CN110361723A - The time-frequency characteristics extracting method of Doppler radar motion target - Google Patents
The time-frequency characteristics extracting method of Doppler radar motion target Download PDFInfo
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- CN110361723A CN110361723A CN201910669096.3A CN201910669096A CN110361723A CN 110361723 A CN110361723 A CN 110361723A CN 201910669096 A CN201910669096 A CN 201910669096A CN 110361723 A CN110361723 A CN 110361723A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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Abstract
The present invention discloses a kind of time-frequency characteristics extracting method of Doppler radar motion target, and this method includes with the signal for the N number of discrete point for presetting the Doppler radar echo signal of sample rate continuous acquisition moving target；All monocyclic class cosine wave signals are extracted from the discrete signal of acquisition；The frequency and power for calculating each class cosine wave signal of extraction, using the frequency of each class cosine wave signal crest location and power as a feature vector of moving target time-frequency domain.By using above scheme, the kinetic characteristic of moving target can be obtained rapidly, and step is simple, and without carrying out complicated Fourier transform, operand is small.
Description
Technical field
The present invention relates to Radar Technology field, in particular to a kind of time-frequency characteristics extraction side of Doppler radar motion target
Method.
Background technique
Currently, Doppler radar determines Doppler frequency by the reflection echo of moving target and the difference on the frequency of local oscillator
Fd, there are relationships: fd=2v/ λ with target speed v and carrier wavelength lambda, therefore Doppler frequency is able to reflect target
Motion feature.By carrying out fast Fourier FFT transform to time-limited Doppler signal sequence, the frequency of echo can be obtained
Spectrum, each frequency component and power comprising signal, but FFT can not provide signal in the Joint Distribution feelings of time-domain and frequency domain
Condition can not learn the local motion feature of target.
It learns the local motion feature of target, need to just obtain the situation of change of velocity to moving target and power.By in short-term
The Time-Frequency Analysis Methods such as Fourier transformation (STFT), wavelet transformation (WT) can describe frequency and power changes with time, but also
It needs that noise could be excluded and obtained such as constant false alarm rate (CFAR) with certain signal detecting method on time-frequency domain
Effective motion information.It integrates, there are redundancy height, operand for the complete signal process chain of moving target feature extraction
Greatly, many and diverse disadvantage of step, this proposes higher hardware requirement to real-time system.
Summary of the invention
The embodiment of the present application solves existing by providing a kind of time-frequency characteristics extracting method of Doppler radar motion target
There are in technology in doppler radar signal time-frequency characteristics extract operand big, many and diverse problem of step.
The embodiment of the present application provides a kind of time-frequency characteristics extracting method of Doppler radar motion target, Doppler's thunder
Up to moving target time-frequency characteristics extracting method the following steps are included:
To preset the signal of N number of discrete point of the Doppler radar echo signal of sample rate continuous acquisition moving target；
All monocyclic class cosine wave signals are extracted from the discrete signal of acquisition；
The frequency and power for calculating each class cosine wave signal of extraction, by each class cosine wave signal wave
A feature vector of the frequency and power of peak position as moving target time-frequency domain.
Optionally, the step of extracting all monocyclic class cosine wave signals in the discrete signal from acquisition packet
It includes:
Each monocyclic class cosine wave signal is successively extracted according to the sequencing that discrete signal acquires；
Judge whether each class cosine wave signal is noise signal；
The class cosine wave signal that will not belong to noise signal extracts, and the class cosine wave signal for belonging to noise signal is rejected.
Optionally, the sequencing according to discrete signal acquisition successively extracts each monocyclic class cosine wave and believes
Number the step of include:
Since first discrete point signal, first trough point of current class cosine wave signal is successively extracted, wherein
The amplitude of first trough point is less than the amplitude of its previous discrete point signal and the amplitude of the latter discrete point signal；
Since first trough point of current class cosine wave signal, wave crest point and second trough are successively extracted
Point, wherein the amplitude of the wave crest point is greater than the amplitude of its previous discrete point signal and the amplitude of the latter discrete point signal,
The amplitude of second trough point is less than the amplitude of its previous discrete point signal and the amplitude of the latter discrete point signal；
First trough of the second trough point of current class cosine wave signal as next class cosine wave signal
Point.
Optionally, described to judge that the step of whether each class cosine wave signal is noise signal includes:
Judge the amplitude of the wave crest point of each class cosine wave signal whether less than the first preset value；
If so, judging that the class cosine wave signal is noise signal；
If it is not, then judging that the class cosine wave signal is not noise signal.
