CN111693978B - Scatter detection method based on MIMO millimeter wave radar - Google Patents
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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
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- 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
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Abstract
The invention belongs to the technical field of radar detection, and particularly relates to a scatter detection method based on an MIMO millimeter wave radar. The invention comprises the following steps: designing a 12-transmitting 16-receiving L-shaped antenna MIMO millimeter wave radar signal processing architecture according to a TI millimeter wave radar chip XAW 1243; carrying out 2D-FFT conversion on multi-scatter target signals received by all antennas in the same direction, and simultaneously accumulating the signals received by the receiving antennas in the same direction to generate 2D-FFT so as to form a complex detection matrix; performing peak characteristic detection on the real number of the complex detection matrix to detect the relative position of a target; carrying out angle FFT on a target point corresponding to the 2D-FFT to detect a direction angle; and detecting the actual coordinates of the target scatter points according to the distance phase and the direction angle. Signals are collected and processed by the FPGA, including 1D and 2D-FFT, target point detection, angle FFT and frequency detection, and finally the actual position of a scattered point target is calculated; the method has important application value in the fields of pattern recognition, automatic driving and the like.
Description
Technical Field
The invention belongs to the technical field of radar detection, and particularly relates to a scatter detection method based on an MIMO millimeter wave radar.
Background
With the rise of big data technologies, a plurality of intelligent detection technologies become one of the important methods, and play an important role in the fields of unmanned aerial vehicles, automatic driving, safety detection, intelligent interconnection and the like. At present, common detection modes such as an optical camera, an SIMO radar, an X ray, an ultrasonic radar and the like are successfully applied in many occasions, but based on factors such as efficiency, safety, accuracy and the like, the detection technologies cannot meet the increasingly high-degree integration and intelligentization application, such as the defects of poor optical camera penetrability, low SIMO radar detection efficiency, harmfulness of the X ray to a human body, short detection distance and poor resolution of the ultrasonic radar and the like, and the wide application of the technologies is severely limited.
Based on the characteristics of short wavelength and high resolution of 77G millimeter waves, the detection resolution is further improved by combining a TDM-MIMO technology, and a multiple-input multiple-output (MIMO) millimeter wave radar is a millimeter wave radar with a plurality of TX and RX antennas and has initial application in the fields of unmanned driving, security inspection, mode identification and the like. N is a radical of TX A transmitting antenna and N RX Angular resolution and N of MIMO radar with single receive antenna TX ×N RX SIMO radar equivalent to receive antennas, but with a smaller number of antennas in comparison, greatly reduces hardware system complexity. Therefore, the MIMO radar has the cost advantage of improving the angle resolution of the radar, and has important application in the field of intelligent detection.
The invention provides a scatter detection method based on MIMO millimeter wave radar, which adopts a 77G millimeter wave radar chip with high integration level of TI company, integrates radio frequency, amplification, up-down frequency conversion and ADC into a whole, adopts a mode of cascade connection of 4 chips, improves the number of transmitting and receiving antennas to reach the number of 12Tx and 16Rx antennas, can be virtualized into 192 antenna arrays, and can carry out signal acquisition and imaging processing only by connecting a digital acquisition system subsequently, thus being convenient and fast. By means of the rapid signal acquisition and processing capacity of the FPGA, multi-channel echo signals can be acquired simultaneously and in real time, real-time 2D-FFT and angle FFT calculation is carried out on the multi-channel echo signals, a detection matrix is formed, the direction and the distance of a target scattered point are detected rapidly, efficiently and accurately through a certain detection algorithm, and the method has important application value.
Disclosure of Invention
The invention aims to provide a scattered point detection method based on an MIMO millimeter wave radar, which has good real-time property and high accuracy in target tracking.
