CN111487609A - Multi-frequency continuous wave MIMO array radar system and target parameter estimation method thereof - Google Patents

Multi-frequency continuous wave MIMO array radar system and target parameter estimation method thereof Download PDF

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CN111487609A
CN111487609A CN202010313435.7A CN202010313435A CN111487609A CN 111487609 A CN111487609 A CN 111487609A CN 202010313435 A CN202010313435 A CN 202010313435A CN 111487609 A CN111487609 A CN 111487609A
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黄勇
陈宝欣
陈小龙
薛永华
宋伟健
张海
刘传辉
董云龙
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Naval Aeronautical 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
    • 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
    • G01S7/42—Diversity systems specially adapted for radar

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Abstract

The invention provides a multi-frequency continuous wave MIMO array radar system which comprises a frequency synthesizer, L receivers, M transmitting antennas and L receiving antennas, wherein the frequency synthesizer is respectively connected with the signal processor, the transmitter and the data display processing terminal, the transmitter is connected with the transmitting antennas, the signal processor is connected with the data display processing terminal and the receiver, and the receiver is connected with the receiving antennas.

Description

Multi-frequency continuous wave MIMO array radar system and target parameter estimation method thereof
Technical Field
The invention relates to the field of radar systems, in particular to a multi-frequency continuous wave MIMO array radar system and a target parameter estimation method thereof.
Background
The radar is an electronic device for detecting a target by using electromagnetic waves, and the radar emits the electromagnetic waves to irradiate the target and receives the echo of the target, so that information such as the distance from the target to an electromagnetic wave emission point, the distance change rate, the azimuth, the altitude and the like is obtained.
The continuous wave radar has the advantages of low power consumption, low interception probability, simple structure, small size and the like, and is widely applied to the fields of military and civil use. The most common continuous wave radar system is a frequency modulation continuous wave radar, but the system has the problems of difficulty in detecting multiple targets, low angle measurement precision and the like. The multi-frequency continuous wave is a novel radar system, but the existing multi-frequency continuous wave radar is mainly used for distance measurement occasions, but in multi-target detection occasions, the problems of complex signal processing, difficult realization, low angle measurement precision and the like exist.
Disclosure of Invention
The invention aims to provide a multi-frequency continuous wave MIMO array radar system and a target parameter estimation method thereof, which are used for solving the problems in the prior art and can obtain accurate multi-target parameters such as distance, direction, speed and the like.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a multi-frequency continuous wave MIMO array radar system, which comprises the following specific steps:
a multi-frequency continuous wave MIMO array radar system comprises a frequency synthesizer, a signal processor, a transmitter, a data display processing terminal, L receivers, M transmitting antennas and L receiving antennas, wherein the frequency synthesizer is respectively connected with the signal processor, the transmitter and the data display processing terminal, the transmitter is connected with the transmitting antennas, the signal processor is respectively connected with the data display processing terminal and the receiver, and the receiver is connected with the receiving antennas, and the working steps are as follows:
the frequency synthesizer is used for providing a high-precision and high-stability radio frequency source for the analog up/down converters in the transmitter and the receiver;
the M transmitting antennas simultaneously transmit single-frequency continuous wave signals, the single-frequency continuous wave signals are reflected when encountering multiple targets, and the reflected target echo signals are received by the L receiving antennas and forwarded to the receiver for demodulation processing;
the receiver sends the demodulated signals to the signal processor for signal processing to obtain multi-target parameters;
and the signal processor sends the multi-target parameters to the data display processing terminal for display.
