CN111289966B - Motion information measuring method based on MIMO frequency modulation continuous wave radar coherent phase tracking - Google Patents
Motion information measuring method based on MIMO frequency modulation continuous wave radar coherent phase tracking Download PDFInfo
- Publication number
- CN111289966B CN111289966B CN202010103915.0A CN202010103915A CN111289966B CN 111289966 B CN111289966 B CN 111289966B CN 202010103915 A CN202010103915 A CN 202010103915A CN 111289966 B CN111289966 B CN 111289966B
- Authority
- CN
- China
- Prior art keywords
- signal
- phase
- target
- radar
- motion information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000001427 coherent effect Effects 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 230000035559 beat frequency Effects 0.000 claims description 15
- 238000001914 filtration Methods 0.000 claims description 13
- 239000011159 matrix material Substances 0.000 claims description 10
- 238000005070 sampling Methods 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 5
- 238000000691 measurement method Methods 0.000 claims description 4
- 241001168730 Simo Species 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
-
- 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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
Abstract
A motion information measuring method based on MIMO frequency modulation continuous wave radar coherent phase tracking reconstructs a complex-domain beat signal from a received signal of an MIMO frequency modulation continuous wave radar system, and further obtains a motion track of a detection target through a coherent phase target tracking algorithm. The invention can realize the sub-millimeter-scale motion information measurement, simultaneously, the MIMO radar with M sending and N receiving is equivalent to the SIMO radar with 1 sending and M multiplied by N receiving, thereby greatly improving the spatial resolution of the radar and realizing the accurate measurement of the motion information of the targets in different directions.
Description
Technical Field
The invention relates to a technology in the field of wireless communication, in particular to a relative motion accurate measurement method based on a millimeter wave radar, which is not only suitable for an MIMO-FMCW radar system, but also suitable for a single-transmitting single-receiving-FMCW radar system and a SIMO-FMCW radar system under the condition of not adopting a virtual array method.
Background
Since the 20 th century, Frequency Modulated Continuous Wave (FMCW) radar has been widely used in civil fields such as road vehicle monitoring and recording systems, automobile anti-collision radar, traffic flow detectors, automatic driving, gesture interaction, medical treatment and the like. The frequency modulation continuous wave radar has the advantages of simple structure, easy modulation, low cost and the like. The FMCW radar signal modulation mainly comprises three modes of triangular wave modulation, sawtooth wave modulation and sine wave modulation. Sine wave modulation is mostly used for single target detection, and sawtooth wave or triangular wave modulation is needed for multi-target detection. In which the triangular wave modulation can measure the distance and speed information of an object at the same time, whereas the sawtooth wave modulation can only measure the distance of an object conventionally. The distance measurement precision of the traditional FMCW radar is inversely proportional to the modulation bandwidth B of the traditional FMCW radar, and the precision is poor and is generally in the centimeter grade.
The search of the prior art finds that Guochao Wang and the like propose non-contact range tracking of vital signs (such as respiration) by using a Linear Frequency Modulation Continuous Wave (LFMCW) radar in Application of Linear-Frequency-Modulated Continuous-wave (LFMCW) for tracking of visual signs, and combines the simplicity and the tracking precision of hardware, so that the method is superior to other remote sensing methods in the solved biomedical scene. However, the prior art has a low working frequency band and is not sensitive enough to small movements; no phase compensation method is proposed for the additional change occurring during the phase measurement, and serious deviation may occur during the measurement; time domain filtering is not carried out, and the influence of transceiving coupling is large; the angle of the object relative to the radar cannot be measured.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a motion information measurement method based on MIMO frequency modulation continuous wave radar coherent phase tracking, which realizes the sub-millimeter-scale motion information measurement by carrying out time domain filtering, phase analysis and phase compensation on the phase information of the received radar information, and breaks through the limitation that the traditional sawtooth wave modulation can not measure the object motion speed. In addition, the MIMO radar with M sending and N receiving is equivalent to the SIMO radar with 1 sending and M multiplied by N receiving (also called a virtual array antenna method) through the processing of the MIMO radar signals, the spatial resolution of the radar is greatly improved, and the accurate measurement of the motion information of the targets in different directions is realized.
