CN111220975A - Multi-target detection method, device, equipment and storage medium - Google Patents

Multi-target detection method, device, equipment and storage medium Download PDF

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CN111220975A
CN111220975A CN202010041671.8A CN202010041671A CN111220975A CN 111220975 A CN111220975 A CN 111220975A CN 202010041671 A CN202010041671 A CN 202010041671A CN 111220975 A CN111220975 A CN 111220975A
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time period
signal
target
transmitting
time
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赵博
袁伟健
黄磊
侯万幸
谢晓宇
潘天伦
易程博
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Shenzhen University
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Shenzhen University
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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
    • G01S13/50—Systems of measurement based on relative movement of target
    • 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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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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  • 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 application is applicable to the technical field of radar signal processing, and provides a multi-target detection method, a device, equipment and a storage medium, wherein two time periods with different durations are set in each period, corresponding transmitting frequencies are set according to a time sequence in the two time periods to transmit signals, and echo signals under the current time sequence are received; and respectively calculating corresponding matching of speed and distance in the plurality of targets according to the transmitting signals and the echo signals of the two time periods, and taking the matching relation that the distance values calculated in the two combinations are equal and the speed values are equal as the real distance and the corresponding speed of each target.

Description

Multi-target detection method, device, equipment and storage medium
Technical Field
The application belongs to the technical field of radar signal processing, and particularly relates to a multi-target detection method, device, equipment and storage medium.
Background
Currently, when the sum of the distances and the velocities of a plurality of targets are measured simultaneously by a radar, an echo signal received by the radar is an echo signal obtained by superimposing information of the plurality of targets. For example, there are three targets in front of the radar, and the radar can obtain the speeds of the three targets and the distances of the three targets according to the processing of the multi-target echo signals, and nine sets of distance and speed data can be obtained under the condition of pairwise combination of the speed and the distance. Wherein, only three groups of data represent the distance and the speed of a real target, and the other six groups of data are data of a false target generated due to interference information. Therefore, when the existing radar detects data information of multiple targets, matching between the distance and the corresponding speed obtained under the condition of multiple targets cannot be completed correctly.
In summary, there is a problem that, when a radar detects multiple targets, matching between a distance and a corresponding speed in the multiple targets cannot be completed correctly.
Disclosure of Invention
The embodiment of the application provides a multi-target detection method, a multi-target detection device, multi-target detection equipment and a storage medium, and can solve the problem that distance and corresponding speed matching in multiple targets cannot be completed correctly when a radar detects the multiple targets at present.
In a first aspect, an embodiment of the present application provides a multi-target detection method, including:
receiving a setting instruction issued by a user, wherein the setting instruction is used for setting the transmitting frequency of each transmitting signal in N periods; the transmission frequency comprises a plurality of transmission frequencies, in one period, the transmission frequency comprises a first transmission frequency and a second transmission frequency, N is greater than or equal to 1, and N is a positive integer;
in a first time period, sequentially transmitting a first transmitting signal to each target at each first transmitting frequency according to a time sequence, and receiving a first echo signal returned when the first transmitting signal contacts each target;
in a second time period, sequentially transmitting a second transmitting signal to each target under each second transmitting frequency according to a time sequence, and receiving a second echo signal returned when the second transmitting signal contacts each target; wherein a first duration of the first time period is not equal to a second duration of the second time period;
calculating a first combination of initial velocity and initial distance of each of the targets according to the first transmit signal and the first echo signal, and calculating a second combination of initial velocity and initial distance of each of the targets according to the second transmit signal and the second echo signal;
and determining the combination of the real distance corresponding to the real speed according to the first combination and the second combination.
In a second aspect, an embodiment of the present application provides a multi-target detection apparatus, including:
the receiving module is used for receiving a setting instruction issued by a user, wherein the setting instruction is used for setting the transmitting frequency of each transmitting signal in N periods; the transmission frequency comprises a plurality of transmission frequencies, in one period, the transmission frequency comprises a first transmission frequency and a second transmission frequency, N is greater than or equal to 1, and N is a positive integer;
the first processing module is used for sequentially transmitting first transmitting signals to each target at each first transmitting frequency according to a time sequence in a first time period and receiving first echo signals returned when the first transmitting signals contact each target;
the second processing module is used for sequentially transmitting second transmitting signals to each target under each second transmitting frequency according to a time sequence in a second time period and receiving second echo signals returned when the second transmitting signals contact each target; wherein a first duration of the first time period is not equal to a second duration of the second time period;
a calculating module, configured to calculate a first combination of the initial velocity and the initial distance of each target according to the first transmitting signal and the first echo signal, and calculate a second combination of the initial velocity and the initial distance of each target according to the second transmitting signal and the second echo signal;
and the determining module is used for determining the combination of the real distance corresponding to the real speed according to the first combination and the second combination.
In a third aspect, an embodiment of the present application provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the multi-target detection method according to any one of the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the multi-target detection method according to any one of the first aspect is implemented.
In a fifth aspect, an embodiment of the present application provides a computer program product, which, when run on a terminal device, causes the terminal device to execute the multi-target detection method according to any one of the above first aspects.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Compared with the prior art, the embodiment of the application has the advantages that: setting two time periods with different durations in each LFMCW signal period, setting the corresponding transmitting frequency of a transmitting line signal according to a time sequence in the two time periods, and receiving an echo signal in the current time sequence; the method comprises the steps of calculating various combinations of speed and distance in a plurality of targets according to a difference frequency signal of a first transmitting signal and a received first echo signal in a first time period, then calculating various combinations of speed and distance in the plurality of targets according to a difference frequency signal of a second transmitting signal and the first echo signal in a second time period, and using the combinations of the distance values and the speed values which are calculated in the two combinations as the combinations of the real distance and the speed of each target.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of an implementation flow of a multi-target detection method provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of the frequency of a difference frequency signal in the multi-target detection method according to the embodiment of the present application;
FIG. 3 is a schematic flow chart of another implementation of the multi-target detection method according to the embodiment of the present application;
FIG. 4 is a schematic structural diagram of a multi-target detection apparatus provided in the embodiments of the present application;
FIG. 5 is a schematic diagram of a "voltage-frequency" curve of a multi-target detection method provided by an embodiment of the present application;
FIG. 6 is a schematic voltage-time diagram of a multi-target detection method provided by an embodiment of the present application;
FIG. 7 is a schematic diagram of another embodiment of a multi-target detection apparatus according to the present application;
fig. 8 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
The multi-target detection method provided by the embodiment of the application can be applied to terminal equipment such as a radar system and sound wave equipment, and the specific type of the terminal equipment is not limited at all. For convenience of explanation, the present embodiment defines the terminal device as a radar system, specifically, a millimeter wave radar transmitter.