Meanwhile, the invention also discloses a single-target echo signal modeling method of the multi-frequency continuous wave MIMO array radar system, which comprises the following specific contents:
the receiver demodulates the target echo X to obtain L× M × N-order three-dimensional complex matrix, wherein N is the number of time-dimensional samples, and the elements of the l row, M column and N page of the target echo X are as follows:
Figure RE-GDA0002519525990000021
wherein l is more than or equal to 1 and less than or equal to L, M is more than or equal to 1 and less than or equal to M, N is more than or equal to 1 and less than or equal to N, α is a target scattering coefficient, M × delta f is the frequency deviation of the transmitted mth single-frequency continuous wave, tau0Is the target distance delay, fDIs the target Doppler frequency, r0Is the target distance, fsIs the sampling frequency, f, of the radar system0Is carrier frequency, d is receiving antenna array distance, theta is target direction, c is light speed constant; arranging the target echoes X into vectors yields the following equation:
Figure RE-GDA0002519525990000022
wherein, aR(r)＝[e-j4π×0×Δf×r/ce-j4π×1×Δf×r/cK e-j4π×(M-1)×Δf×r/c]TFor the distance dimension to guide the vector, aT(θ)＝[1 ej2πdsinθ/cL ej2π(M-1)dsinθ/c]TFor transmitting steering vectors, ar(θ)＝[1 ej2πdsinθ/cL ej2 π(L-1)dsinθ/c]TIn order to receive the steering vector(s),
Figure RE-GDA0002519525990000023
is a Doppler steering vector;
wherein e represents a vector dot multiplication operation, the superscript T represents a transpose of a vector or a matrix, and (M-1) × Δ f represents the frequency offset of the transmitted M-1 th single-frequency continuous wave.
According to the single-target echo signal modeling method of the multi-frequency continuous wave MIMO array radar system, the received signals under the multi-target condition are obtained as shown in the following formula:
Figure RE-GDA0002519525990000031
wherein xiThe echo information of the ith target is shown, and noise is the noise of the receiver (5).
A multi-target parameter estimation method based on a multi-frequency continuous wave MIMO array radar system comprises the following steps:
step 1: the received signal y under the condition of multiple targets is subjected to three-dimensional matched filtering, and a filtering result shown in the following formula can be obtained
Figure RE-GDA0002519525990000032
Figure RE-GDA0002519525990000033
Step 2: and calculating an echo covariance matrix R by using the filtering result:
Figure RE-GDA0002519525990000034
wherein R isnoiseRepresenting a noise covariance matrix;
and step 3: constructing a Capon filter by using the echo covariance matrix, and filtering a received signal y by using the Capon filter to obtain a result shown as the following formula:
Figure RE-GDA0002519525990000035
and 4, step 4: repeating the iteration step 2 and the step 3; the iteration condition is as follows: stopping iteration when the loop reaches Q times, wherein Q is a preset numerical value;
and 5: determining the number of targets and estimating target three-dimensional parameters by adopting an order selection method: distance, azimuth, doppler frequency; the order selection method is to minimize the following r, theta, fDTo achieve target parameter estimation:
Figure RE-GDA0002519525990000036
wherein η represents the number of targets selected in each iterative calculation in the order selection method, the initial value is 1, and J (η) represents the selected target set.
The invention discloses the following technical effects: the invention provides a complete multi-target detection signal model and a method, and the method provided by the invention can realize multi-emission and multi-reception, thereby obtaining accurate multi-target parameter information such as distance, direction, speed and the like.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor;
FIG. 1 is a schematic diagram of a multi-frequency continuous wave MIMO array radar system according to the present invention;
fig. 2 is a schematic diagram of a transmitting antenna and a corresponding transmitter of the multi-frequency continuous wave MIMO array radar system of the present invention;
FIG. 3 is a schematic diagram of a receiving antenna and a signal processor of the multi-band continuous wave MIMO array radar system according to the present invention;
FIG. 4 is a simulation result obtained by the multi-target detection method of the present invention;