It is optionally, described that the step of whether each class cosine wave signal is noise signal judged further include:
Judge whether relative peaks point is substantially right for first trough point of each class cosine wave signal and second trough point
Claim；If so, judging that the class cosine wave signal is not noise signal；If it is not, then judging that the class cosine wave signal is noise
Signal.
Optionally, judge first trough point of each class cosine wave signal and second trough point whether relative peaks point
Substantially symmetric step includes:
First trough point of each class cosine wave signal is obtained to the time interval between the wave crest point, with
And the wave crest point is to the time interval between second trough point；
The difference of two time intervals is judged whether less than the second preset value, if so, the class cosine wave signal first
Trough point and second trough point relative peaks point are substantially symmetric；If it is not, then first trough point of the class cosine wave signal and
Second trough point relative peaks point is asymmetric.
Optionally, described to judge first trough point of each class cosine wave signal and second trough point whether with respect to wave
The substantially symmetric step of peak dot further include:
Obtain the first amplitude between first trough point of each class cosine wave signal and second trough point
The amplitude of difference, the average amplitude of first trough point and second trough point and the wave crest point with it is described average
The second amplitude difference between amplitude, and calculate the ratio between first amplitude difference and the second amplitude difference；
Judge whether the ratio is less than third preset value, if so, first trough point of the class cosine wave signal and
Second trough point relative peaks point is substantially symmetric；If it is not, then first trough point of the class cosine wave signal and second wave
Valley point relative peaks point is asymmetric.
It is optionally, described that the step of whether each class cosine wave signal is noise signal judged further include:
Judge each class cosine wave signal with standard cosine wave signal with the presence or absence of correlation；If so, described in judgement
Class cosine wave signal is not noise signal；If it is not, then judging that the class cosine wave signal is noise signal.
Optionally, the step of each class cosine wave signal of judgement whether there is correlation with standard cosine wave signal
Include:
Construct and period identical standard cosine wave signal sequence identical as the discrete point number of each class cosine wave signal
Column；
It calculates each discrete point amplitude of the class cosine wave signal and the corresponding standard cosine wave signal sequence is each discrete
Related coefficient between point amplitude；
Judge whether the related coefficient is greater than the 4th preset value, if so, the class cosine wave signal and standard cosine
There are correlations for wave signal, if it is not, then the class cosine wave signal is uncorrelated to standard cosine wave signal.
Optionally, the step of frequency and power of each class cosine wave signal for calculating extraction includes:
The number for obtaining the discrete point that each class cosine wave signal is included is calculated each described according to following formula
Class cosine wave signal frequency:
Wherein, f is the frequency of each class cosine wave signal, fsFor the default sample rate of signal acquisition, M
By the number for the discrete point signal that each class cosine wave signal includes；
The width for the discrete point that the average value and each described class cosine wave signal for obtaining all discrete point amplitudes are included
Value, is calculated each class cosine wave signal power according to following formula:
Wherein, P is the power of each class cosine wave signal, y [n1]
(n1=1,2,3...M) set of the amplitude for the discrete point for including by each class cosine wave signal, ave are all discrete points
The average value of amplitude.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
By using above scheme, by may make up in the discrete signal sampled each time monocycle class cosine wave property from
Scatterplot all extracts, then by frequency, the power calculation of the discrete point of the wave crest position of each class cosine wave signal
Out, as a feature vector at moving target moment corresponding to the discrete point of time-frequency domain medium wave peak position,
This feature vector just represents a movement of moving target, and all monocycle class cosine waves are extracted, and obtains all
Feature vector, be equivalent to it can be concluded that moving target is sampling the motion conditions in duration corresponding to N number of discrete point.According to
The above method continues sampling next time, finishes, then may be used until all analyzing all doppler echo signals of moving target
Depict the everything feature of moving target.It is extracted by the time-frequency characteristics of the above method, can obtain moving target rapidly
Kinetic characteristic, step is simple, and without carrying out complicated Fourier transform, operand is small.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
The step of Fig. 1 is an embodiment of the time-frequency characteristics extracting method of Doppler radar motion target of the present invention is illustrated
Figure；
The step of Fig. 2 is another embodiment of the time-frequency characteristics extracting method of Doppler radar motion target of the present invention is illustrated
Figure；
Fig. 3 is the specific steps schematic diagram of step S210 in Fig. 2.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It is to be appreciated that if the directional instruction (such as up, down, left, right, before and after ...) of institute is only in the embodiment of the present invention
For explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if
When the particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In addition, if the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and should not be understood as
Its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " first ",
The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the technical side between each embodiment
Case can be combined with each other, but must be based on can be realized by those of ordinary skill in the art, when the combination of technical solution
Conflicting or cannot achieve when occur will be understood that the combination of this technical solution is not present, also not the present invention claims guarantor
Within the scope of shield.