The invention provides a scatter detection method based on an MIMO millimeter wave radar, which comprises the following specific steps:
(1) Designing 12 a TDM-MIMO millimeter wave radar signal processing architecture of a transmitting 16-receiving L-shaped antenna;
(2) 2D-FFT conversion is carried out on multi-scatter target signals received by all antennas in the same direction, and signals received by receiving antennas in the same direction are accumulated to generate 2D-FFT to form a complex detection matrix;
(3) Performing real-number detection on the complex detection matrix, performing peak characteristic detection, and detecting the relative position of a target;
(4) Carrying out angle FFT on target points corresponding to all the 2D-FFT to detect a direction angle;
(5) And detecting the actual coordinates of the target scatter points according to the distance phase and the direction angle generated by the 2D-FFT.
The MIMO millimeter wave radar signal processing architecture for 12-transmission 16-reception L-shaped antennas is designed in the step (1), and the specific flow is as follows: designing a 4-chip cascade system based on TI (Texas Instruments) millimeter wave chips (model XWR1243, each chip is provided with 3Tx multiplied by 4Rx antennas), forming an L-shaped array of 12Tx multiplied by 16Rx antennas, virtualizing 192 rectangular array receiving antennas, forming a multi-input multi-output MIMO mode, and finally directly outputting digital echo signals by 16 paths of LVDS; and the rear end collects and processes signals by an FPGA (field programmable gate array), wherein the signals comprise 1D and 2D-FFT, target point detection, angle FFT, frequency detection and the like, and the scattered point target angle and the coordinates are finally calculated.
In the step (2), the 2D-FFT conversion is performed on multiple frames of target scattered point signals received by antennas in the same direction (including the horizontal or vertical direction), and signals received by the antennas in the same direction are accumulated to generate a 2D-FFT, so as to form a complex detection matrix, which includes the following two steps:
a. based on a TDM-MIMO radar 4 chip cascade system scatter detection system, each transmitting antenna adopts a time division multiplexing transmitting mode, and all receiving antennas receive simultaneously, so that a 12 x16 array antenna is virtualized in total; each antenna can receive one frame of data (consisting of a plurality of Chirps) to carry out 2D-FFT to form an RD-MAP;
b. each of the receiving antennas having the same orientation (horizontal or vertical) generates an RD-MAP, which is vector-summed to obtain a detected complex matrix.
Performing peak feature detection on the plurality of detection matrixes in the step (3) to detect the relative position of the target, wherein the specific process comprises the following steps:
a. according to the complex detection matrix obtained in the step (2), firstly taking a module value of each complex point in the matrix, then taking a common logarithm (20 lg (·)) for operation, and converting the common logarithm into a dB value to obtain a real matrix;
b. and respectively carrying out average constant false alarm rate (CA-CFAR) detection (Wangdongong, and the like) on each row and each column of the real number matrix, analyzing the performance of unit average constant false alarm rate detection in the MIMO radar [ J ]. Electronic countermeasure, 2008 (1): 34-38.), obtaining row-column coordinates (R, C) of all target points in the detection matrix, and forming a target coordinate table.
The step (4) of taking out the target points of the row-column coordinates (R, C) corresponding to all the 2D-FFT to perform angle FFT, wherein the specific flow of detecting the direction angle is as follows: if the detection matrix is formed by receiving signals by the antenna in the same horizontal direction, taking out all the coordinates of the target point corresponding to all the points in the RD-MAP graph, and then performing angle FFT to obtain a target point spectrum; then, the angular frequency omega of the target point, the position of the frequency spectrum peak value of which is opposite to the horizontal direction, is judged according to a certain noise threshold x ：
Wherein, t px Is the corresponding spectral sequence number of the target, N FFTx The number of points is transformed by the angle FFT to obtain a horizontal visual angle theta a Expression:
d x λ is the radio wavelength for the adjacent horizontal antenna distance.
Similarly, the vertical elevation angle theta is calculated z ：
h is the distance between two adjacent antennas in the vertical direction.
If one target point is detected, one theta is generated a 、θ z And (4) an angle.