The invention is realized by the following technical scheme:
the invention relates to a motion information measuring method based on MIMO frequency modulation continuous wave radar coherent phase tracking.
The reconstruction means that: and obtaining orthogonal signals and reconstructing a complex domain beat frequency signal after the received signals are subjected to multiplier, amplification and analog-to-digital conversion sampling.
The coherent phase target tracking algorithm is as follows: and performing time domain filtering, phase analysis and phase compensation on the complex domain beat frequency signal to obtain the motion track of the detection target.
The MIMO frequency modulation continuous wave radar system comprises: phase-locked loop, radio frequency module, intermediate frequency amplification module, ADC and MCU, wherein: the MCU generates different modulation waveforms by configuring a phase-locked loop to realize a corresponding modulation mode, the modulation waveforms generated by the phase-locked loop are input to the voltage-controlled oscillator and generate a transmitting signal, the transmitting signal is transmitted to a detection target through a transmitting antenna and generates a scattering phenomenon, a reflection signal with modulated detection target motion information is generated, a receiving signal obtained by each receiving antenna and the transmitting signal respectively pass through an orthogonal differential multiplier to obtain a plurality of orthogonal signals, and the orthogonal signals are amplified, subjected to analog-to-digital conversion and sampling and then restored by the MCU to obtain the motion information of the detection target.
Technical effects
The invention integrally solves the technical problems of accurate measurement of the motion information of the target object and measurement of the angle of the target object relative to the radar by the MIMO frequency modulation continuous wave radar.
Compared with the prior art, the invention has higher working frequency range, is very sensitive to micro motion and can realize the measurement of submillimeter-level motion information; the time-domain filtering is adopted to further increase the measurement precision; the time-domain filtering can not only filter out the receiving and transmitting coupled signals, but also filter out the reflected signals in the environment by subtracting the no-load (no-load for short when no detection target exists) signals in the same environment theoretically, thereby greatly improving the adaptability of the FMCW radar system to the environment; the adoption of the phase compensation method greatly improves the measurement accuracy; the processing of the MIMO radar signals both reduces the cost and improves the performance of the system.
Drawings
FIG. 1 is a schematic diagram of a MIMO FM continuous wave radar system;
FIG. 2 is a schematic diagram of a 2 × 2 radar antenna array;
FIG. 3 is a schematic diagram of a virtual receive antenna;
FIG. 4 is a schematic diagram of an embodiment of palm detection;
FIG. 5 is a diagram illustrating exemplary palm detection data;
FIG. 6 is a schematic diagram of human presence detection according to an embodiment;
fig. 7 is a schematic diagram of human presence detection data according to an embodiment.
Detailed Description
As shown in fig. 1, the MIMO fm continuous wave radar system according to the present embodiment includes: phase-locked loop, radio frequency module, intermediate frequency amplification module, ADC and MCU, wherein: the MCU generates different modulation waveforms by configuring a phase-locked loop to realize corresponding modulation modes, the modulation waveforms generated by the phase-locked loop are input to a Voltage Controlled Oscillator (VCO) and generate transmitting signals, the transmitting signals are transmitted to a detection target through transmitting antennas TX1 and TX2 … TXM and generate scattering phenomenon, reflected signals modulated with motion information of the detection target are generated and received by receiving antennas RX1 and RX2.
The configuration is as follows: sawtooth or triangular wave modulation, centre frequency fcModulation bandwidth B and pulse repetition Period (PRT) t0。
Said transmitted signal is approximated as
Wherein: a. the0Is the signal amplitude, fcIs the center frequency, B is the modulation bandwidth, t0Is PRT, phi0The initial phase, t is the "fast time" (i.e., the time in one cycle),
said received signal is approximated as sr(t)＝ρA0st(t- Δ t), wherein: ρ is the amplitude relationship of the transmitted and received signals, which is mainly related to the transmission loss and the radar scattering area of the detected target. Mixing the transmitting signal and the receiving signal to obtain a beat signal
The frequency domain form of the beat frequency signal is approximately:
wherein: c is the speed of light, R (t ') is the distance of the target from the radar at time t ', t ' is the "slow time" (i.e., the time taken together at a discrete time point in a cycle), in the frequency domain,
represents | Sb(f) The horizontal coordinate of | can be converted into the distance of the detection target,
the position change information of the detection target in the submillimeter level can be obtained through conversion.