Referring to fig. 1, the present embodiment provides a multi-target detection method, including:
s101, receiving a setting instruction issued by a user, wherein the setting instruction is used for setting the transmitting frequency of each transmitting signal in N periods; the transmission frequency comprises a plurality of transmission frequencies, in one period, the transmission frequency comprises a first transmission frequency and a second transmission frequency, N is greater than or equal to 1, and N is a positive integer.
In the application, the transmission signal includes, but is not limited to, an electromagnetic wave transmission signal and a sound wave transmission signal, and for convenience of explanation, in the present embodiment, the transmission signal is an electromagnetic wave transmission signal and is transmitted by a radar system. In application, each period includes a first transmitting frequency and a second transmitting frequency, and the transmitting signal in each period transmits the LFMCW signal outwards at a certain frequency.
In application, the setting instruction is used for setting the transmission frequency of each transmission signal in N periods. In one period, each transmission frequency has corresponding transmission time, and a user can set the transmission frequency of each time point transmission signal in the radar system at fixed time in advance through a setting instruction, or set the transmission frequency of each time point transmission signal in other terminal equipment at fixed time in advance for the user, and then the transmission frequency is stored in an internal memory in the radar system, so that the transmission frequency is not limited.
S102, in a first time period, sequentially transmitting a first transmitting signal to each target at each first transmitting frequency according to a time sequence, and receiving a first echo signal returned when the first transmitting signal contacts each target.
In application, the first time period is a time period with a fixed time duration in each period, in the time period with the fixed time duration, the radar system sequentially acquires digital signals of voltage data according to a time sequence in the first time period, then converts the digital signals into analog signals, generates corresponding first transmitting frequencies, and sequentially transmits the first transmitting signals to a plurality of targets at the corresponding first transmitting frequencies according to the time sequence for generating the first transmitting frequencies. In an application, the first transmission frequency of each first transmission signal may be gradually increased in the first time period, or the first transmission frequency of each first transmission signal may be gradually decreased in the first time period, which is not limited in this respect.
In application, the first transmission signal propagates at the speed of light, and therefore, the time interval of the first echo signal returning when the first transmission signal contacts each target is short, and the first echo signal is a superimposed signal including the first transmission signals reflected by a plurality of targets. Therefore, the radar system may simultaneously analyze the information of the plurality of targets when analyzing the information of the superimposed first echo signal, where the information includes target speeds of the plurality of targets, distances between the plurality of targets and the radar system, and angles between the plurality of targets and the radar system, which is not limited in this respect. For convenience of explanation, the information of the multiple targets in this embodiment is the target speeds and distances of the multiple targets.
S103, in a second time period, sequentially transmitting second transmitting signals to each target under each second transmitting frequency according to a time sequence, and receiving second echo signals returned when the second transmitting signals contact each target; wherein a first duration of the first time period is not equal to a second duration of the second time period.
In application, the second time period is also a time period with a fixed duration in each cycle, and in the time period with the fixed duration, the radar system sequentially acquires the digital signals of the voltage data according to the time sequence in the second time period, further converts the digital signals into analog signals, generates corresponding second transmitting frequencies, and sequentially transmits the second transmitting signals to the multiple targets at the corresponding second transmitting frequencies according to the time sequence for generating the second transmitting frequencies. In an application, the second transmission frequency of each second transmission signal may be gradually increased in the second time period, or the second transmission frequency of each second transmission signal may be gradually decreased in the second time period, which is not limited in this respect.
In use, the second transmission signal propagates at the speed of light, and the time interval of the second echo signal returned when the second transmission signal contacts each target is also short, so that the second echo signal also includes a superposition signal of the second transmission signals reflected by a plurality of targets. Therefore, when analyzing the information of the superimposed second echo signal, the radar system can simultaneously analyze the information of the plurality of targets, that is, the information of the plurality of targets is the target speed and the distance of the plurality of targets.
In an application, the first time period and the second time period may be two continuous time periods, or may have a time interval between the first time period and the second time period, and the transmission signal is not transmitted in the time interval, which is not limited herein. In this embodiment, the first time period and the second time period are defined as two time periods of continuous time, that is, in each cycle, the radar system first sequentially transmits the first transmission signals at the respective first frequencies according to the time sequence of the first time period, and then sequentially transmits the second transmission signals at the respective second frequencies according to the time sequence of the second time period. In application, the duration of the first time period is not equal to the duration of the second time period, and the duration of the first time period may be set to be longer than the duration of the second time period, or the duration of the second time period may be set to be shorter than the duration of the second time period, which is not limited to this.
In application, the first transmitting frequencies and the second transmitting frequencies are both provided with a plurality of frequencies, wherein if the duration of the first time period is longer than the duration of the second time period, the number of the first transmitting frequencies can be set to be more than that of the second transmitting frequencies, which is not limited herein.
S104, calculating a first combination of the initial speed and the initial distance of each target according to the first transmitting signal and the first echo signal, and calculating a second combination of the initial speed and the initial distance of each target according to the second transmitting signal and the second echo signal.
