CN111624561A - Filtering method for discrete multi-target signal equalization - Google Patents

Filtering method for discrete multi-target signal equalization Download PDF

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CN111624561A
CN111624561A CN202010337759.4A CN202010337759A CN111624561A CN 111624561 A CN111624561 A CN 111624561A CN 202010337759 A CN202010337759 A CN 202010337759A CN 111624561 A CN111624561 A CN 111624561A
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filter
echo
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CN111624561B (en
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颜卫忠
胡鹏程
孔凡伟
钱婧怡
陈栋志
白旭东
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Shanghai Scientific Instrument Factory Co ltd
Shanghai Aerospace Electronics Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
    • 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
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/536—Discriminating between fixed and moving objects or between objects moving at different speeds using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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Abstract

The embodiment of the invention provides a filtering method for discrete multi-target signal equalization, which is characterized in that through designing parameters of a filter, beat signal frequencies corresponding to all targets are in a transition section of the filter, and the passband frequency of the filter is selected to be close to the maximum beat signal frequency, so that the attenuation of a near target is large, the attenuation of a far target is reduced, and the effect that echo amplitudes of targets with different distances are nearly consistent is realized.

Description

Filtering method for discrete multi-target signal equalization
Technical Field
The invention relates to the field of radar signal processing, in particular to a filtering method for discrete multi-target signal equalization.
Background
Linear Frequency Modulated Continuous Wave (LFMCW) systems have the characteristics of small volume, low cost, extremely high resolution, no distance blind zone and being particularly suitable for near field applications, and are receiving continuous attention.
Conventional methods can distinguish well for single objects or objects where speed distinction is significant. However, as the number of targets increases, the targets no longer appear as separate peaks on the spectrum but are instead numerous; due to the influences of signal attenuation, noise interference and the like, the difference of the target echo amplitudes at different distances is large, namely the target echo amplitude at a close distance is large, the target echo amplitude at a far distance is small, and how to avoid annihilation of a long-distance target by a short-distance target is a key problem in multi-target signal processing. However, the literature has been very little concerned with this problem, and it is therefore necessary to develop a method for equalizing discrete multi-target echo signals.
Disclosure of Invention
The invention aims to provide a filtering method for discrete multi-target signal equalization, which is characterized by comprising the following steps of:
step 1: according to the characteristics of the linear frequency modulation continuous wave radar, the target distance R can be determinediDetermining the frequency of a beat signal of a target echo
Figure BDA0002467225930000011
Wherein f isiIs the beat signal frequency, B is the frequency modulation bandwidth, T is the frequency modulation period, and c is the speed of light.
According to the maximum target distance RmaxAnd a minimum target distance RminCalculating maximum and minimum beat frequencies
Figure BDA0002467225930000021
Figure BDA0002467225930000022
Step 2: according to different target distances RiDetermining the amplitude A of the target echo signalr,i
Figure BDA0002467225930000023
Assuming radar scattering cross-sections σ of different targetsiEquality, determining that the echo signal amplitude is inversely proportional to the square of the frequency, i.e. A, according to the relation between the target distance and the echo signal amplitude and the beat signal frequencyr,i∝1/fi 2(ii) a Assuming N targets, let minimum distance (R)min) The echo amplitude of the target is 1, and the echo amplitudes of other targets are
Figure BDA0002467225930000024
Then, the echo amplitudes of different frequencies are expressed as
Figure BDA0002467225930000025
And step 3: determining the stop band frequency f of a high pass filterstopAnd pass band frequency fpass。
Designing the stop band frequency of the high-pass filter to be less than the minimum beat signal frequency, i.e. fstop<fmin(ii) a Designing the passband frequency f of a high pass filterpassApproaching the maximum beat frequency as much as possible, e.g. satisfying | fpass-fmax|/fmax≤；
And 4, step 4: determining that the attenuation characteristic of the filter satisfies
Figure BDA0002467225930000026
p is the attenuation coefficient of the direct current signal (f is 0), and p < 1. The echo signal amplitude equalization of a plurality of targets with dispersed distance can be realized by passing the target echo through the designed filter.