One embodiment
Referring to Fig.1, the embodiment of the invention provides a kind of time-frequency characteristics extracting methods of Doppler radar motion target, should
The time-frequency characteristics extracting method of Doppler radar motion target the following steps are included:
Step S100: N number of discrete point to preset the Doppler radar echo signal of sample rate continuous acquisition moving target
Signal；
Step S200: all monocyclic class cosine wave signals are extracted from the discrete signal of acquisition；
Step S300: the frequency and power of each class cosine wave signal of extraction are calculated, more than each described class
A feature vector of the frequency and power of string wave signal wave crest position as moving target time-frequency domain.
In order to understand the motion conditions of moving target, radar signal is emitted to moving target by radar generating device, is somebody's turn to do
Radar signal encounters moving target and is reflected, and Doppler effect occurs for the radar signal of reflection, forms Doppler radar echo and returns
It is back to radar reception device；By carrying out above-mentioned steps processing to received Doppler radar echo signal, it can be deduced that movement
Target frequency, power time-frequency domain characteristic.
In the present embodiment, the sampling predeterminated frequency of the Doppler radar echo signal of moving target is set as fs, then every time
The sequence that the amplitude of N number of discrete point signal of acquisition is constituted is set as x [n1], wherein n1=1,2,3...N；N number of discrete point letter
Number the sequence that is constituted of sampling time sequence position be set as x [n2], wherein n2=1,2,3...N.According to x [n1]、x[n2] in it is each
The characteristic of sequence unit carries out classification extraction to each discrete point, to obtain class cosine wave signal.Certainly, can also from acquisition from
All monocyclic sinusoidal wave signals are extracted in scattered signal to be handled, and extract the process of sinusoidal wave signal referring to this reality
The extraction class cosine wave process for applying example carries out, and will not repeat them here.Monocycle class cosine wave will be may make up in the discrete signal
The discrete point of characteristic all extracts, then by the frequency of the discrete point of the wave crest position of each class cosine wave signal,
Power calculation comes out, one as moving target moment corresponding to the discrete point of time-frequency domain medium wave peak position
Feature vector, this feature vector just represent a movement of moving target, all monocycle class cosine waves are extracted, and
It obtains all feature vectors, is equivalent to it can be concluded that moving target is sampling the movement in duration corresponding to N number of discrete point
Situation.According to the method described above, continue sampling next time, all analyzed until by all doppler echo signals of moving target
It finishes, then can depict the everything feature of moving target.It is extracted, can be obtained rapidly by the time-frequency characteristics of the above method
The kinetic characteristic of moving target, step is simple, and without carrying out complicated Fourier transform, operand is small.
Further, it is specifically included referring to Fig. 2, above-mentioned steps S200:
Step S210: each monocyclic class cosine wave is successively extracted according to the sequencing that discrete signal acquires and is believed
Number；
Step S220: judge whether each class cosine wave signal is noise signal；
Step S230: the class cosine wave signal that will not belong to noise signal extracts, and will belong to the class cosine wave of noise signal
Signal is rejected.
In step S210, it is assumed that the monocyclic class cosine wave signal of one of extraction is discrete by M in N number of discrete point
Point constitutes (M≤N), then the sequence that the amplitude of the M discrete point signal is constituted is set as y [n1], wherein n1=1,2,3...M；M
The sequence that the sampling time sequence position of a discrete point signal is constituted is set as y [n2], wherein n2=1,2,3...M.
Specifically, following procedure is specifically included referring to Fig. 3, step S210:
Step S211: since first discrete point signal, first wave of current class cosine wave signal is successively extracted
Valley point, wherein the amplitude of first trough point is less than the amplitude and the latter discrete point letter of its previous discrete point signal
Number amplitude；
According to the feature of cosine wave signal, trough point is sequence x [n1] in amplitude become becoming larger from gradually becoming smaller
Inflection point, and wave crest point be x [n1] in amplitude become gradually smaller inflection point from becoming larger, can be suitable according to this feature
It is secondary from x [n1] in each trough point and wave crest point are extracted.