The specific process of detecting the actual coordinates of the target scatter points according to the distance phase and the direction angle in the step (5) comprises the following steps: the 2D-FFT generated in the step (2) contains a distance phase, and the distance R of the scattered point target from the radar and the angular frequency omega in the horizontal and vertical directions are solved x And omega z The coordinates (x, y, z) of one of the target points can be calculated, and the solution is as follows
Wherein d and h are the distance between two adjacent antennas in the horizontal and vertical directions, c is the speed of light, K s Is the slope of the chirp, f s Is the echo sampling rate.
All the scattered target coordinates are mapped to corresponding positions on corresponding two-dimensional or three-dimensional coordinates, and dynamic detection and display can be visually carried out on the targets.
The invention mainly relates to 3 FFT combined peak detection methods, which can solve the position of a target scattered point and realize the rapid, efficient and accurate detection of the direction and the distance of the target scattered point. The method can realize multi-target two-dimensional three-dimensional imaging, accurately estimate the position of the target point, and has the characteristics of good real-time property and high accuracy rate of target tracking; the method has important application value in the fields of pattern recognition, unmanned aerial vehicles, automatic driving, security inspection and the like.
Drawings
Fig. 1 is a flowchart of a scatter detection method of the MIMO millimeter wave radar.
Fig. 2 is a signal processing flow chart of a 4-chip cascade 12-transmitting 16-receiving 77G millimeter wave MIMO radar system.
Fig. 3 is a schematic view of a virtual array of L-shaped antennas.
Fig. 4 is a schematic diagram of detecting a direction angle based on the angle FFT.
FIG. 5 is a schematic diagram of a scatter three-dimensional coordinate calculation.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
The specific implementation of the present invention is described below with reference to fig. 1:
(1) Collecting multichannel Chirp signals according to a TDM-MIMO millimeter wave radar system (each transmitting antenna transmits a Chirp signal with a certain modulation slope, center frequency and bandwidth);
(2) Performing 2D-FFT (two-dimensional-fast Fourier transform) according to the multiple Chirp signals received by each antenna to create a detection matrix;
(3) Processing the detection matrix based on a CA-CFAR algorithm, and detecting row and column coordinates of all targets;
(4) Extracting complex points in all 2D-FFT corresponding to the row and column coordinates of the target, performing angle FFT, and calculating the direction angle of each scattered target;
(5) And calculating the coordinates of each scattered point target according to the distance and the direction angle of the target point.
The TDM-MIMO radar system signal processing flow defined in this embodiment is as shown in fig. 2, and a 16-transmitter/16-receiver 77G millimeter wave MIMO radar system is cascaded 12-transmitter/receiver (TI texas instruments XAW1243 millimeter wave chip) by 4 chips. The flow chart is composed of an array antenna, a millimeter wave transceiver chip and an FPGA/CPU, wherein the array antenna and the millimeter wave transceiver chip are responsible for radio frequency and baseband signal processing, the FPGA/CPU is responsible for rear-end digital signal processing, including 1D and 2D-FFT processing, target point peak detection, angle FFT, frequency detection and the like, and finally scattered point target angles and coordinates are calculated.
The antenna array and the virtual equivalent antenna array based on the 12-transmitter 16-receiver MIMO millimeter wave radar in this embodiment are shown in fig. 3, and the antenna array is actually 12Tx × 16Rx and can be virtually 192-receiver antenna array, such as Tx1 transmit- (Rx 1, \ 8230; \ 8230;, rx 16) receive, tx2 transmit- (Rx 1, \ 8230; \ 8230;, tx12 transmit- (Rx 1, \ 8230; \\ 8230;, rx 16) receive. The horizontal direction and the vertical direction are respectively 16 and 12 receiving and transmitting antennas.
Based on the TDM working mode, each antenna can receive one frame data (consisting of a plurality of Chirps) and carry out 2D-FFT to form an RD-MAP with N in the same direction RX A receiving antenna connected to generate N RX The RD-MAP, then the vector addition, get the detection matrix, through a certain detection algorithm such as CA-CFAR to detect the target point position, if all the RD-MAP corresponding target point positions generated by the horizontal (vertical) receiving antenna in the same direction are taken out, angle FFT will be performed to generate the target point frequency spectrum of each direction, then the effective target point is judged according to the noise threshold, the omega corresponding to the peak position of the frequency spectrum is the angular frequency of the direction, the principle is shown in figure 4,
is an estimate of ω, based on formula->
The azimuth angle theta can be calculated by omega epsilon (-pi, pi). The horizontal (vertical) viewing angle of the object can be obtained and the coordinates calculated.