In application, the radar system can calculate initial speeds and initial distances of a plurality of targets according to the first transmitting signal and the first echo signal. In this embodiment, Linear Frequency Modulated Continuous Wave (LFMCW) is used to calculate matching between a plurality of target distances and speeds. In front of the radar system, a plurality of targets are present whose echo signals (echo signals) are a superposition of the echo signals of the plurality of targets. Since the transmission signal propagates at the speed of light, the difference signal may be approximated to the sum of the echo signal of each point target and the difference signal of the transmission signal. In particular, referring to fig. 2, fig. 2 shows the transmit signal frequency, the echo signal frequency, and their difference frequency signal frequencies of the radar system. However, if a plurality of spectral peaks are formed according to the difference frequency signal obtained from the first transmitting signal and the first echo signal during the first transmitting frequency rising period of the first time period, similarly, a plurality of spectral peaks are formed according to the difference frequency signal obtained from the second transmitting signal and the second echo signal during the second transmitting frequency falling period of the second time period. However, since the correspondence relationship between the peaks in the two spectra cannot be obtained, the distance and the corresponding velocity information cannot be obtained at all. If all possibilities are considered, i.e. if the number of targets is 3, the radar system measures the target distances R1, R2 and R3 and their corresponding targets in the LFMCW signal during the first time period and if V1, V2 and V3, the superimposed combinations of (Ra1, Va1), (Ra1, Va2), (Ra1, Va3), (Ra2, Va1), (Ra2, Va2), (Ra2, Va3), (Ra3, Va1), (Ra3, Va2) and (Ra3, Va3) speeds and distances are obtained, wherein only three sets of data represent the distances and speeds of real targets. Then, in the second time period LFMCW signal, the radar system can likewise calculate, from the beat signals of the second transmit signal and the second echo signal, a second combination of the initial velocity and the initial distance of the respective target, namely (Rb1, Vb1), (Rb1, Vb2), (Rb1, Vb3), (Rb2, Vb1), (Rb2, Vb2), (Rb2, Vb3), (Rb3, Vb1), (Rb3, Vb2) and (Rb3, Vb 3).
And S105, determining a combination of real distances corresponding to the real speed according to the first combination and the second combination.
In application, in the speed and distance combinations of the first combination and the second combination, since the time lengths of the first time segment and the second time segment in each cycle are not equal, the cycle T1 of the first time segment can be considered to be not equal to the cycle T2 of the second time segment. In this embodiment, in order to adopt a frequency linearly rising with time in a triangular wave of a first time and frequency and receive a time point of a first reflection frequency at the same time, a current time point is used to transmit a first transmission signal with a frequency corresponding to the current time point, and a signal received at the current time point is used as a first echo signal, and a corresponding difference frequency signal is obtained by calculation, where the difference frequency signal formula is:
Figure BDA0002367971000000081
fairepresenting a difference frequency signal between the first transmission signal and the first echo signal in a frequency rising phase, T representing a period of the first time period, c representing a speed of the transmission signal, i.e. a speed of light, B representing a bandwidth of the transmission signal set by a user, f0And the initial frequency represents the frequency of the current transmitted signal, Ri is the distance of the target to be calculated, and vi is the speed of the target to be calculated. According to the difference frequency signal formula, when the distance and the speed are calculated, under the condition that the bandwidth is constant, the distance and the speed are independent of the period T, so that the speed and the distance of the target can be calculated according to the transmitted signals in different time periods in each period, and each combination of the speed and the distance in each time period can be obtained.
Or, in a triangular wave of a first time and frequency, adopting a frequency descending along with the time, simultaneously receiving a time point of a descending first reflection frequency, using a current time point to correspond to the frequency, transmitting a first transmission signal, correspondingly taking a signal received at the current time point as a first echo signal, and calculating to obtain a corresponding difference frequency signal, wherein the formula of the difference frequency signal is as follows
Figure BDA0002367971000000091
Wherein f isbiRepresenting a difference frequency signal between a current first transmission signal and a current first echo signal, T representing a period of a first time period, c representing a speed of the transmission signal, i.e. a speed of light, B representing a bandwidth of the transmission signal set by a user, f0And the initial frequency represents the frequency of the current transmitted signal, Ri is the distance of the target to be calculated, and vi is the speed of the target to be calculated. According to the first transmitting signal and the first echo signal in the frequency rising stage and the first transmitting signal and the first echo signal in the frequency falling stage, the values of the speed and the distance can be correspondingly calculated, and each combination of the speed and the distance can be obtained.
In application, according to the above
Figure BDA0002367971000000092
And
Figure BDA0002367971000000093
it is known that, when the bandwidth of the transmission signal is constant and the frequency of the difference frequency signal is uniform, the calculated distance and speed are independent of the modulation period. Therefore, the distances and the speeds of a plurality of targets can be respectively calculated according to the difference frequency signals of the transmitting signals and the echo signals in two time periods with different time lengths, the speed and distance combination of the false target is eliminated according to the fact that the distances and the speeds of the targets are irrelevant to the period and the bandwidth, and the speed and distance combination of the false target is reserved in the speed and distance combination of the real target, so that the multi-target distance and speed matching of the radar system is completed.
In the embodiment, two time periods with different durations are set in each cycle, the transmitting frequencies corresponding to the transmitting signals are set according to the time sequence in the two time periods, and the echo signals in the current time sequence are received; each combination of speed and distance in the plurality of targets can be calculated according to the frequency difference signal of the first transmitting signal and the received first echo signal in the first time period, then each combination of speed and distance in the plurality of targets can be calculated according to the frequency difference signal of the second transmitting signal and the first echo signal in the second time period, and the combination of the distance values and the speed values which are calculated in the two combinations is used as the combination of the real distance and the speed of each target.
Referring to fig. 3, in one embodiment, the transmission signal is generated by an antenna transmission module; before S101, the method includes:
s201, when different voltages are obtained to excite the antenna transmitting module, outputting each transmitting frequency of a transmitting signal.