In the present embodiment, each class cosine wave signal at least by two neighboring trough point and be clipped in two trough points it
Between a wave crest point constitute, between certain two troughs point and wave crest point may exist several discrete points.
It is illustrated for extracting first class cosine wave signal, the extraction process of subsequent class cosine wave signal is joined
According to the extraction process of first class cosine wave signal, will not repeat them here.Firstly, successively being sought since first discrete point
It looks for, when the amplitude for first discrete point occur is from gradually becoming smaller the inflection point for becoming becoming larger, then the inflection point is first class
The amplitude that first trough point of cosine wave signal, i.e. first trough point are is less than the amplitude of its previous discrete point signal
With the amplitude of the latter discrete point signal.
Then, S212 is entered step, since first trough point of current class cosine wave signal, successively extracts wave
Peak dot and second trough point, wherein the amplitude of the wave crest point is greater than the amplitude and the latter of its previous discrete point signal
The amplitude of discrete point signal, the amplitude of second trough point be less than its previous discrete point signal amplitude and the latter from
The amplitude of scatterplot signal.
Referring to aforementioned, since first class cosine wave, first trough point, when the amplitude for first discrete point occur by
It becomes larger when becoming gradually smaller inflection point, then the inflection point is first wave crest point of first class cosine wave signal；When again
Secondary when there is the amplitude of discrete point from gradually becoming smaller the inflection point for becoming becoming larger, then the inflection point is first class cosine wave signal
Second trough point.Then (including two troughs point exists all discrete points between first trough point and second trough point
It is interior) constitute first class cosine wave signal, i.e., first class cosine wave, which extracts, completes.
At this point, entering step S213, second trough point of current class cosine wave signal is as next class cosine
First trough point of wave signal.
According to aforementioned, second trough point of first class cosine wave signal is then used as the of second class cosine wave signal
One trough point finds wave crest point and second trough point according to abovementioned steps again, until by all class cosine wave signals
All extract.So far, the process of the extraction class cosine wave signal of step S210 is completed.
In step S220, since the moving target of extraction is acted, there may be noise jammings, then need to carry out noise judgement,
Judge each y [n1] and y [n2] in each sequence unit whether meet preset condition, that is, judge extract each class cosine wave
Signal is noise signal.If y [n1] and y [n2] in each sequence unit be to meet preset condition, then extracted correspondence
Class cosine wave signal be not noise signal, if y [n1] and y [n2] in each sequence unit exist do not meet preset condition
Situation, then extracted corresponding class cosine wave signal is noise signal.
Specifically, judge the y [n1] and y [n2] represented by class cosine wave signal whether be noise signal specifically include with
Lower three aspects:
One, judge the amplitude of the wave crest point of each class cosine wave signal whether less than the first preset value, if so,
Judge that the class cosine wave signal is noise signal；If it is not, then judging that the class cosine wave signal is not noise signal.
In the present embodiment, the intensity of usual noise signal is not strong, by judging each y [n1] in wave crest point position sequence
Whether list position is less than the first preset value, if less than the first preset value, then it is assumed that such cosine wave signal is noise signal, when big
When the first preset value, then it is assumed that such cosine wave signal is not noise signal.In the present embodiment, the first preset value
Size can be determined according to the intensity of entire Doppler radar echo signal.
Two, judge first trough point of each class cosine wave signal and second trough point whether relative peaks point substantially
Symmetrically；If so, judging that the class cosine wave signal is not noise signal；If it is not, then judging that the class cosine wave signal is to make an uproar
Acoustical signal.
The cosine wave signal of standard in one cycle, positional symmetry of the position of 2 trough points relative to wave crest point, because
This, if the class cosine wave signal extracted is noise signal, there may be y [n1] amplitude situation of change in sequence with it is remaining
String wave signal is similar, but the practical shape differences constituted with cosine wave signal are very big, therefore, by judging each class cosine
Whether relative peaks point is substantially symmetric judges that such cosine wave is for first trough point of wave signal and second trough point
Noise signal.