According to the coordinate relationship shown in fig. 5, for example, a first antenna position a is selected, an x-y-z coordinate system is established for an origin of coordinates, a target point is P (x, y, z), echo directions of the P point to each antenna of a horizontal plane (x-a-y) and a vertical plane (z-a-y) are consistent phi and theta respectively, and a distance to the origin of coordinates a is R.
For the object P, its horizontal viewing angle θ a Vertical elevation angle theta z Can be solved by the formulas (2) and (3), respectively, wherein the vertical elevation angle theta z And (5) the coordinate distance R of the target point P from the radar center point A can be obtained by the formula (4). Target P point as auxiliary line PP w Perpendicular plane x-A-y, point of intersection P w Then through a channel P w The intersection points of the vertical lines of the x axis and the y axis are Px and Py respectively. P is w The point is the projection of P on the plane x-A-y, phi = PAP w ，θ＝∠P y AP w As shown in fig. 5 (a), the coordinates (x, y, z) are solved as follows:
z coordinate solution:
according to the formula (3),
according to right triangle PAP w Then, obtaining:
solving the x coordinate:
p projection coordinate in plane (x-A-y) is P A FIG. 5 (a) shows the coordinate relationship according to the rectangular triangle PAP w Then get | AP w |＝Rcos(φ)，|AP x |＝x＝|AP w |sin(θ)＝Rcos(φ)sin(θ),
Setting 3 adjacent antennas a, B, and C, where B is a height measurement antenna, a perpendicular intersection point of the point C on the w axis is C ', a perpendicular intersection point of the point C' on the AP is D ', and the distance | AD' | is a difference between echo distances of the target point P passing through the two adjacent antennas a and C, as shown in fig. 5 (B).
Then:
therefore->
/>
Solving the y coordinate:
from the right angle relationship y can be calculated:
in summary, the coordinates (x, y, z) of the available target P point are as follows:
wherein the content of the first and second substances,
d. h is the distance between two adjacent antennas in the horizontal and vertical directions, c is the speed of light, K s Is the slope of the chirp, f s Is the echo sampling rate. N is a radical of hydrogen FFT The number of Fourier transform points.
Therefore, the coordinates (x, y, z) of the target point P are easily calculated by formula (5) by 1D &2D-FFT and angle FFT in combination with the CA-CFAR detection algorithm.
Two corner reflectors of different angles (35 for angle 1 and-12 for angle 2) are placed in front of the radar. The antennas are 12Tx and 16Rx, a TDM-MIMO working mode is implemented, for example, tx0 transmission is carried out, all Rx0-15 reception is carried out, each 16 frames of RD-MAP graph detects scatter points through a certain detection algorithm, and the method corresponds to 16 data: s (n) = {494-897i,645+795i, -964-346i,
-1002-211i,708-740i, -584-841i, -91+1020i,108-1018i,1002+213i,783-660i, -1017+116i,1023-43i, -575-847i, -586+839i, -691-756i and 494-897i, and 64-point FFT can be performed, and the experimental results are shown in Table 1 after the technical treatment. As can be derived from the table, the absolute value of the angle (°) error is <0.5 ° for both angle measurements. Therefore, the technology has the advantages of simple and flexible calculation and high precision. The 3 FFT combined peak detection methods are combined with the rapid processing capability of the FPGA, so that the position of a target scattered point can be solved, and the rapid, efficient and accurate detection of the direction and the distance of the target scattered point is realized. The method can realize multi-target two-dimensional and three-dimensional imaging, and has the characteristics of good real-time property and high accuracy rate of target tracking; the method has important application value in the fields of pattern recognition, unmanned aerial vehicles, automatic driving, security inspection and the like.