Preferably, in step 3, the setting of the passband frequency includes: pass band frequency greater than maximum beat signal frequency fmaxI.e. all target beat signal frequenciesAre all located in the transition section (f) of the filterstop<fmin<…<fmax<fpass)。
Preferably, in step 3, the setting of the passband frequency includes: to ensure that the attenuation of the echo signal of the farthest target in the filter is as small as possible, the passband frequency is set at the maximum beat signal frequency fmaxFrequency f of sub-maximum beat signalN-1In between, i.e. fstop<fmin<…<fN-1<fpass≤fmax。
Preferably, in order to ensure the best filter effect, a cascaded filter design is adopted in consideration of the fact that the frequency range of beat signals of all targets exceeds one order of magnitude.
Preferably, step 3 is followed by:
step 3 a: assuming that N filters are designed, the linear segments of the N filter characteristics are represented as:
Figure BDA0002467225930000031
after a plurality of filters are cascaded, the total filter characteristics are respectively
Figure BDA0002467225930000032
Substituting (22) into (23) yields the overall filter characteristic
Figure BDA0002467225930000033
Preferably, step 3a is followed by step 3 b:
and (3) cascading the filters determined in the step (3 a), and processing the signal after the target echo passes through the filters, so that the amplitude equalization of the echo signals of a plurality of targets with dispersed distances can be realized.
In the process of processing the echo signals of the triangular frequency-modulated continuous waves, the invention provides a filtering method for discrete multi-target signal equalization, which can better ensure the equalization of the echo signals of various discrete targets and is convenient for realizing the measurement of a plurality of target parameters.
Drawings
FIG. 1 is a schematic diagram of echo signals of targets with different distances according to the present invention.
Fig. 2 is a schematic diagram of echo signal spectra and filter attenuation characteristics corresponding to different range targets in the present invention.
Fig. 3 is a schematic diagram of the amplitude-frequency characteristics of N high-pass filters according to the present invention.
Fig. 4 is a schematic diagram of the amplitude-frequency characteristic of the cascaded high-pass filter of the present invention.
FIG. 5 is a spectrum diagram of a echo signal before filtering in the present invention.
Fig. 6 is an amplitude-frequency characteristic curve of the cascaded high-pass filter of the present invention.
FIG. 7 is a spectrum diagram of echo signals before and after filtering in the present invention.
FIG. 8 is a flow chart of a method of the present invention.
Detailed Description
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.
The final implementation of the scheme is shown in figure 4. According to the characteristics of the linear frequency modulation continuous wave radar, the frequency of beat signals of target echoes and the amplitude of echo signals corresponding to targets with different distances can be determined according to the target distance. And designing parameters of a high-pass filter to enable the beat signal frequencies corresponding to all targets to be in a transition section of the filter, so that the echo amplitudes of different distances to the targets are approximately consistent. If the frequency ranges of beat signals of all targets are wide, a cascade filter design is adopted to ensure the optimal filter effect. The target echo is processed by the cascade filter, and the echo signal amplitude equalization of a plurality of targets with dispersed distance can be realized.
With reference to fig. 1 to 8, the specific implementation of the present invention is as follows:
step 1: according to the characteristics of chirped continuous wave radar, the firstThe frequency of beat signal of i target echoes can be determined by the target distance RiDetermining
Figure BDA0002467225930000041
Wherein f isiIs the beat signal frequency, B is the frequency modulation bandwidth, T is the frequency modulation period, and c is the speed of light.
According to the maximum target distance RmaxAnd a minimum target distance RminCalculating maximum and minimum beat frequencies
Figure BDA0002467225930000051
Figure BDA0002467225930000052
Step 2: according to different target distances RiDetermining the amplitude A of the target echo signalr,i
Figure BDA0002467225930000053
Assuming that the radar scattering cross sections sigma of different targets are equal, according to the relation between the target distance and the amplitude of the echo signal and the frequency of the beat signal, the inverse proportion of the amplitude of the echo signal to the square of the frequency can be determined, namely Ar,i∝1/fi 2See figure 1. Assuming N targets, let minimum distance target RminThe echo amplitude is 1, the echo amplitudes of other targets are
Figure BDA0002467225930000054
Then, the echo amplitudes of different frequencies can be expressed as
Figure BDA0002467225930000055
Therefore, a high-pass filter can be designed, so that the beat signal frequencies corresponding to all targets are in the transition section of the filter, and the echo amplitudes of different distances to the targets are basically approximately consistent.