In the present embodiment, judge whether first trough point of each class cosine wave signal and second trough point are opposite
Substantially symmetric wave crest point includes following two aspect:
(1), first determine whether the position of 2 trough points is substantially symmetric relative to wave crest point, comprising the following steps:
First trough point of each class cosine wave signal is obtained to the time interval between the wave crest point, with
And the wave crest point is to the time interval between second trough point；
First trough point to the time interval between the wave crest point can be by between first wave valley point and wave crest point
Discrete point number obtains, in the present embodiment, according to sampling predeterminated frequency it is found that between every two adjacent discrete point when
Between between be divided intoAssuming that having a discrete point, then first trough point and wave crest point between first trough point and wave crest point
Between time interval beSame method, second trough point to time interval between the wave crest point can lead to
The discrete point number crossed between the second trough point and wave crest point obtains, in this example, it is assumed that second trough point and wave
There is b discrete point, then the time interval between second trough point and wave crest point is between peak dot
In the present embodiment, the difference of two time intervals isWhether the difference by judging the time interval is small
Judge whether first trough point of class cosine wave signal and second trough point relative peaks point are substantially right in the second preset value
Claim, when the time interval difference is less than the second preset value, then judges first trough point of such cosine wave signal and second
The position of trough point relative peaks point is substantially symmetric；When the time interval difference be greater than or equal to the second preset value when, then such
First trough point of cosine wave signal and second trough point relative peaks point are asymmetric.
According to the expression formula of above-mentioned time interval difference it is found that actually judging discrete between 2 trough points and wave crest point
The number difference of point judges whether such cosine wave signal is substantially symmetric, in the present embodiment, the second default settings range
Typically less than or equal to 5/fs。
(2), judging the amplitudes of 2 trough points, whether relative peaks point is substantially symmetric, comprising the following steps: obtains each
First amplitude difference, first trough between the first trough point and second trough point of the class cosine wave signal
The second difference in magnitude between the amplitude and the average amplitude of the average amplitude and the wave crest point of point and second trough point
Value, and calculate the ratio between first amplitude difference and the second amplitude difference；
In this example, it is assumed that the amplitude of first trough point is x, the amplitude of wave crest point is y, second trough point
Amplitude is z.Then the first amplitude difference between first trough point and second trough point is | x-z |, first trough
It puts and the average amplitude of second trough point isThe second amplitude difference between the amplitude and average amplitude of wave crest point isThen the ratio between first amplitude difference and the second amplitude difference isThe ratio indicates two troughs
Difference in magnitude difference accounts for the ratio of entire class cosine wave waveforms amplitude difference.Through this ratio compared with third preset value, when than
When value is less than third preset value, then illustrate the amplitude of first trough point of cosine wave signal and second trough point relative peaks point
It is substantially symmetric；When ratio is greater than or equal to third preset value, first trough point of the class cosine wave signal and second wave
Valley point relative peaks point is asymmetric.In the present embodiment, third values are preferably less than or equal to 0.4.
Three, judge that each class cosine wave signal whether there is correlation with standard cosine wave signal, if so, judging institute
Stating class cosine wave signal is not noise signal；If it is not, then judging that the class cosine wave signal is noise signal.
It is mainly used for judging the general shape of all kinds of cosine waves by first aspect and second aspect judgement, passes through correlation
It can be further by the accurate shape of all kinds of cosine waves to determine whether being noise signal.
In the present embodiment, judge that each class cosine wave signal is specific with the presence or absence of correlation with standard cosine wave signal
Include:
Firstly, constructing and period identical as the discrete point number of each class cosine wave signal identical standard cosine wave letter
Number sequence.In the present embodiment, the sequence that the amplitude of each discrete point of standard cosine wave signal sequence is constituted is set asWherein n1=1,2,3...M.The standard cosine wave signal is the monocycle, and the period is from one
Trough starts, and next trough terminates.Each discrete point, which was equivalent within the 2 π period of standard cosine wave signal, averagely to be adopted provided with M
Sampling point.
It calculates each discrete point amplitude of the class cosine wave signal and the corresponding standard cosine wave signal sequence is each discrete
Related coefficient between point amplitude；In the present embodiment, related coefficient is set as corr.
The related coefficient of two sequences can be calculated according to the calculation formula of related coefficient:
Wherein, cov (y [n1]-z[n1]) indicate class cosine wave signal discrete point
The covariance of amplitude sequence and the amplitude sequence of each discrete point of standard cosine wave signal sequence,Indicate class cosine wave signal
Discrete point amplitude sequence standard deviation,The standard deviation of expression standard cosine wave signal series of discrete point amplitude sequence.