In application, the voltage is used for exciting the antenna transmitting module to generate a corresponding transmitting frequency and outputting a transmitting signal. Specifically, referring to fig. 4, the radar system is a millimeter wave radar transmitter, and includes an internal memory 1, a TIMER 2(TIMER), a Digital-to-Analog converter 3 (DAC), a voltage-controlled oscillator 4(voltage-controlled oscillator VCO), a transmitting antenna 6, and a receiving antenna 7. The internal memory 1 is used to store data relating to the transmission frequency of each transmission signal in N periods set in advance by a setting instruction, for example, voltage data of "voltage-time" relationship that generates a variable-period triangular waveform. The timer 2 is used to transmit the data in the internal memory 1 to the DAC3 in time sequence according to the preset time. The internal memory 1 may be connected to the DAC3 through a Direct memory access 5(Direct memory access DMA) channel, the timer 2 may establish a control connection with the DMA5 channel in advance, and the timer may control the opening and closing of the DMA5 channel according to a preset time. For example, the timer 2 is set to control the DMA5 channel to be turned on for 8ms every 1ms, and in the 8ms of the DMA5, the DMA5 can directly obtain the voltage data with the duration of 8ms from the internal memory 1 and transfer the voltage data into the DAC3 in time sequence. The DAC3 converts the digital signals of the received voltage data into corresponding voltage analog signals, and outputs voltage signals of corresponding magnitudes to the VCO 4. The VCO4 generates a radio frequency signal (transmission signal) with a corresponding frequency according to the magnitude of the received voltage signal, the radio frequency signal is transmitted outwards through the transmitting antenna 6, the receiving antenna 7 receives the radio frequency signal to remove an echo signal returned by a target, the radar system performs analog-to-digital conversion on the echo signal in sequence to obtain a corresponding digital signal, and the radar digital signal processing system 8 processes the digital signal to obtain a combination of the speed and the distance of a plurality of targets.
S202, acquiring a linear relation between each voltage and each transmitting frequency.
In application, the transmitting frequency of each voltage for generating a transmitting signal in a radar system through DAC conversion and VCO modulation can be obtained in advance, and a part in which the voltage and the transmitting frequency are in a linear relation is obtained and stored as required data. Specifically, a voltage stabilizing source can be used in the radar system to sequentially generate 0V-3.3V voltages at intervals of 0.1V, respectively deactivate the antenna transmission modules, observe the frequency change on the frequency spectrograph in real time, record the frequency value corresponding to each voltage, input each measured frequency value and the corresponding voltage into a Matrix Laboratory (Matrix Laboratory Matrix), draw a "voltage-frequency" coordinate diagram, and select a linear diagram with the best degree of linear relation in a "voltage-frequency" curve. Specifically, as shown in fig. 5, the corresponding voltage range is 1.5V to 1.9V, the corresponding frequency is 100MHz at both sides of the center frequency of 24.1124GHz, and the linear relation of "voltage-frequency" is the best.
S203, setting the incidence relation between different time points and the voltage in each period in the N periods according to the linear relation, and generating the corresponding voltage to excite the antenna transmitting module at the corresponding time point in each period according to the incidence relation.
In application, according to the linear relationship diagram of voltage and transmission frequency shown in fig. 5, the digital signal of the voltage data corresponding to each time point may be correspondingly set in two time periods in each cycle, so as to obtain the linear relationship between the digital signal of the voltage data and the time point, that is, the linear relationship between the transmission frequency and the time point, so as to generate a corresponding transmission signal, such as a symmetric positive and negative chirp continuous wave signal, according to the transmission frequency. And stores the digital signal of the voltage data and the data of the time point in an internal memory in the radar system.
In this embodiment, by obtaining the linear relationship between the voltage and the transmission frequency and then establishing the linear relationship between the time and the transmission frequency according to the linear relationship, the chirp continuous waves corresponding to the first time period and the second time period of different durations in each cycle are obtained, which is beneficial to matching the speed and the corresponding distance of the radar system when detecting a plurality of targets according to the chirp continuous waves.
In an embodiment, the number of the voltages set in every arbitrary time period in the first time period is equal to the number of the voltages set in every same arbitrary time period in the second time period.
In application, the number of the voltages set in any time period in the first time period is equal to the number of the voltages set in any same time period in the second time period. That is, it can be understood that although the duration of the first time period is not equal to the duration of the second time period, the sampling rate of the voltage setting in the first time period is equal to the sampling rate of the voltage setting in the second time period, and it can also be considered that the number of voltage signals collected by the radar system from the first time period per second is equal to the number of voltage signals collected from the second time period. Illustratively, referring to fig. 6, the duration T1 of the first period is 4.8ms, where 1024 points in two sloped lines in the first period represent the number of voltage settings during the voltage rising period and the number of voltage settings during the voltage falling period, respectively. The duration T2 of the second period is 2.4ms, where the points 512 in the two sloped lines in the second period represent the number of voltage settings during the voltage rise and the number of voltage settings during the voltage fall, respectively. Therefore, even if the duration of the first time period is not equal to the duration of the second time period, only one timer and one digital-to-analog converter can be arranged in the radar system, and data can be obtained from an internal memory of the radar system at regular time for conversion.
In this embodiment, by setting the sampling rates of the same voltage data in the two time periods with different durations, the data can be obtained from the internal memory only by using one timer, so that it is avoided that in one cycle, when the two time periods with different durations and different sampling rates are set, one timer and one digital-to-analog converter are further required to be set for the sampling rate of the single time period in each cycle, so as to respectively control the two digital-to-analog converters to be triggered at the first time period and the second time period, thereby reducing the hardware resources used in the radar setting.