And 3, step 3: determining the stop band frequency f of a high pass filterstopAnd pass band frequency fpass。
Setting the stop band frequency of the high-pass filter to be less than the minimum beat signal frequency, i.e. fstop<fmin. There are 2 schemes for setting the passband frequency: 1) pass band frequency greater than maximum beat signal frequency fmaxI.e. all target beat signal frequencies are located in the transition section (f) of the filterstop<fmin<…<fmax<fpass) (ii) a 2) To ensure that the attenuation of the echo signal of the farthest target in the filter is as small as possible, the passband frequency is set at the maximum beat signal frequency fmaxFrequency f of sub-maximum beat signalN-1In between, i.e. fstop<fmin<…<fN-1<fpass≤fmaxSee fig. 2.
And 4, step 4: considering that the frequency range of beat signals of all targets may exceed an order of magnitude, in order to ensure the best effect of the filter, a cascade filter design is adopted. Assume that N filters are designed (fig. 3). Note that f in the figurekIs the pass band frequency of each filter, is not the beat frequency corresponding to target k, and fN＝fpass。
The linear segments of the N filter characteristic curves can be expressed as:
Figure BDA0002467225930000061
after a plurality of filters are cascaded, the total filter characteristics are respectively
Figure BDA0002467225930000062
Substituting (23) into (24) yields the total filter characteristic (FIG. 4)
Figure BDA0002467225930000063
And 5, step 5: and (4) cascading the filters determined in the step (4), and processing the target echo after passing through the filters to realize the amplitude equalization of the echo signals of a plurality of targets with dispersed distances.
The technical solution of the present invention will be described below with specific examples.
A filtering method for discrete multi-target signal equalization realizes discrete distribution target echo signal equalization through filter design. The following takes a triangular sweep signal with a center frequency of 24.125GHz and a bandwidth of 250MHz as an example to further describe the technical scheme of the present invention in detail. However, it should be noted that the present invention is not limited to 24GHz signals, but is a general method for designing a discrete multi-target signal equalization filter. The simulation parameters are shown in table 1.
TABLE 1
Figure BDA0002467225930000064
Figure BDA0002467225930000071
The realization process is as follows:
step 1: according to linear frequency modulation continuous wave radar parameters and target distance RiCalculating the frequency f of the target echo beat signali. According to the parameters in Table 1, the frequency of the echo beat signal of each target is [ f [ ]1,f2,f3, f4]＝[16.67kHz,33.33kHz,83.33kHz,166.67kHz]. Thus, the minimum and maximum beat signal frequencies fmin＝16.67kHz，fmax＝166.67kHz。
Step 2: according to the distance R of different targetsiDetermining the amplitude A of the echo signalr,i. Let the minimum distance target RminThe echo amplitude is 1, and the echo amplitudes of other 3 targets are Ar,2＝0.25，Ar,3＝0.04， Ar,40.01. The superimposed signal of the echoes of different targets is fourier transformed, the spectrum of which is shown in fig. 5. It can be seen that the corresponding spectral amplitude of the target decreases with increasing frequency, and the near (low frequency) target has a much larger amplitude than the far (high frequency) target (by a factor of 80), which results in the far target being annihilated in the noise, resulting in a false alarm.
And 3, step 3: here we set fstop10kHz, for convenience, scheme 1) is employed to set the passband frequency, f pass180 kHz. According to the calculation, the maximum target echo amplitude is different from the minimum value by 40dB, so other parameters of the filter are as follows: the stopband amplitude is-50 dB, and the passband amplitude is 0 dB.
And 4, step 4: because the frequency range of the beat signal exceeds one order of magnitude, a segmented filter design is adopted to ensure the optimal effect of the filter. Here, we design 5 filters with filter parameters: (1) p is a radical of1＝0.1,f1＝20kHz；(2)p2＝0.1,f2＝40kHz；(3)p2＝0.12,f2＝80kHz；(4)p2＝0.15, f2＝120kHz；(5)p2＝0.15,f 2180 kHz. The amplitude-frequency characteristic of the high-pass filter after the cascade connection is shown in figure 6.
And 5, step 5: and the echo signals of the targets pass through the filter and then are processed, so that the amplitude equalization of the echo signals of a plurality of targets with dispersed distances can be realized. The filtered echo signals are fourier transformed, see fig. 7. Compared with the frequency spectrum before filtering, the frequency spectrum amplitudes of the 4 filtered targets are relatively close, and the method is favorable for distinguishing different targets and calculating target information.