fig. 5 shows the target result obtained by the final positioning according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-5, the present invention provides a multi-frequency continuous wave MIMO array radar system and a target parameter estimation method thereof, which specifically include the following steps:
the principles and results of multi-target detection are further described below in connection with one embodiment of the present invention. In this embodiment, the carrier frequency f010GHz, 10KHz, 32 transmitter and transmitting antenna numbers M, 32 receiver and receiving antenna numbers L, 0.015M receiving antenna array spacing d, and sampling frequency f of radar systemsThe digital low-pass filter cut-off frequency of the receiver 5 is 5KHz at 640KHz, simulating 5 targets of different distances, orientations and signal-to-noise ratios.
Fig. 1 is a schematic diagram of a multi-frequency continuous wave MIMO array radar system of the present invention, which includes a frequency synthesizer 1, a signal processor 2, a transmitter 3, a data display processing terminal 4, L receivers 5, M transmitting antennas 6, L receiving antennas 7, wherein the frequency synthesizer 1 is connected to the signal processor 2 and the transmitter 3 respectively and to the data display processing terminal 4, the transmitter 3 is connected to the transmitting antennas 6, the signal processor 2 is connected to the receiver 5 and the data display processing terminal 4, and the receiver 5 is connected to the receiving antennas 7.
Fig. 2 shows a transmitting antenna and a corresponding transmitter of the radar system of the present invention, wherein a transmitting signal and a radio frequency source provided by a frequency synthesizer are radiated into space through the transmitting antenna by analog up-conversion.
Fig. 3 shows a receiving antenna and a signal processor according to the present invention, wherein a target echo is received by the antenna, and is subjected to analog down-conversion to reduce a dimension zero intermediate frequency signal, and then further subjected to digital frequency mixing and low-pass filtering to obtain a signal to be processed.
In the radar system, the antenna is a transducer for guided and radiated waves, and when transmitting, the transmitting antenna 6 converts the high-frequency current sent from the transmitter 3 into a radiated wave and concentrates the radiated energy into a shaped beam in a desired direction, and when receiving, the receiving antenna 7 receives the energy contained in the echo signal, converts it into a high-frequency current and transmits it to the receiver 5.
The receiver 5 is operative to amplify the desired echo signal among clutter, noise and various disturbances, to maximize the ratio of output signal to disturbance, and to amplify the desired signal to a level that enables the signal information to be displayed to an operator or to a level convenient for detection by the signal processor 2.
The frequency synthesizer 1 is a key for realizing receiving and transmitting coherent of a radar system, provides various timing signals and coherent frequency signals for the radar system, and is used for providing a high-precision and high-stability radio frequency source for analog up/down converters in a transmitter 6 and a receiver 5.
The radar carrier frequency is the frequency of a high-power electromagnetic wave signal generated by a radar transmitter 3 before modulation, and in order to effectively avoid interference in a modern electromagnetic environment, the signal must be sorted and threat identified first, and the frequency information of the radar is signal separationSelecting one of important parameters for threat identification, wherein the frequency domain parameters of the radar comprise carrier frequency, frequency spectrum and Doppler frequency, and in the embodiment, the carrier frequency f010GHz, sampling frequency f of the radar systems640KHz, the receiving antenna array spacing d is 0.015 m.
M transmitting antennas 6 simultaneously transmit single-frequency continuous wave signals, the single-frequency continuous wave signals are transmitted when encountering multiple targets, and reflected target echo signals are received by L receiving antennas 7 and forwarded to a receiver 5 for demodulation processing;
the receiver 5 sends the demodulated signals to the signal processor 2 for signal processing to obtain multi-target parameters;
the signal processor 2 sends the multi-target parameters to the data display processing terminal 4 for display.
According to the apparatus shown in fig. 1, the present embodiment provides a target detection signal modeling method for a multi-frequency continuous wave MIMO array radar system, where a signal generated by a transmitter 3 is transmitted through an omnidirectional transmitting antenna 7, and then the mth continuous wave transmitted at time t is,