TABLE 1 Angle test results of two target points (× 2 π/N) FFT )：
Angular frequency ω 18.360.38.480
Angle (degree) 35.0121-11.6832
Absolute value of error (°) 0.0121.3168.
Claims (2)
1. A scatter detection method based on an MIMO millimeter wave radar is characterized by comprising the following specific steps:
(1) Designing 12 a TDM-MIMO millimeter wave radar signal processing architecture of a transmitting 16-receiving L-shaped antenna;
(2) 2D-FFT conversion is carried out on multi-scatter target signals received by all antennas in the same direction, and signals received by receiving antennas in the same direction are accumulated to generate 2D-FFT to form a complex detection matrix;
(3) Performing peak characteristic detection on the real number of the complex detection matrix to detect the relative position of a target;
(4) Performing angle FFT on target points corresponding to all the 2D-FFT to detect a direction angle;
(5) Detecting the actual coordinates of the target scatter points according to the distance phase and the direction angle generated by the 2D-FFT;
the specific process of the step (2):
a. each transmitting antenna adopts a time division multiplexing transmitting mode, and all receiving antennas simultaneously receive, so that a 12 multiplied by 16 array antenna is virtualized in total; each antenna receives one frame of data, the data is composed of a plurality of Chirps to form a two-dimensional matrix, and 2D-FFT is carried out to form a range Doppler graph RD-MAP;
b. receiving antennas with the same direction, wherein each antenna generates an RD-MAP which contains the distance and direction information of all target points, and then vector addition is carried out to obtain a complex detection matrix;
the specific process of the step (3):
a. according to the complex detection matrix obtained in the step (2), firstly taking a modulus value of each complex point in the matrix, then taking a common logarithm (20 lg (·)) operation, and converting the common logarithm into a dB value to obtain a real matrix;
b. respectively carrying out average constant false alarm detection on rows and columns of the real number matrix, detecting corresponding target points, and obtaining row and column coordinates (R, C) of all the target points in the real number matrix to form a target coordinate table;
the specific process of the step (4): if the real number matrix is formed by receiving signals by the antenna in the same horizontal direction, taking out the coordinates of the target point corresponding to points in all RD-MAP graphs, and then performing angle FFT to obtain a target point frequency spectrum; then, the angular frequency omega of the target point, the frequency spectrum peak position of which is opposite to the horizontal direction, is judged according to a certain noise threshold x ：
Wherein, t px Is the horizontal direction frequency spectrum serial number, N, corresponding to the target FFTx The number of FFT points of the angle in the horizontal direction is obtained to obtain the horizontal visual angle theta x Expression:
d is the adjacent horizontal antenna distance, λ is the radio wavelength;
similarly, the vertical elevation angle theta is calculated z ：
h is the distance between two adjacent antennas in the vertical direction;
if detecting l target points, generating l theta x 、θ z An angle;
the specific process of the step (5): solving the distance R of the scattered point target from the radar and the angular frequency omega in the horizontal direction and the vertical direction from the distance phase contained in the 2D-FFT generated in the step (2) x And omega z The coordinates (x, y, z) of the target point can be calculated, and the solution is as follows:
wherein d and h are the distance between two adjacent antennas in the horizontal and vertical directions, respectively, K s Is the slope of the chirp, f s As the echo sampling rate, c is the speed of light, N FFT The number of Fourier transform points;
all the scattered target coordinates are displayed at the corresponding positions of the two-dimensional or three-dimensional coordinates, and the target can be visually and dynamically detected and displayed.
2. The method for detecting the scatter of the MIMO millimeter wave radar based on the claim 1, wherein the specific process of the step (1) comprises the following steps: a4-chip cascade system is designed by adopting a TI company XWR1243 chip, each chip is provided with 3Tx multiplied by 4Rx antennas, an L-shaped array of 12Tx multiplied by 16Rx antennas is formed, 192 rectangular array receiving antennas can be virtualized, a multiple-input multiple-output MIMO mode is formed, and finally, 16 LVDS digital echo signals are directly output.
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