In an embodiment, the first time period comprises a third time period and a fourth time period, and the second time period comprises a fifth time period and a sixth time period; s101 includes:
and receiving a first setting instruction, wherein the first setting instruction is used for setting a first voltage corresponding to each time point in the third time period, and in the third time period, the first voltage and each time point in the third time period form a first linear correlation relationship.
And receiving a second setting instruction, wherein the second setting instruction is used for setting a second voltage corresponding to each time point in the fourth time period, and the second voltage and each time point in the fourth time period form a second linear correlation relationship.
In application, the first linear relationship and the second linear relationship are two unequal linear relationships, that is, when the first linear relationship is a positive linear relationship, the second linear relationship is a negative linear relationship, and a time-voltage relationship graph as shown in fig. 6 is formed. In this embodiment, the time and first voltage graph formed by the first linear relationship and the time and second voltage graph formed by the second linear relationship may be symmetrically arranged in the spatial position of the voltage arrangement, which is not limited herein. If the relationship diagram shown in fig. 6 is obtained, the radar system may generate each transmission signal corresponding to the voltage according to the relationship between the voltage and the time shown in the diagram and according to the time sequence, where the waveform formed by each transmission signal is a triangular waveform, that is, a waveform transmission signal forming a linear relationship between the time and the frequency.
And receiving a third setting instruction, wherein the third setting instruction is used for setting a third voltage corresponding to each time point in the fifth time period, and in the fifth time period, the third voltage and each time point in the fifth time period form a third linear correlation relationship.
And receiving a fourth setting instruction, wherein the third setting instruction is used for setting a fourth voltage corresponding to each time point in the sixth time period, and in the sixth time period, the fourth voltage and each time point in the sixth time period form a fourth linear correlation relationship.
In application, in the second period, a third linear relationship setting method of the third period and the third voltage, and a fourth linear relationship setting method of the fourth period and the fourth voltage are consistent with the setting method of the first period, and will not be described in detail.
In this embodiment, two linear relationships between time and voltage with different linear relationships are set in the first time period to obtain time and voltage data of a triangle in each period, and a transmitting signal of a triangular chirp continuous wave is formed according to current data, so that when a radar system detects a plurality of targets according to the triangular chirp continuous wave, a difference frequency signal between the transmitting signal and an echo signal in a frequency rising stage and a difference frequency signal speed between the transmitting signal and the echo signal in a frequency falling stage can be obtained according to the triangular chirp continuous wave, and further matching between the speed and a corresponding distance in the plurality of targets can be calculated by the two difference frequency signals of the radar system.
In one embodiment, a third duration of the third period is equal to a fourth duration of the fourth period, and the first voltage at each time point of the third period is symmetrically arranged with the second voltage at each time point of the fourth period; a sixth time length of the fifth time period is equal to a sixth time length of the fifth time period, and the third voltage at each time point of the fifth time period is symmetrically arranged with the fourth voltage at each time point of the sixth time period.
In application, the third duration of the third time period is equal to the fourth duration of the fourth time period, and the first voltage at each time point of the third time period and the second voltage at each time point of the fourth time period are symmetrically arranged, so that the linear relationship between the voltage and the time of the triangle as shown in fig. 6 can be obtained, and further, the transmission signal of the variable-period linear triangular wave is generated. Because each voltage is symmetrically arranged in the voltage rising stage and the voltage falling stage, and the voltage and the time are in a linear relation, the difference frequency signal frequency in the frequency rising stage can be obtained, when the radar system receives the first echo signal, the difference between the frequency of the first echo signal and the transmitting frequency of the first transmitting signal is the difference frequency signal frequency at the current time point, and the difference frequency signal frequency is unchanged from the current time point to the time point corresponding to the frequency rising peak value. Correspondingly, a time point in the first time period when the magnitude of the difference frequency signal frequency is not changed in the frequency falling stage, a time point in the second time period when the magnitude of the difference frequency signal frequency is not changed in the frequency rising stage, and a time point in the second time period when the magnitude of the difference frequency signal frequency is not changed in the frequency falling stage can be obtained.
In application, the formula of calculating the speed and distance of the difference frequency signal in the frequency rising stage is as follows:
Figure BDA0002367971000000141
the formula for calculating the speed and distance of the target by the difference frequency signal in the frequency reduction stage is as follows:
Figure BDA0002367971000000142
the method can obtain symmetry according to the consistency of the transmitting frequencies of the transmitting signals in the difference frequency signals in two stages, eliminate the distance-speed coupling phenomenon and obtain more accurate speed values and distance values.
In this embodiment, by setting symmetrical voltages in each time period, difference frequency signals of two stages when the transmission frequencies of the transmission signals are the same can be obtained, and the speeds and distances of a plurality of targets are calculated according to the two difference frequency signals, so that the distance-speed coupling phenomenon is eliminated, and more accurate speed values and distance values are obtained.
In an embodiment, each of the first transmission signals and each of the second transmission signals have the same bandwidth. In application, the above formula for calculating the distance and the speed according to the difference frequency signal can be known
Figure BDA0002367971000000143
Figure BDA0002367971000000144
Both the period T and the bandwidth B affect the speed and the distance of the target, and therefore, when the period of the transmission signal is changed, the bandwidth of the transmission signal needs to be fixed, that is, two triangular transmission signals with the same bandwidth B and the periods of the two triangular transmission signals being the first time period T1 and the second time period T2 respectively are adopted to detect the speeds and the corresponding distances of a plurality of targets.
In one embodiment, S104 includes:
and acquiring a first target transmitting signal which is transmitted at a first time point in the third time period by using the first target transmitting frequency, receiving a first target echo signal acquired at the first time point, and acquiring a first difference frequency signal of the third time period according to the first target transmitting signal and the first target echo signal.