In the present embodiment, by judging that the size of the related coefficient and the 4th preset value is to judge class cosine wave signal
It is no that there are correlations with standard cosine wave signal then judges such cosine wave signal when related coefficient is greater than four preset values
There are correlations with standard cosine wave signal；When related coefficient is less than or equal to four preset values, then judge that class cosine wave is believed
It is number uncorrelated to standard cosine wave signal.In the present embodiment, the 4th preset value is ranged preferably from more than or equal to 0.8.
It can be obtained according to above-mentioned analysis, crest value is lower if it exists or two trough relative peaks symmetry difference or class cosine
When wave signal and the class cosine wave signal of the correlation difference of standard cosine wave signal, then it is assumed that such cosine wave signal is noise letter
Number.
Therefore, after noise signal and non-noise signal distinguishing coming according to above-mentioned steps, S230 is entered step, will be corresponded to
For noise signal class cosine wave signal reject, leave behind meet the class cosine wave signal for being not belonging to noise signal carry out feature to
Amount calculates.The accuracy of the characteristic vector pickup of moving target time-frequency domain is improved, is also the moving situation of moving target
Analysis provides reliable data source.
Further, in some embodiments, in step 300, each class cosine wave signal of extraction is calculated
The step of frequency and power includes:
It calculates frequency values: the number for the discrete point that each class cosine wave signal is included is obtained, according to following formula meter
Calculation obtains each class cosine wave signal frequency:
Wherein, f is the frequency of each class cosine wave signal, fsFor the predeterminated frequency of signal acquisition, M is
The number for the discrete point signal that each class cosine wave signal is included；
Since each class cosine wave signal is monocycle signal, then it can show that class cosine wave is believed according to preset sample frequency
Time needed for number monocycle is(sampling interval between M discrete point is M-1, each interval when it is a length of), then the frequency of class cosine wave and period, inverse calculated frequency f each other.
Calculated power value: the average value and each described class cosine wave signal for obtaining all discrete point amplitudes included
Each class cosine wave signal power is calculated according to following formula in the amplitude of discrete point:
Wherein, P is the power of each class cosine wave signal, y [n1]
(n1=1,2,3...M) set of the amplitude for the discrete point for including by each class cosine wave signal, ave are all discrete points
The average value of amplitude.
The frequency and power of the signal of each class cosine wave can be obtained by the formula of said frequencies and power, usually will
The frequency of the crest location discrete point of each class cosine wave signal, power, as moving target in time-frequency domain medium wave peak
One feature vector at moment corresponding to the discrete point of position；Referring to preceding method, entire Doppler radar is finally obtained
The time-frequency characteristics of echo-signal.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all at this
Under the inventive concept of invention, using equivalent structure transformation made by description of the invention and accompanying drawing content, or directly/use indirectly
It is included in other related technical areas in scope of patent protection of the invention.
Claims (10)
1. a kind of time-frequency characteristics extracting method of Doppler radar motion target, which comprises the following steps:
To preset the signal of N number of discrete point of the Doppler radar echo signal of sample rate continuous acquisition moving target；
All monocyclic class cosine wave signals are extracted from the discrete signal of acquisition；
The frequency and power for calculating each class cosine wave signal of extraction, by each class cosine wave signal wave crest position
A feature vector of the frequency and power set as moving target time-frequency domain.
2. the time-frequency characteristics extracting method of Doppler radar motion target as described in claim 1, which is characterized in that it is described from
The step of all monocyclic class cosine wave signals are extracted in the discrete signal of acquisition include:
Each monocyclic class cosine wave signal is successively extracted according to the sequencing that discrete signal acquires；
Judge whether each class cosine wave signal is noise signal；
The class cosine wave signal that will not belong to noise signal extracts, and the class cosine wave signal for belonging to noise signal is rejected.
3. the time-frequency characteristics extracting method of Doppler radar motion target as claimed in claim 2, which is characterized in that described to press
According to discrete signal acquisition sequencing successively extract each monocyclic class cosine wave signal the step of include:
Since first discrete point signal, first trough point of current class cosine wave signal is successively extracted, wherein described
The amplitude of first trough point is less than the amplitude of its previous discrete point signal and the amplitude of the latter discrete point signal；
Since first trough point of current class cosine wave signal, wave crest point and second trough point are successively extracted,
In, the amplitude of the wave crest point is greater than the amplitude of its previous discrete point signal and the amplitude of the latter discrete point signal, described
The amplitude of second trough point is less than the amplitude of its previous discrete point signal and the amplitude of the latter discrete point signal；
First trough point of the second trough point of current class cosine wave signal as next class cosine wave signal.