As shown in fig. 2, the principle of the virtual array antenna method is: taking a 2 × 2 radar antenna array as an example, signals transmitted by TX1 and TX2 are received by RX1 and RX2. In the figure, theta is an azimuth angle where the detection target is located; i is1And I2Excitation of TX1 and TX2, respectively; k is a wave vector, and the direction is pointed to a detection target by an antenna;
respectively the phase of the electromagnetic wave signal received by the different transmitting antennas by the different receiving antennas. As shown in fig. 3, according to the difference of the transmission distance of the electromagnetic wave,
is approximated to
Wherein: i 1, 2, j 1, 2, each of which is described
Can be equivalent to a virtual receiving antenna RXijAnd RXijIs Ti + Rj, so that the binary receive antenna array is extended to a quaternary virtual antenna array. The MIMO radar with M transmitting and N receiving can be equivalent to the SIMO radar with 1 transmitting and M multiplied by N receiving by the same principle.
The embodiment relates to a coherent phase target tracking algorithm of the system, which comprises the following specific steps:
1) complex-field beat signal acquisition: taking an orthogonal signal s obtained by a certain path of RX receiving circuit which enters MCU through ADC samplingbI(p) and sbQ(p), p is an integer. Reconstructing a complex-domain beat signal sb(p)＝sbI(p)+jsbQ(p)。
2) And (3) time domain filtering: taking a section (such as 20 seconds) of beat frequency signal s when a temporarily sampled or stored system has no detection target (short for no load)bn(p); ② take sbn(p) and s b1 to M (═ t) of (p)0fs) Point out to obtain sbn(pm) And sb(pm). Subtracting the two to obtain sbx(pm). (iii) to sbx(pm) Performing Fast Fourier Transform (FFT) to obtain Sbx(f) Taking it at 0-2 PRT-1Maximum value S within the rangebx(f)max. Fourthly, s isbn(p) all values are shifted one bit forward to get sbn1(p)＝sbn(p + 1). Will sbn1And (p) as a new signal when the system is in no-load, repeating the step (c) to obtain a new maximum value. Repeating the operation for M times by analogy to obtain M maximum values, and forming an array P (serial numbers 1-M) by the M maximum values in sequence. Taking the number P corresponding to the minimum value in PxAnd obtaining a beat frequency signal after time domain filtering: sbx(p)＝sb(p)-sbn(p+px-1)。
3) Phase analysis: firstly, beat frequency signal sbx(p) obtaining a detection matrix R (n, M) with every M dots as a rowN×MFor the detection matrix R (n, m)N×MPerforms Fast Fourier Transform (FFT) on each row to obtain a frequency domain matrix F (n, m')N×M′M' depends on the length of the fast Fourier transform, p is an integer, and the sampling rate is fs，M＝t0fs. At t0At time n, the distance of the detectable object is
Wherein: f. ofd(t0n)＝mn″fs，mn"is F (n, m')N×M′The abscissa of the maximum value in the nth row. ② find the frequency domain matrix F (n, m')N×M′And stores the abscissa of these maxima in a vector ixN×1Removing vector ixN×1Taking the rest ix after the maximum value and the minimum value in(N-2)×1Is rounded to an integer m0. ③ taking the frequency domain matrix F (n, m')N×M′M of (1)0Complex phase vector iy of points of a columnN×1Then the preliminarily obtained target motion track information r (t)0n)＝iy(n)c/(4πfc)。
4) Phase compensation: because the circuit system has asynchronous problem, namely the sampling clock and the FMCW pulse period are asynchronous, the tiny asynchronous error can be accumulated along with the time, the phase information can be added with a linear deviation, and the measurement loses the accuracy if the compensation is not carried out. For a particular system, the additional linear change at each frequency point may be measured first or may be measured temporally. The specific measurement method is as follows: taking a time (for example, 5s) of dead-time beat frequency signals, and measuring a certain m through the steps 1) to 3)0Trace r (t) of0n)＝iy(n)c/(4πfc) Note that m in step 2) at this time0Is specified. ② get r (t)0n)＝iy(n)c/(4πfc) The slope k is obtained from two points p1, p2 on the trajectory. (iii) Change m0Can measure different m0The value of k at (1) is denoted as k (m)0). For a certain trajectory r (t)0n)＝iy(n)c/(4πfc) Its corresponding column is m0Then the phase compensation result is: r' (t)0n)＝iy(n)c/(4πfc)-k(m0) n is the same as the formula (I). Namely the finally detected motion trail information of the target.
