ of wall can be accurately calculated using following formula
Wherein free space wave impedance η0=120 π.
The beneficial effects of adopting the technical scheme are that using orthogonal matching in wall parameter estimation procedure
It tracks sparse algorithm for reconstructing to estimate the round trip transmission time delay difference of wall front surface and rear surface back wave, significantly improve
The resolution ratio and accuracy of time delay estimation result under low signal-to-noise ratio, to ensure that the accuracy of wall parameter Estimation.This hair
The through-wall radar wall method for parameter estimation of bright offer, especially suitable for estimating in the case of low signal-to-noise ratio to the parameter of thin layer wall
Meter.
Detailed description of the invention
Fig. 1 is a kind of flow chart of through-wall radar wall method for parameter estimation provided in an embodiment of the present invention；
Fig. 2 is wall parametric inversion schematic diagram of a scenario provided in an embodiment of the present invention；
Fig. 3 is provided in an embodiment of the present invention using through-wall radar wall method for parameter estimation progress wall ginseng of the invention
The result figure of number estimation.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Embodiment
As shown in Figure 1, a kind of through-wall radar wall method for parameter estimation, this method are realized by following step:
Step 1: the distance of through-wall radar transmitting antenna and receiving antenna to wall front surface is r, and transmitting antenna is kept
Motionless, receiving antenna is moved M times along horizontal line direction by fixed step size, M observation position is obtained, in each observation bit
Set the measurement data for recording N number of uniform frequency point, by m (m=0,1 ..., M-1) a observation position measurement data be expressed as N ×
1 dimensional vector Tm=[Tm(f0),Tm(f1),…,Tm(fN-1)]T, fn=f0+ n Δ f is a Frequency point of n-th (n=0,1 ..., N-1)
Frequency, f0For the initial frequency of Through-Wall Radar System, Δ f is frequency stepped intervals；
Step 2: dual-mode antenna being placed in free space, the corresponding each and identical dual-mode antenna spacing of step 1, record
The antenna direct wave measurement data of N number of uniform frequency point indicates a observation position measurement data of m (m=0,1 ..., M-1)
For the dimensional vector of N × 1 bm=[bm(f0),bm(f1),…,bm(fN-1)]T；
Step 3: the antenna direct-path signal in measurement data obtained using background cancel method removal step 1 obtains wall
Body echometric measurement data.A observation position wall echometric measurement data of m (m=0,1 ..., M-1) are expressed as the dimensional vector of N × 1
ym=Tm-bm.Maximum round trip propagation delay time τ is setmax, by maximum round trip propagation delay time τmaxIt is evenly dividing as Q time delay grid,
Then available Q × 1 ties up round trip propagation delay time vector τ=[τ0,τ1,…,τQ-1]T.Then a observation of m (m=0,1 ..., M-1)
Position wall echometric measurement data are expressed as the form of matrix-vector, as shown in formula (1):
ym=Asm+nm (9)
Wherein, ym=[ym(f0),ym(f1),…,ym(fN-1)]TWall echo is tieed up for m-th of observation position corresponding N × 1
Measurement data vector, sm=[sm(0),sm(1),…,sm(Q-1)]TAmplitude vector, n are tieed up for Q × 1mFor N × 1 tie up measurement noise to
Amount, A=[a0,a1,…,aQ-1] it is that N × Q ties up dictionary matrix, q (q=0,1 ..., Q-1) is arranged as shown in formula (2):
Step 4: in m (m=0,1 ..., M-1) a observation position, using the sparse algorithm for reconstructing of orthogonal matching pursuit to each
Wall echometric measurement data under a dual-mode antenna spacing carry out time delay estimation, obtain wall front surface and rear surface back wave
Time delay estimation valueSpecific steps are as follows:
1. initializing residual error rm0=ym, supported collection Ω0For empty set, the number of iterations k=0；
2. calculating residual error rmkWith indexed set, i.e. Λ corresponding to the maximum value in dictionary matrix column inner product of vectorsk=
argmaxq{um(q) }, wherein related coefficient um(q)=| < rmk,aq> |, q=0,1 ..., Q-1；
3. updating supported collection Ωk+1=Ωk∪Λk, calculate
4. updating residual error
5. the number of iterations k adds 1, as k < 2,2. return step, otherwise stops iteration；
6. obtaining the round trip transmission time delay difference estimated value of wall front surface and rear surface back wave, it is denoted as
Step 5: the theoretical delay inequality Δ t of wall front surface and rear surface back wave is calculated by geometrical modelm(d,εr),
In m-th of observation position, the theoretical delay inequality of wall front surface and rear surface back wave is expressed as follows:
Wherein 2LmIt is the distance of m-th observation position transmitting antenna and receiving antenna, c is that electromagnetic wave is propagated in a vacuum
Speed, d are thickness of wall body, εrFor the relative dielectric constant of wall.xmIndicate the position of the corresponding refraction point P of m-th of observation position
It sets, is represented by
Step 6: construction objective function f (d, εr), obtain thickness of wall body d and relative dielectric constant εrEstimated value；
Utilize the time delay estimation value for the M observation position that step 4 obtainsThe M observation position obtained with step 5
Delay inequality theoretical value Δ tm(d,εr) construction objective function it is as follows:
Minimum value by solving objective function shown in formula (5) obtains thickness of wall body d and relative dielectric constant εrEstimation
Value.