In application, the first time point is a time point in a time period in which the magnitude of the difference frequency signal frequency is not changed in the frequency rising phase, that is, the difference frequency signal frequency in fig. 2 is a time line which is a horizontal line and is located above the time axis. The transmitting frequency corresponding to any time point in the time line is the first target transmitting frequency, i.e., the part of the transmitting signal frequency corresponding to the difference frequency signal frequency in the figure, the signals transmitted with the first target transmitting frequency are all the first target transmitting signals, and the reflecting frequency corresponding to any time point in the time line is the first target reflecting frequency, i.e., the part of the echo signal frequency corresponding to the difference frequency signal frequency in the figure 2. The first combinations of the respective preliminary first distances and the respective preliminary first velocities of the target may be preliminarily calculated based on the difference frequency signal of the frequency rising stage in S105 described above.
And acquiring one of second target transmitting signals which are transmitted at a second time point in the fourth time period by using the first target transmitting frequency, receiving a second target echo signal acquired at the second time point, and acquiring a second difference frequency signal of the fourth time period according to the second target transmitting signal and the second target echo signal.
In application, the first time point is a time point in a time period in which the magnitude of the difference frequency signal frequency is not changed in the frequency falling phase, that is, the difference frequency signal frequency in fig. 2 is a horizontal line and a time line below the time axis. The transmitting frequency corresponding to any time point in the time line is the second target transmitting frequency, i.e., the part of the transmitting signal frequency corresponding to the difference frequency signal frequency in the figure, the signals transmitted with the second target transmitting frequency are all the first target transmitting signals, and the reflecting frequency corresponding to any time point in the time line is the second target reflecting frequency, i.e., the part of the echo signal frequency corresponding to the difference frequency signal frequency in the figure 2. The first combinations of the respective preliminary first distances and the respective preliminary first velocities of the objects may be calculated again from the difference frequency signal of the frequency down stage in S105 described above.
Calculating a first combination of respective first distances and respective first velocities of all the objects in the first time period from the first difference frequency signal and the second difference frequency signal.
In an application, the value of the first distance and the value of the first speed in the first week period may be refined based on the initial distance and speed calculated twice. Specifically, if the first target transmission frequency corresponding to the first time point in the third time period is defined as f0, in the fourth time period, the radar system acquires the second target transmission frequency corresponding to the transmission frequency f0 according to the symmetric relation of the triangular linear continuous waves, and the second target transmission frequency is used for obtaining symmetry according to the fact that the transmission frequencies of the transmission signals in the difference frequency signals in the two stages are consistent, eliminating the distance-speed coupling phenomenon, and obtaining a more accurate speed value and a more accurate distance value.
And acquiring a third target transmitting signal which is transmitted at a third time point in the fifth time period by using a second target transmitting frequency, receiving a third target echo signal acquired at the third time point, and acquiring a third difference frequency signal of the fifth time period according to the third target transmitting signal and the third target echo signal.
And acquiring a fourth target transmitting signal which is transmitted at a fourth time point in the sixth time period at a second target transmitting frequency, receiving a fourth target echo signal acquired at the fourth time point, and acquiring a fourth difference frequency signal of the sixth time period according to the fourth target transmitting signal and the fourth target echo signal.
And calculating a second combination of the second distances and the second speeds of all the targets in the second time period according to the third difference frequency signal and the fourth difference frequency signal.
In application, the method for acquiring the second combination of each second distance and each second speed of the target is the same as the method for acquiring the first combination of each first distance and each first speed of the target, and will not be described in detail.
In this embodiment, by obtaining difference frequency signals with symmetrical frequency magnitudes in the frequency rising phase and the frequency falling phase of the first time period to calculate the first distance and the first speed, reducing the calculation error of the first distance and reducing the calculation error of the first speed, and similarly obtaining difference frequency signals with symmetrical frequency magnitudes in the frequency rising phase and the frequency falling phase of the second time period to calculate the second distance and the second speed, reducing the calculation error of the second distance and reducing the calculation error of the second speed, the speed and the distance of the real target in the two combinations are closer when the radar system compares the values obtained according to the transmitting signals and the transmitting signals of the two different time periods.
As shown in fig. 7, the embodiment of the present application further provides a multi-target detection apparatus 100, including:
the receiving module 10 is configured to receive a setting instruction issued by a user, where the setting instruction is used to set a transmission frequency of each transmission signal in N periods; the transmission frequency comprises a plurality of transmission frequencies, in one period, the transmission frequency comprises a first transmission frequency and a second transmission frequency, N is greater than or equal to 1, and N is a positive integer;
a first processing module 20, configured to sequentially transmit a first transmit signal to each target at each first transmit frequency according to a time sequence in a first time period, and receive a first echo signal returned when the first transmit signal contacts each target;
the second processing module 30 is configured to sequentially transmit a second transmission signal to each target at each second transmission frequency according to a time sequence in a second time period, and receive a second echo signal returned when the second transmission signal contacts each target; wherein a first duration of the first time period is not equal to a second duration of the second time period;
a calculating module 40, configured to calculate a first combination of the initial velocity and the initial distance of each target according to the first transmitting signal and the first echo signal, and calculate a second combination of the initial velocity and the initial distance of each target according to the second transmitting signal and the second echo signal;
and the determining module 50 is configured to determine a combination of real distances corresponding to the real speed according to the first combination and the second combination.
In one embodiment, the transmit signal is generated by an antenna transmit module; the multi-target detection device further includes:
the first acquisition module is used for acquiring each transmission frequency of the transmission signal output when the antenna transmission module is excited by different voltages.
And the second acquisition module is used for acquiring the linear relation between each voltage and each transmitting frequency.
And the setting module is used for setting the association relationship between different time points and the voltage in each period in the N periods according to the linear relationship, and generating corresponding voltage to excite the antenna transmitting module at the corresponding time point in each period according to the association relationship.
In one embodiment. In the first time period, the number of the voltages set at every arbitrary time period is equal to the number of the voltages set at every same arbitrary time period in the second time period.