This example demonstrates the accuracy of the above method by detecting a palm micromotion:
parameter configuration: sawtooth wave modulation, center frequency fc80GHz, modulation bandwidth B4 GHz, and pulse repetition Period (PRT) t0＝6ms。
As shown in fig. 4, a radar panel is placed on a desktop, a palm is placed at a position about 10cm above the radar panel and slightly moves up and down, the amplitude is about 15mm, the operation is stopped after 7s, the micro movement is started after 13s, the total time lasts for 15s, and the acquired data are processed by adopting an algorithm for measuring target movement information by a phase method, so that an experimental result shown in fig. 5 is obtained.
As shown in fig. 5, for the palm motion trajectory obtained by using the coherent phase target tracking algorithm, it can be seen that the motion amplitude, the motion time, and the resting time of the measured motion trajectory are substantially consistent.
This example demonstrates the accuracy of the above method by detecting the presence of a human body:
parameter configuration: sawtooth wave modulation, center frequency fc80GHz, modulation bandwidth B4 GHz, and pulse repetition Period (PRT) t0＝6ms。
As shown in fig. 6, a radar plate is placed on a desktop, no object is above the radar plate, and a human body leans against the desk and bends down until the body enters a position about 20cm above the radar plate for 2-3 s; standing the body until no object is above the radar plate, and processing the acquired data to obtain a distance map of the human body from the radar plate.
As shown in fig. 7, when a human body is present, the human body may be detected to be about 20cm from the radar, and a process of the human body being departing may be detected. When the human body does not appear, because the energy detected by the system is very small, the interference is much, when the detected energy is too small, the human body can be judged to be not present, and the detection distance is set to be 0, which indicates that the human body is not present.
The coherent phase target tracking algorithm provided by the invention is adopted to process the same beat frequency signal, and the tracking of submillimeter-level motion information is realized. Meanwhile, the measurement of the angle of the target relative to the radar is realized and the spatial resolution is improved by combining the MIMO radar signal processing.
Through concrete actual experiment to sawtooth wave modulation, 4GHz scanning bandwidth, the above-mentioned device of the parameter operation of center frequency point 80GHz, the experimental data that can obtain are: the micro-motion process of the palm is shown in fig. 4.
Compared with the prior art, the method has higher working frequency range and is more sensitive to micromotion; the time-domain filtering is adopted to further increase the measurement precision; the time-domain filtering can not only filter out the receiving and transmitting coupled signals, but also filter out the reflected signals in the environment by subtracting the system no-load signals in the same environment theoretically, thereby greatly improving the adaptability of the FMCW radar system to the environment; the adoption of the phase compensation method greatly improves the measurement accuracy; the motion measurement precision above a submillimeter level is realized on the whole; the processing of the MIMO radar signals both reduces the cost and improves the performance of the system.
The foregoing embodiments may be modified in many different ways by one skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and not by the preceding embodiments, and all embodiments within their scope are intended to be limited by the scope of the invention.