sm(t)＝cos(2πfmt)
wherein f ism＝f0+Δfm＝f0+ M Δ f, M ═ 0,1,2, …, M-1. The 1 st receiving antenna 7 receives the target reflection echo at the distance r,
Figure RE-GDA0002519525990000061
wherein tau is0＝2r/c，fdIs the target doppler shift. By analog mixing of the receiver 7, the received signal is reduced to a zero intermediate frequency signal, i.e.
Figure RE-GDA0002519525990000062
The AD sampling frequency in the receiver 7 is set to fs2M delta f, is obtained by AD conversion,
Figure RE-GDA0002519525990000063
after M groups of digital mixing and low-pass filtering in the receiver 7, the demodulated target echo can be obtained,
Figure RE-GDA0002519525990000064
it should be noted that the digital low-pass filter in the receiver 5 is an infinite impulse response filter, and the cutoff frequency of the filter passband is set to Δ f/2. the receiver 5 obtains L× M × target echo X represented by a three-dimensional complex matrix of order N, where N is the number of samples in the time dimension, and the L th row, M th column, and N th page of the target echo X have the following elements:
Figure RE-GDA0002519525990000071
wherein l is more than or equal to 1 and less than or equal to L, M is more than or equal to 1 and less than or equal to M, N is more than or equal to 1 and less than or equal to N, α is a target scattering coefficient, M × delta f is the frequency deviation of the transmitted mth single-frequency continuous wave, tau0Is the target distance delay, fDIs the target Doppler frequency, r0Is the target distance, fsIs the sampling frequency, f, of the radar system0Is carrier frequency, d is receiving antenna array distance, theta is target direction, c is light speed constant; arranging the target echoes X into vectors yields the following equation:
Figure RE-GDA0002519525990000072
wherein, aR(r)＝[e-j4π×0×Δf×r/ce-j4π×1×Δf×r/cK e-j4π×(M-1)×Δf×r/c]TFor the distance dimension to guide the vector, aT(θ)＝[1 ej2πdsinθ/cL ej2π(M-1)dsinθ/c]TFor transmitting steering vectors, ar(θ)＝[1 ej2πdsinθ/cL ej2 π(L-1)dsinθ/c]TIn order to receive the steering vector(s),
Figure RE-GDA0002519525990000073
is a Doppler steering vector, wherein e represents a vector dot product operation, a superscript T represents a transpose of a vector or a matrix, and (M-1) × delta f represents the frequency offset of an M-1 th single-frequency continuous wave transmitted.
Preferably, the final received signal for the multiple target case is as follows:
Figure RE-GDA0002519525990000074
wherein xiAs echo information of the ith target, noise is noise of the receiver 5;
meanwhile, the embodiment also provides a multi-target detection method of the multi-frequency continuous wave MIMO array radar system, which comprises the following steps:
step 1: the three-dimensional matching filtering is carried out on the target echo X to obtain a filtering result shown in the following formula:
Figure RE-GDA0002519525990000075
step 2: and calculating an echo covariance matrix R by using the filtering result:
Figure RE-GDA0002519525990000076
wherein R isnoiseRepresenting a noise covariance matrix;
and step 3: constructing a Capon filter by using the echo covariance matrix, and filtering an echo signal X by using the Capon filter to obtain a result shown as the following formula:
Figure RE-GDA0002519525990000081
and 4, step 4: repeating the iteration step 2 and the step 3; the iteration condition is as follows: stopping iteration when the loop reaches Q times, wherein Q is a preset numerical value;
and 5:determining the number of targets and estimating target three-dimensional parameters by adopting an order selection method: distance, azimuth, doppler frequency; the order selection method is to minimize the following r, theta, fDTo achieve target parameter estimation:
Figure RE-GDA0002519525990000082
wherein η represents the number of targets selected in each iterative calculation in the order selection method, the initial value is 1, and J (η) represents the selected target set.
The target echoes are arranged into a form of a formula after analog down-conversion, AD adoption, digital frequency mixing and low-pass filtering, the effect of the figure 4 can be obtained by adopting a multi-target detection method, the figure 5 is a target result obtained by final positioning, wherein × is a real target position, and good is a position obtained by detection by adopting the method of the invention, therefore, the system of the invention can simultaneously detect multiple targets, and the detection efficiency is high.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.