In an embodiment, the first time period comprises a third time period and a fourth time period, and the second time period comprises a fifth time period and a sixth time period; the setup module is further configured to:
receiving a first setting instruction, wherein the first setting instruction is used for setting a first voltage corresponding to each time point in the third time period, and the first voltage and each time point in the third time period form a first linear correlation relationship;
receiving a second setting instruction, wherein the second setting instruction is used for setting a second voltage corresponding to each time point in the fourth time period, and the second voltage and each time point in the fourth time period form a second linear correlation relationship;
receiving a third setting instruction, wherein the third setting instruction is used for setting a third voltage corresponding to each time point in the fifth time period, and in the fifth time period, the third voltage and each time point in the fifth time period form a third linear correlation;
and receiving a fourth setting instruction, wherein the third setting instruction is used for setting a fourth voltage corresponding to each time point in the sixth time period, and in the sixth time period, the fourth voltage and each time point in the sixth time period form a fourth linear correlation relationship.
In one embodiment, a third duration of the third period is equal to a fourth duration of the fourth period, and the first voltage at each time point of the third period is symmetrically arranged with the second voltage at each time point of the fourth period;
a sixth time length of the fifth time period is equal to a sixth time length of the fifth time period, and the third voltage at each time point of the fifth time period is symmetrically arranged with the fourth voltage at each time point of the sixth time period.
In an embodiment, each of the first transmission signals and each of the second transmission signals have the same bandwidth.
In an embodiment, the calculation module 40 is further configured to:
acquiring a first target transmitting signal which is transmitted at a first time point in the third time period at a first target transmitting frequency, receiving a first target echo signal acquired at the first time point, and acquiring a first difference frequency signal of the third time period according to the first target transmitting signal and the first target echo signal;
acquiring a second target transmitting signal which is transmitted at a second time point by using a first target transmitting frequency in the fourth time period, receiving a second target echo signal acquired at the second time point, and acquiring a second difference frequency signal of the fourth time period according to the second target transmitting signal and the second target echo signal;
calculating a first combination of each first distance and each first speed of all the targets in the first time period according to the first difference frequency signal and the second difference frequency signal;
acquiring a third target transmitting signal which is transmitted at a third time point in the fifth time period at a second target transmitting frequency, receiving a third target echo signal acquired at the third time point, and acquiring a third difference frequency signal of the fifth time period according to the third target transmitting signal and the third target echo signal;
acquiring a fourth target transmitting signal which is transmitted at a fourth time point in the sixth time period at a second target transmitting frequency, receiving a fourth target echo signal acquired at the fourth time point, and acquiring a fourth difference frequency signal of the sixth time period according to the fourth target transmitting signal and the fourth target echo signal;
and calculating a second combination of the second distances and the second speeds of all the targets in the second time period according to the third difference frequency signal and the fourth difference frequency signal.
An embodiment of the present application further provides a terminal device, where the terminal device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
Fig. 8 is a schematic diagram of a terminal device 80 according to an embodiment of the present application. As shown in fig. 8, the terminal device 80 of this embodiment includes: a processor 803, a memory 801 and a computer program 802 stored in the memory 801 and executable on the processor 803. The processor 803 implements the steps in the various method embodiments described above, such as the steps S101 to S105 shown in fig. 1, when executing the computer program 802. Alternatively, the processor 803 realizes the functions of the modules/units in the above-described device embodiments when executing the computer program 802.
Illustratively, the computer program 802 may be partitioned into one or more modules/units that are stored in the memory 801 and executed by the processor 803 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 802 in the terminal device 80. For example, the computer program 802 may be divided into a receiving module, a first processing module, a second processing module, a calculating module and a determining module, and each module has the following specific functions:
the receiving module is used for receiving a setting instruction issued by a user, wherein the setting instruction is used for setting the transmitting frequency of each transmitting signal in N periods; the transmission frequency comprises a plurality of transmission frequencies, in one period, the transmission frequency comprises a first transmission frequency and a second transmission frequency, N is greater than or equal to 1, and N is a positive integer.
And the first processing module is used for sequentially transmitting first transmitting signals to the targets at the first transmitting frequencies according to the time sequence in a first time period and receiving first echo signals returned when the first transmitting signals contact the targets.
The second processing module is used for sequentially transmitting second transmitting signals to each target under each second transmitting frequency according to a time sequence in a second time period and receiving second echo signals returned when the second transmitting signals contact each target; wherein a first duration of the first time period is not equal to a second duration of the second time period.
A calculating module, configured to calculate a first combination of the initial velocity and the initial distance of each target according to the first transmitting signal and the first echo signal, and calculate a second combination of the initial velocity and the initial distance of each target according to the second transmitting signal and the second echo signal.
And the determining module is used for determining the combination of the real distance corresponding to the real speed according to the first combination and the second combination.
The terminal device 80 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 803 and a memory 801. Those skilled in the art will appreciate that fig. 8 is merely an example of a terminal device 80 and does not constitute a limitation of terminal device 80 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the terminal device may also include input-output devices, network access devices, buses, etc.
The Processor 803 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 801 may be an internal storage unit of the terminal device 80, such as a hard disk or a memory of the terminal device 80. The memory 801 may also be an external storage device of the terminal device 80, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, provided on the terminal device 80. In one embodiment, the memory 801 may also include both internal and external memory units of the terminal device 80. The memory 801 is used to store the computer programs and other programs and data required by the terminal device. The memory 801 may also be used to temporarily store data that has been output or is to be output.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A multi-target detection method, comprising:
receiving a setting instruction issued by a user, wherein the setting instruction is used for setting the transmitting frequency of each transmitting signal in N periods; the transmission frequency comprises a plurality of transmission frequencies, in one period, the transmission frequency comprises a first transmission frequency and a second transmission frequency, N is greater than or equal to 1, and N is a positive integer;
in a first time period, sequentially transmitting a first transmitting signal to each target at each first transmitting frequency according to a time sequence, and receiving a first echo signal returned when the first transmitting signal contacts each target;
in a second time period, sequentially transmitting a second transmitting signal to each target under each second transmitting frequency according to a time sequence, and receiving a second echo signal returned when the second transmitting signal contacts each target; wherein a first duration of the first time period is not equal to a second duration of the second time period;
calculating a first combination of initial velocity and initial distance of each of the targets according to the first transmit signal and the first echo signal, and calculating a second combination of initial velocity and initial distance of each of the targets according to the second transmit signal and the second echo signal;
and determining the combination of the real distance corresponding to the real speed according to the first combination and the second combination.