Claims (2)
1. A motion information measurement method based on MIMO frequency modulation continuous wave radar coherent phase tracking is characterized in that a complex domain beat signal is reconstructed from a received signal of an MIMO frequency modulation continuous wave radar system, and a motion track of a detection target is further obtained through a coherent phase target tracking algorithm;
the reconstruction means that: obtaining orthogonal signals and reconstructing a complex domain beat frequency signal after the received signals are subjected to multiplier, amplification and analog-to-digital conversion sampling;
the coherent phase target tracking algorithm is as follows: performing time domain filtering, phase analysis and phase compensation on the complex domain beat frequency signal to obtain a motion track of a detection target;
the MIMO frequency modulation continuous wave radar system comprises: phase-locked loop, radio frequency module, intermediate frequency amplification module, ADC and MCU, wherein: the MCU generates different modulation waveforms by configuring a phase-locked loop to realize a corresponding modulation mode, the modulation waveforms generated by the phase-locked loop are input to the voltage-controlled oscillator and generate a transmitting signal, the transmitting signal is transmitted to a detection target through a transmitting antenna and generates a scattering phenomenon, a reflection signal with modulated detection target motion information is generated, a receiving signal obtained by each receiving antenna and the transmitting signal respectively pass through an orthogonal differential multiplier to obtain a plurality of orthogonal signals, and the orthogonal signals are amplified, subjected to analog-to-digital conversion and sampling and then restored by the MCU to obtain the motion information of the detection target;
the complex-domain beat signal is sb(p)＝sbI(p)+jsbQ(p) wherein: p is an integer, sbI(p) and sbQ(p) obtaining an orthogonal signal obtained by taking a certain path of RX receiving circuit which enters the MCU through ADC sampling;
the time-domain filtering specifically includes:
firstly, taking a section of beat frequency signal s when the system is idlebn(p)；
② take sbn(p) and sb1 to M points of (p) to obtain sbn(pm) And sb(pm) And the two are subtracted to obtain sbx(pm) Wherein: m ═ t0fs；
(iii) to sbx(pm) Fast Fourier transform is carried out to obtain Sbx(f) Taking it at 0-2 PRT-1Maximum value S within the rangebx(f)max；
Fourthly, s isbn(p) all values are shifted one bit forward to get sbn1(p)＝sbn(p +1), mixing sbn1(p) repeating the third step as a new signal when the system is in no-load to obtain a new maximum value; repeating the operation for M times by analogy, and forming an array P with the obtained M maximum values in sequence, wherein the sequence number of the array P is 1-M;
taking the number P corresponding to the minimum value in the array PxAnd obtaining a beat frequency signal after time domain filtering: sbx(p)＝sb(p)-sbn(p+px-1)；
The phase analysis specifically includes:
firstly, beat frequency signal sbx(p) obtaining a detection matrix R (n, M) with every M dots as a rowN×MFor the detection matrix R (n, m)N×MPerforms fast Fourier transform on each row to obtain a frequency domain matrix F (n, m')N×M′Wherein: m' depends on the length of the fast Fourier transform, p is an integer, and the sampling rate is fs，M＝t0fsAt t0The distance of the target detected at the n moment is
Wherein: f. ofd(t0n)＝mn″fs，mn"is F (n, m')N×M′The abscissa of the maximum value of the nth row;
② find the frequency domain matrix F (n, m')N×M′And stores the abscissa of these maxima in a vector ixN×1Removing vector ixN×1Taking the rest ix after the maximum value and the minimum value in(N-2)×1Is rounded off to an integer m0；
③ frequency domain matrix F (n, m')N×M′M of (1)0Complex phase vector iy of points of a columnN×1Then the preliminarily obtained target motion track information r (t)0n)＝iy(n)c/(4πfc)；
The phase compensation specifically comprises:
firstly, a beat frequency signal of a period of system no-load time is taken, and m of the beat frequency signal is calculated through time domain filtering and phase analysis0Trace r (t) of0n)＝iy(n)c/(4πfc)；
② get r (t)0n)＝iy(n)c/(4πfc) Obtaining a slope k at two points p1 and p2 on the track;
(iii) Change m0And measuring the k value at different positions and recording the k value as k (m)0)；
For a certain track r (t)0n)＝iy(n)c/(4πfc) Its corresponding column is m0Then the phase compensation result is: r' (t)0n)＝iy(n)c/(4πfc)-k(m0) n, namely the finally detected target motion track information.