Step 7: using the conductivityσ of the solving result estimation wall of step 6, the specific method is as follows:
Transmitting-receiving is set antenna together to be placed at wall front surface r, obtains the back wave of wall front surface and rear surface
Amplitude R1And R2, therefore, the Amplitude Ratio of the back wave of wall rear surface and front surface is
Solution formula (6) obtains wall loss attenuation rate expression formula
The thickness of wall body d and relative dielectric constant ε that step 6 is estimatedrIt brings formula (8) into, acquires wall loss attenuation rate α.
Lower wall is lost for electromagnetic wave, the conductivityσ of wall can be accurately calculated using following formula
Wherein free space wave impedance η0=120 π.
In the present embodiment, using simulation model to being 6 with a thickness of 0.15m, relative dielectric constant and conductivity is 0.012S/
The wall of m carries out parametric inversion.As shown in Fig. 2 (a), transmitting antenna and receiving antenna are placed in parallel at a distance of 0.3 meter apart from wall
At 0.45 meter of body, transmitting antenna is motionless, and receiving antenna moves 9 times by 0.1 meter of step-length along orientation, is corresponding with 10 observation bits
It sets, is 2GHz in each observation position driving source centre frequency, bandwidth 2GHz, step frequency 10MHz are corresponding with 201
Working frequency point.When thickness of wall body and relative dielectric constant are estimated, the measurement number of 10 observation positions and 201 Frequency points is chosen
According to sparse reconstruction is used for, during carrying out time delay estimation using the sparse algorithm for reconstructing of orthogonal matching pursuit, it is arranged maximum double
Journey propagation delay time is 5ns, time interval 0.0025ns, 201 × 2000 dimension dictionary matrix of construction.As shown in Fig. 2 (b), transmitting-receiving
It is placed at 0.45 meter of wall with antenna is set, measures wall front surface and rear surface reflex amplitude R1And R2, utilize wall
The estimated value of thickness and relative dielectric constant calculates the conductivity of wall.In the present embodiment, through-wall radar wall parameter
Estimated result is as shown in figure 3, display wall when signal-to-noise ratio is respectively 5dB, 10dB, 15dB, 20dB, 25dB, 30dB is joined in figure
The relative error of number (thickness, relative dielectric constant and conductivity) estimated value, it can be seen that the present invention can be under low signal-to-noise ratio
Thin layer wall parameter accurately estimated.
Using through-wall radar wall method for parameter estimation of the invention, meet significantly in wall parameter estimation procedure to height
The demand of resolution ratio time delay estimation, while the influence of noise can be preferably reduced, improve the accuracy of wall parameter Estimation.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and the claims in the present invention are limited
Fixed range.
Claims (3)
1. a kind of through-wall radar wall method for parameter estimation, it is characterised in that: this method is sparse heavy using orthogonal matching pursuit
The delay inequality for building algorithm estimation wall front surface and rear surface back wave, time delay estimation value based on M observation position and when
Prolong poor theoretical value construction objective function, realizes that thickness and the relative dielectric constant progress to wall are quasi- by minimizing objective function
True estimation is combining single base transceiver to carry out with the conductivity for setting lower wall rear surface and front surface reflection wave amplitude comparison wall
Accurate estimation is simultaneously realized by specific steps.
2. a kind of through-wall radar wall method for parameter estimation as described in claim 1, it is characterised in that this method is under
State step realization:
Step 1: the distance of through-wall radar transmitting antenna and receiving antenna to wall front surface is r, and transmitting antenna remains stationary,
Receiving antenna is moved M times along horizontal line direction by fixed step size, and M observation position is obtained, and is remembered in each observation position
M (m=0,1 ..., M-1) a observation position measurement data is expressed as N × 1 and tieed up by the measurement data for recording N number of uniform frequency point
Vector Tm=[Tm(f0),Tm(f1),…,Tm(fN-1)]T, fn=f0+ n Δ f is the frequency of a Frequency point of n-th (n=0,1 ..., N-1)
Rate, f0For the initial frequency of Through-Wall Radar System, Δ f is frequency stepped intervals；
Step 2: dual-mode antenna being placed in free space, the corresponding each and identical dual-mode antenna spacing of step 1 records N number of
M (m=0,1 ..., M-1) a observation position measurement data is expressed as N by the antenna direct wave measurement data of uniform frequency point
× 1 dimensional vector bm=[bm(f0),bm(f1),…,bm(fN-1)]T；
Step 3: the antenna direct-path signal in measurement data obtained using background cancel method removal step 1 is obtained wall and returned
A observation position wall echometric measurement data of m (m=0,1 ..., M-1) are expressed as the dimensional vector of N × 1 y by wave measurement datam=
Tm-bm, maximum round trip propagation delay time τ is setmax, by maximum round trip propagation delay time τmaxIt is evenly dividing as Q time delay grid, then may be used