2. The multi-target detection method of claim 1, wherein the transmitted signals are generated by an antenna transmission module;
receiving the setting instruction that the user issued, before setting up the emission frequency that each transmission signal in N periods by setting up the instruction, include:
acquiring each transmitting frequency of a transmitting signal when different voltages excite the antenna transmitting module;
acquiring a linear relation between each voltage and each transmitting frequency;
and setting the incidence relation between different time points and the voltage in each period in the N periods according to the linear relation, and generating corresponding voltage to excite the antenna transmitting module at the corresponding time point in each period according to the incidence relation.
3. The multi-target detection method according to claim 2, wherein the number of the voltages set every arbitrary period in the first period is equal to the number of the voltages set every the same arbitrary period in the second period.
4. The multi-target detection method according to claim 2 or 3, wherein the first time period includes a third time period and a fourth time period, and the second time period includes a fifth time period and a sixth time period; the first time period comprises a third time period and a fourth time period, and the second time period comprises a fifth time period and a sixth time period, comprising:
receiving a first setting instruction, wherein the first setting instruction is used for setting a first voltage corresponding to each time point in the third time period, and the first voltage and each time point in the third time period form a first linear correlation relationship;
receiving a second setting instruction, wherein the second setting instruction is used for setting a second voltage corresponding to each time point in the fourth time period, and the second voltage and each time point in the fourth time period form a second linear correlation relationship;
receiving a third setting instruction, wherein the third setting instruction is used for setting a third voltage corresponding to each time point in the fifth time period, and in the fifth time period, the third voltage and each time point in the fifth time period form a third linear correlation;
and receiving a fourth setting instruction, wherein the third setting instruction is used for setting a fourth voltage corresponding to each time point in the sixth time period, and in the sixth time period, the fourth voltage and each time point in the sixth time period form a fourth linear correlation relationship.
5. The multi-target detection method according to claim 4, wherein a third duration of the third period of time is equal to a fourth duration of the fourth period of time, and the first voltage at each time point of the third period of time is symmetrically arranged with respect to the second voltage at each time point of the fourth period of time;
a sixth time length of the fifth time period is equal to a sixth time length of the fifth time period, and the third voltage at each time point of the fifth time period is symmetrically arranged with the fourth voltage at each time point of the sixth time period.
6. The multi-target detection method of claim 1, wherein each of the first transmitted signals and each of the second transmitted signals have equal bandwidths.
7. The multi-target detection method of claim 5, wherein the calculating a first combination of initial velocity and initial distance for each of the targets based on the first transmit signal and the first echo signal, and a second combination of initial velocity and initial distance for each of the targets based on the second transmit signal and the second echo signal, comprises:
acquiring a first target transmitting signal which is transmitted at a first time point in the third time period at a first target transmitting frequency, receiving a first target echo signal acquired at the first time point, and acquiring a first difference frequency signal of the third time period according to the first target transmitting signal and the first target echo signal;
acquiring a second target transmitting signal which is transmitted at a second time point by using a first target transmitting frequency in the fourth time period, receiving a second target echo signal acquired at the second time point, and acquiring a second difference frequency signal of the fourth time period according to the second target transmitting signal and the second target echo signal;
calculating a first combination of each first distance and each first speed of all the targets in the first time period according to the first difference frequency signal and the second difference frequency signal;
acquiring a third target transmitting signal which is transmitted at a third time point in the fifth time period at a second target transmitting frequency, receiving a third target echo signal acquired at the third time point, and acquiring a third difference frequency signal of the fifth time period according to the third target transmitting signal and the third target echo signal;
acquiring a fourth target transmitting signal which is transmitted at a fourth time point in the sixth time period at a second target transmitting frequency, receiving a fourth target echo signal acquired at the fourth time point, and acquiring a fourth difference frequency signal of the sixth time period according to the fourth target transmitting signal and the fourth target echo signal;
and calculating a second combination of the second distances and the second speeds of all the targets in the second time period according to the third difference frequency signal and the fourth difference frequency signal.
8. A multi-target detection apparatus, comprising:
the receiving module is used for receiving a setting instruction issued by a user, wherein the setting instruction is used for setting the transmitting frequency of each transmitting signal in N periods; the transmission frequency comprises a plurality of transmission frequencies, in one period, the transmission frequency comprises a first transmission frequency and a second transmission frequency, N is greater than or equal to 1, and N is a positive integer;
the first processing module is used for sequentially transmitting first transmitting signals to each target at each first transmitting frequency according to a time sequence in a first time period and receiving first echo signals returned when the first transmitting signals contact each target;
the second processing module is used for sequentially transmitting second transmitting signals to each target under each second transmitting frequency according to a time sequence in a second time period and receiving second echo signals returned when the second transmitting signals contact each target; wherein a first duration of the first time period is not equal to a second duration of the second time period;
a calculating module, configured to calculate a first combination of the initial velocity and the initial distance of each target according to the first transmitting signal and the first echo signal, and calculate a second combination of the initial velocity and the initial distance of each target according to the second transmitting signal and the second echo signal;
and the determining module is used for determining the combination of the real distance corresponding to the real speed according to the first combination and the second combination.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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Cited By (2)

* Cited by examiner, † Cited by third party
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CN112543284B (en) * 2020-11-27 2022-04-19 维沃移动通信有限公司 Focusing system, method and device

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