Claims (4)

1. A multi-frequency continuous wave MIMO array radar system is characterized by comprising a frequency synthesizer (1), a signal processor (2), a transmitter (3), a data display processing terminal (4), L receivers (5), M transmitting antennas (6) and L receiving antennas (7), wherein the connection relation is as follows:
the frequency synthesizer (1) is used for providing a high-precision and high-stability radio frequency source for analog up/down converters inside the transmitter (3) and the receiver (5);
the M transmitting antennas (6) simultaneously transmit single-frequency continuous wave signals, the single-frequency continuous wave signals are reflected when encountering multiple targets, and reflected target echo signals are received by the L receiving antennas (7) and forwarded to the receiver (5) for demodulation processing;
the receiver (5) sends the demodulated signals to the signal processor (2) for signal processing to obtain multi-target parameters;
and the signal processor (2) sends the multi-target parameters to the data display processing terminal (4) for display.
2. The method for modeling the single-target echo signal of the multi-frequency continuous wave MIMO array radar system according to claim 1, is characterized by comprising the following steps:
the receiver (5) demodulates to obtain L× M × N-order three-dimensional complex matrix representing target echo X, wherein N is the number of time-dimensional samples, and the elements of the l row, M column and N page of the target echo X are as follows:
Figure FDA0002458545540000011
wherein l is more than or equal to 1 and less than or equal to L, M is more than or equal to 1 and less than or equal to M, N is more than or equal to 1 and less than or equal to N, α is a target scattering coefficient, M × delta f is the frequency deviation of the transmitted mth single-frequency continuous wave, tau0Is the target distance delay, fDIs the target Doppler frequency, r0Is the target distance, fsIs the sampling frequency, f, of the radar system0Is carrier frequency, d is receiving antenna array distance, theta is target direction, c is light speed constant; arranging the target echoes X into vectors yields the following equation:
Figure FDA0002458545540000012
wherein, aR(r)＝[e-j4π×0×Δf×r/ce-j4π×1×Δf×r/cK e-j4π×(M-1)×Δf×r/c]TThe vector is directed for the distance dimension and,
aT(θ)＝[1 ej2πdsinθ/cL ej2π(M-1)dsinθ/c]Tfor transmitting steering vectors, ar(θ)＝[1 ej2πdsinθ/cL ej2 π(L-1)dsinθ/c]TIn order to receive the steering vector(s),
Figure FDA0002458545540000021
is a Doppler steering vector;
wherein e represents a vector dot multiplication operation, the superscript T represents a transpose of a vector or a matrix, and (M-1) × Δ f represents the frequency offset of the transmitted M-1 th single-frequency continuous wave.
3. The method for modeling a single target echo signal according to claim 2, obtaining a received signal y under multiple targets, as shown in the following formula:
Figure FDA0002458545540000022
wherein xiThe echo information of the ith target is shown, and noise is the noise of the receiver (5).
4. A multi-target parameter estimation method is characterized by comprising the following steps:
step 1, performing three-dimensional matched filtering on the received signal y under the multi-target condition obtained in the claim 3 to obtain a filtering result shown in the following formula
Figure FDA0002458545540000023
Figure FDA0002458545540000024
Step 2, calculating an echo covariance matrix R by using the filtering result:
Figure FDA0002458545540000025
wherein R isnoiseRepresenting a noise covariance matrix;
step 3, constructing a Capon filter by using the echo covariance matrix, and filtering a received signal y by using the Capon filter to obtain a result shown as the following formula:
Figure FDA0002458545540000026
step 4, repeating the iteration of the step 2 and the step 3; the iteration condition is as follows: stopping iteration when the loop reaches Q times, wherein Q is a preset numerical value;
step 5, determining the number of targets and estimating target three-dimensional parameters by adopting an order selection method: distance, azimuth, doppler frequency; the order selection method is to minimize the following r, theta, fDTo achieve target parameter estimation:
Figure FDA0002458545540000031
wherein η represents the number of targets selected in each iterative calculation in the order selection method, the initial value is 1, and J (η) represents the selected target set.
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CN113009477B (en) * 2021-02-24 2023-04-18 湖北中南鹏力海洋探测系统工程有限公司 Array type high-frequency ground wave ocean radar system
CN116359871A (en) * 2023-03-24 2023-06-30 上海毫微太科技有限公司 Signal processing method and image acquisition equipment
CN116359871B (en) * 2023-03-24 2024-01-19 上海毫微太科技有限公司 Signal processing method and image acquisition equipment

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