Round trip propagation delay time vector τ=[τ is tieed up to obtain Q × 10,τ1,…,τQ-1]T, then m (m=0,1 ..., M-1) a observation position
Wall echometric measurement data are expressed as the form of matrix-vector, as shown in formula (1):
ym=Asm+nm (1)
Wherein, ym=[ym(f0),ym(f1),…,ym(fN-1)]TWall echometric measurement is tieed up for m-th of observation position corresponding N × 1
Data vector, fn=f0+ n Δ f is the frequency of n-th (n=0,1 ..., N-1) a Frequency point, f0For the starting of Through-Wall Radar System
Frequency, Δ f are step frequency, sm=[sm(0),sm(1),…,sm(Q-1)]TAmplitude vector, n are tieed up for Q × 1mIt ties up and measures for N × 1
Noise vector, A=[a0,a1,…,aQ-1] it is that N × Q ties up dictionary matrix, q (q=0,1 ..., Q-1) is arranged as shown in formula (2):
Step 4: in m (m=0,1 ..., M-1) a observation position, using the sparse algorithm for reconstructing of orthogonal matching pursuit to each receipts
The wall echometric measurement data sent out under antenna spacing carry out time delay estimation, obtain the time delay of wall front surface and rear surface back wave
Poor estimated valueSpecific steps are as follows:
1. initializing residual error rm0=ym, supported collection Ω0For empty set, the number of iterations k=0；
2. calculating residual error rmkWith indexed set, i.e. Λ corresponding to the maximum value in dictionary matrix column inner product of vectorsk=argmaxq
{um(q) }, wherein related coefficient um(q)=| < rmk,aq> |, q=0,1 ..., Q-1；
3. updating supported collection Ωk+1=Ωk∪Λk, calculate
4. updating residual error
5. the number of iterations k adds 1, as k < 2,2. return step, otherwise stops iteration；
6. obtaining the round trip transmission time delay difference estimated value of wall front surface and rear surface back wave, it is denoted as
Step 5: the theoretical delay inequality Δ t of wall front surface and rear surface back wave is calculated by geometrical modelm(d,εr), in m
The theoretical delay inequality of a observation position, wall front surface and rear surface back wave is expressed as follows:
Wherein 2LmIt is the distance of m-th observation position transmitting antenna and receiving antenna, c is electromagnetic wave spread speed in a vacuum, d
For thickness of wall body, εrFor the relative dielectric constant of wall, xmThe position for indicating the corresponding refraction point P of m-th of observation position, can table
It is shown as
Step 6: construction objective function f (d, εr), obtain thickness of wall body d and relative dielectric constant εrEstimated value；
Utilize the time delay estimation value for the M observation position that step 4 obtainsThe time delay of the M observation position obtained with step 5
Poor theoretical value Δ tm(d,εr) construction objective function it is as follows:
Minimum value by solving objective function shown in formula (5) obtains thickness of wall body d and relative dielectric constant εrEstimated value；
Step 7: using the conductivityσ of the solving result estimation wall of step 6, the specific method is as follows:
Transmitting-receiving is set antenna together to be placed at wall front surface r, obtains the amplitude R of wall front surface and rear surface back wave1
And R2, therefore, the Amplitude Ratio of the back wave of wall rear surface and front surface is
Solution formula (6) obtains wall loss attenuation rate expression formula
The thickness of wall body d and relative dielectric constant ε that step 6 is estimatedrIt brings formula (8) into, wall loss attenuation rate α is acquired, for electricity
Lower wall is lost in magnetic wave, and the conductivityσ of wall can be accurately calculated using following formula
Wherein free space wave impedance η0=120 π.
3. a kind of through-wall radar wall method for parameter estimation as claimed in claim 2, it is characterised in that: utilize simulation model pair
With a thickness of 0.15m, relative dielectric constant be 6 and conductivity is 0.012S/m wall carries out parametric inversion, transmitting antenna and connects
It receives antenna to be placed in parallel at a distance of 0.3 meter at 0.45 meter of wall, transmitting antenna is motionless, and receiving antenna presses 0.1 meter of edge of step-length
Orientation is 9 times mobile, is corresponding with 10 observation positions, is 2GHz in each observation position driving source centre frequency, bandwidth is
2GHz, step frequency 10MHz are corresponding with 201 working frequency points and choose when thickness of wall body and relative dielectric constant are estimated
The measurement data of 10 observation positions and 201 Frequency points is used for sparse reconstruction, calculates using the sparse reconstruction of orthogonal matching pursuit
During method carries out time delay estimation, it is 5ns, time interval 0.0025ns that maximum round trip propagation delay time, which is arranged, construction 201 ×
2000 dimension dictionary matrixes, transmitting-receiving are set antenna together and are placed at 0.45 meter of wall, measure wall front surface and rear surface is reversed
The echo amplitude R of scattering1And R2, it is calculated using conductivity of the estimated value of thickness of wall body and relative dielectric constant to wall,
Through-wall radar wall parameter estimation result, display wall when signal-to-noise ratio is respectively 5dB, 10dB, 15dB, 20dB, 25dB, 30dB
Parameter, the relative error of thickness, relative dielectric constant and conductivity estimated value.
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