The beneficial effects of the invention include:
(1) can filter out the low frequency signal who reveals
Aiming at the low-frequency triangular wave frequency component leaked in the echo signal, the high-pass filter can effectively filter the low-frequency signal, and is convenient for amplification and target observation of the subsequent useful signal.
(2) Facilitating simultaneous measurement of multiple range discrete targets
Through designing a high-pass filter, the beat signal frequency corresponding to all targets is in the transition section of the filter, namely, the attenuation of a near target is large, and the attenuation of a far target is small, so that the echo amplitudes of different distance targets are approximately consistent, and the simultaneous measurement of a plurality of distance discrete targets is facilitated.
(3) The hardware circuit can be repeatedly configured, and various target test conditions can be met.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (6)

1. A filtering method for discrete multi-target signal equalization is characterized by comprising the following steps:
step 1: according to the characteristics of the linear frequency modulation continuous wave radar, the target distance R can be determinediDetermining the frequency of a beat signal of a target echo
Figure FDA0002467225920000011
Wherein f isiIs the beat signal frequency, B is the frequency modulation bandwidth, T is the frequency modulation period, and c is the speed of light.
According to the maximum target distance RmaxAnd a minimum target distance RminCalculating maximum and minimum beat frequencies
Figure FDA0002467225920000012
Figure FDA0002467225920000013
Step 2: according to different target distances RiDetermining the amplitude A of the target echo signalr,i
Figure FDA0002467225920000014
Assuming radar scattering cross-sections σ of different targetsiEquality, determining the inverse ratio of the echo signal amplitude to the square of the frequency, i.e. A, according to the relation between the target distance and the echo signal amplitude and the beat signal frequencyr,i∝1/fi 2(ii) a Assuming N targets, let minimum distance (R)min) The echo amplitude of the target is 1, and the echo amplitudes of other targets are
Figure FDA0002467225920000015
The amplitude of the echo at different frequencies is expressed as
Figure FDA0002467225920000016
And step 3: determining the stop band frequency f of a high pass filterstopAnd pass band frequency fpass。
Designing the stop band frequency of the high-pass filter to be less than the minimum beat signal frequency, i.e. fstop<fmin(ii) a Designing the passband frequency f of a high pass filterpassApproaching maximum beat frequency f as much as possiblemaxIf satisfy | fpass-fmax|/fmax≤；
And 4, step 4: determining that the attenuation characteristic of the filter satisfies
Figure FDA0002467225920000021
p is the attenuation coefficient of the direct current signal (f is 0), and p < 1. The echo signal amplitude equalization of a plurality of targets with dispersed distance can be realized by the target echo through the designed filter.
2. The filtering method for discrete multi-target signal equalization as claimed in claim 1, wherein the step 3, the setting of the passband frequency comprises: high pass band frequencyAt the maximum beat signal frequency fmaxI.e. all target beat signal frequencies are located in the transition section (f) of the filterstop<fmin<…<fmax<fpass)。
3. The filtering method for discrete multi-target signal equalization as claimed in claim 1, wherein the step 3, the setting of the passband frequency comprises: to ensure that the attenuation of the echo signal of the farthest target in the filter is as small as possible, the passband frequency is set at the maximum beat signal frequency fmaxFrequency f of sub-maximum beat signalN-1In between, i.e. fstop<fmin<…<fN-1<fpass≤fmax。
4. A method of discrete multi-target signal equalization filtering as claimed in claim 1, characterized in that, in order to ensure optimum filter effect, a cascaded filter design is used, taking into account the fact that the range of the beat signal frequency of all targets exceeds an order of magnitude.
5. The filtering method for discrete multi-target signal equalization as claimed in claim 4, further comprising after said step 3:
step 3 a: assuming N filters, the linear segments of the N filter characteristics are represented as:
Figure FDA0002467225920000022
after a plurality of filters are cascaded, the total filter characteristics are respectively
Figure FDA0002467225920000023
Substituting (7) into (8) to obtain the total filter characteristic;
Figure FDA0002467225920000031
6. the filtering method for discrete multi-target signal equalization as claimed in claim 5, wherein said step 3a is followed by the step 3b of:
and (3) cascading the filters determined in the step (3 a), and processing the target echo after passing through the filter bank to realize the amplitude equalization of the echo signals of a plurality of targets with dispersed distances.
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