2. The method of claim 1, wherein the signals of different transmitting antennas are distinguished at each receiving antenna, each signal is taken as a new virtual receiving signal, and then the resolution of the target with respect to the radar angle measurement is improved by digital beam forming of the virtual receiving signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010103915.0A CN111289966B (en) | 2020-02-20 | 2020-02-20 | Motion information measuring method based on MIMO frequency modulation continuous wave radar coherent phase tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010103915.0A CN111289966B (en) | 2020-02-20 | 2020-02-20 | Motion information measuring method based on MIMO frequency modulation continuous wave radar coherent phase tracking |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111289966A CN111289966A (en) | 2020-06-16 |
| CN111289966B true CN111289966B (en) | 2022-05-10 |
Family
ID=71017906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010103915.0A Active CN111289966B (en) | 2020-02-20 | 2020-02-20 | Motion information measuring method based on MIMO frequency modulation continuous wave radar coherent phase tracking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111289966B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114076941A (en) * | 2020-08-21 | 2022-02-22 | 上海禾赛科技有限公司 | Method, radar and computer-readable storage medium for detection using frequency modulated continuous waves |
| TWI744046B (en) * | 2020-10-22 | 2021-10-21 | 國立中山大學 | Phase-tracking self-injection-locked radar |
| CN112965035B (en) * | 2021-02-01 | 2022-07-15 | 上海交通大学 | High-linearity phase demodulation implementation method for coherent phase tracking of FMCW radar |
| CN112946589B (en) * | 2021-02-01 | 2022-09-06 | 上海交通大学 | Phase self-calibration method for motion measurement of asynchronous FMCW radar system |
| CN113009584B (en) * | 2021-02-06 | 2022-05-17 | 中国人民解放军国防科技大学 | Ultra-wideband MIMO radar vital sign detection positioning method |
| CN113050084B (en) * | 2021-03-11 | 2022-05-10 | 上海交通大学 | 4D gesture recognition method of MIMO frequency modulation continuous wave millimeter wave radar |
| CN113384250B (en) * | 2021-05-26 | 2022-03-15 | 上海交通大学 | Low-power-consumption realization method of millimeter wave radar system for vital sign detection |
| CN113359196B (en) * | 2021-05-26 | 2023-01-20 | 上海交通大学 | Multi-target vital sign detection method based on subspace method and DBF |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7170440B1 (en) * | 2005-12-10 | 2007-01-30 | Landray Technology, Inc. | Linear FM radar |
| CN104535996A (en) * | 2015-01-08 | 2015-04-22 | 西安费斯达自动化工程有限公司 | Image/laser ranging/ low-altitude frequency-modulated continuous wave radar integrated system |
| WO2017149526A2 (en) * | 2016-03-04 | 2017-09-08 | May Patents Ltd. | A method and apparatus for cooperative usage of multiple distance meters |
| CN108363043A (en) * | 2018-01-26 | 2018-08-03 | 浙江大学 | Continuous wave Doppler radar sensor and multiple mobile object detection method are placed in distribution |
| WO2018158353A1 (en) * | 2017-03-03 | 2018-09-07 | Iee International Electronics & Engineering S.A. | Method and system for obtaining an adaptive angle-doppler ambiguity function in mimo radars |
| CN109088181A (en) * | 2017-06-14 | 2018-12-25 | 英飞凌科技股份有限公司 | Radio-frequency devices module and forming method thereof |
| CN110632587A (en) * | 2019-10-10 | 2019-12-31 | 南京凌云科技发展有限公司 | Weak moving object monitoring method based on rapid FMCW radar |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10451723B2 (en) * | 2016-12-20 | 2019-10-22 | National Chung-Shan Institute Of Science & Technology | Signal processing apparatus of a continuous-wave (CW) radar sensing system |
| US10921436B2 (en) * | 2018-08-13 | 2021-02-16 | Nxp B.V. | MIMO radar coding for resolving velocity ambiguity |
-
2020
- 2020-02-20 CN CN202010103915.0A patent/CN111289966B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7170440B1 (en) * | 2005-12-10 | 2007-01-30 | Landray Technology, Inc. | Linear FM radar |
| CN104535996A (en) * | 2015-01-08 | 2015-04-22 | 西安费斯达自动化工程有限公司 | Image/laser ranging/ low-altitude frequency-modulated continuous wave radar integrated system |