4. the time-frequency characteristics extracting method of Doppler radar motion target as claimed in claim 2, which is characterized in that described to sentence
The step of whether each class cosine wave signal is noise signal of breaking include:
Judge the amplitude of the wave crest point of each class cosine wave signal whether less than the first preset value；
If so, judging that the class cosine wave signal is noise signal；
If it is not, then judging that the class cosine wave signal is not noise signal.
5. the time-frequency characteristics extracting method of Doppler radar motion target as claimed in claim 4, which is characterized in that described to sentence
Break each class cosine wave signal the step of whether being noise signal further include:
Judge whether relative peaks point is substantially symmetric for first trough point of each class cosine wave signal and second trough point；If
It is then to judge that the class cosine wave signal is not noise signal；If it is not, then judging that the class cosine wave signal is noise signal.
6. the time-frequency characteristics extracting method of Doppler radar motion target as claimed in claim 5, which is characterized in that judgement is each
Whether the substantially symmetric step of relative peaks point includes: for first trough point of the class cosine wave signal and second trough point
First trough point of each class cosine wave signal is obtained to the time interval between the wave crest point, Yi Jisuo
Wave crest point is stated to the time interval between second trough point；
The difference of two time intervals is judged whether less than the second preset value, if so, first trough of the class cosine wave signal
Point and second trough point relative peaks point are substantially symmetric；If it is not, then first trough point of the class cosine wave signal and second
A trough point relative peaks point is asymmetric.
7. such as the time-frequency characteristics extracting method of Doppler radar motion target described in claim 5 or 6, which is characterized in that institute
State judge first trough point of each class cosine wave signal and second trough point whether the substantially symmetric step of relative peaks point
Suddenly further include:
Obtain first amplitude difference between first trough point of each class cosine wave signal and second trough point,
The amplitude of the average amplitude and the wave crest point of first trough point and second trough point and the average amplitude it
Between the second amplitude difference, and calculate the ratio between first amplitude difference and the second amplitude difference；
Judge whether the ratio is less than third preset value, if so, first trough point of the class cosine wave signal and second
A trough point relative peaks point is substantially symmetric；If it is not, then first trough point of the class cosine wave signal and second trough point
Relative peaks point is asymmetric.
8. the time-frequency characteristics extracting method of Doppler radar motion target as claimed in claim 5, which is characterized in that described to sentence
Break each class cosine wave signal the step of whether being noise signal further include:
Judge each class cosine wave signal with standard cosine wave signal with the presence or absence of correlation；If so, judging more than the class
String wave signal is not noise signal；If it is not, then judging that the class cosine wave signal is noise signal.
9. the time-frequency characteristics extracting method of Doppler radar motion target as claimed in claim 8, which is characterized in that described to sentence
Break each class cosine wave signal and standard cosine wave signal with the presence or absence of the step of correlation include:
Construct and period identical standard cosine wave signal sequence identical as the discrete point number of each class cosine wave signal；
Calculate each discrete point amplitude of the class cosine wave signal and corresponding each discrete point width of standard cosine wave signal sequence
Related coefficient between value；
Judge whether the related coefficient is greater than the 4th preset value, if so, the class cosine wave signal and standard cosine wave are believed
Number there are correlations, if it is not, then the class cosine wave signal is uncorrelated to standard cosine wave signal.
10. the time-frequency characteristics extracting method of Doppler radar motion target as described in claim 1, which is characterized in that described
The step of calculating the frequency and power of each class cosine wave signal of extraction include:
The number for obtaining the discrete point that each class cosine wave signal is included is calculated more than each class according to following formula
String wave signal frequency:
Wherein, f is the frequency of each class cosine wave signal, fsFor the default sample rate of signal acquisition, M is each
The number for the discrete point signal that the class cosine wave signal is included；
The amplitude for the discrete point that the average value and each described class cosine wave signal for obtaining all discrete point amplitudes are included, is pressed
Each class cosine wave signal power is calculated according to following formula:
Wherein, P is the power of each class cosine wave signal, y [n1](n1=
1,2,3...M) set of the amplitude for the discrete point for including by each class cosine wave signal, ave are all discrete point amplitudes
Average value.
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