| WO2017149526A2 (en) * | 2016-03-04 | 2017-09-08 | May Patents Ltd. | A method and apparatus for cooperative usage of multiple distance meters |
| WO2018158353A1 (en) * | 2017-03-03 | 2018-09-07 | Iee International Electronics & Engineering S.A. | Method and system for obtaining an adaptive angle-doppler ambiguity function in mimo radars |
| CN109088181A (en) * | 2017-06-14 | 2018-12-25 | 英飞凌科技股份有限公司 | Radio-frequency devices module and forming method thereof |
| CN108363043A (en) * | 2018-01-26 | 2018-08-03 | 浙江大学 | Continuous wave Doppler radar sensor and multiple mobile object detection method are placed in distribution |
| CN110632587A (en) * | 2019-10-10 | 2019-12-31 | 南京凌云科技发展有限公司 | Weak moving object monitoring method based on rapid FMCW radar |
Non-Patent Citations (2)
| Title |
|---|
| 《Linear-Frequency-Modulated Continuous-Wave Radar for Vital-Sign Monitoring》;Guochao Wang et.al;《2014 IEEE》;20141231;第37-39页 * |
| 《一种雷达模拟器天线系统设计》;李尚生 等;《海军航空工程学院学报》;20161231;第31卷(第5期);第501-505页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111289966A (en) | 2020-06-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111289966B (en) | Motion information measuring method based on MIMO frequency modulation continuous wave radar coherent phase tracking | |
| US9746554B2 (en) | Radar imaging system and related techniques | |
| CN106353744B (en) | Multi-parameter combined estimation method based on bistatic FDA-MIMO radars | |
| JP4496954B2 (en) | Interferometric radar | |
| CN110412558A (en) | The vehicle-mounted fmcw radar velocity ambiguity method of solution based on TDM MIMO | |
| US10222472B2 (en) | System and method for detecting heading and velocity of a target object | |
| CN106597433A (en) | Low-altitude monitoring radar | |
| KR20130099310A (en) | Fmcw radar system usign adaptive scheduler | |
| CN106054193A (en) | Around-vehicle multi-target detection method, processor and millimeter wave radar system | |
| EP4047391B1 (en) | Radar-based target tracker | |
| CN106772349B (en) | A kind of ranging, speed-measuring method and system | |
| EP3907523B1 (en) | Radar-based target tracking using motion detection | |
| CN106291586B (en) | A kind of method of near field Terahertz dual station synthetic aperture one-dimensional image | |
| CN107783124B (en) | Rotor unmanned aerial vehicle complex environment anti-collision radar system based on combined waveform and signal processing method | |
| Sippel et al. | Quasi-coherent phase-based localization and tracking of incoherently transmitting radio beacons | |
| CN114200411A (en) | Multi-target speed measurement extension method for MIMO radar | |
| KR102053203B1 (en) | Multiple altitude operating interferometer radar altimeter apparatus based on valid angle identification and method thereof | |
| CN209496136U (en) | Millimetre-wave radar tramcar collision early warning system based on MIMO | |
| CN112965035B (en) | High-linearity phase demodulation implementation method for coherent phase tracking of FMCW radar | |
| CN114518562A (en) | Target identification method and device, electronic equipment and storage medium | |
| US20240111040A1 (en) | Radar-based segmented presence detection | |
| Sang et al. | A FSK radar with frequency-scanned array for moving and stationary human subjects detection | |
| Mabrouk et al. | A novel algorithm for moving/fixed target discrimination in 77 GHz automotive radars | |
| WO2022249881A1 (en) | Electronic device, method for controlling electronic device, and program | |
| CN112415479B (en) | Frequency diversity technology-based continuous wave navigation radar spectrum pairing method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230223 Address after: 200240 No. 800, Dongchuan Road, Shanghai, Minhang District Patentee after: Gu Changzhan Address before: 200240 No. 800, Dongchuan Road, Shanghai, Minhang District Patentee before: SHANGHAI JIAO TONG University |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231115 Address after: 200241, 1st Floor, Building 5, No. 951 Jianchuan Road, Minhang District, Shanghai Patentee after: Shanghai Xikali Technology Co.,Ltd. Address before: 200240 No. 800, Dongchuan Road, Shanghai, Minhang District Patentee before: Gu Changzhan |
|
| TR01 | Transfer of patent right |