CN111856451A - Dynamic and static human body target self-adaptive detection method and system based on through-wall radar - Google Patents
Dynamic and static human body target self-adaptive detection method and system based on through-wall radar Download PDFInfo
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- CN111856451A CN111856451A CN201910342738.9A CN201910342738A CN111856451A CN 111856451 A CN111856451 A CN 111856451A CN 201910342738 A CN201910342738 A CN 201910342738A CN 111856451 A CN111856451 A CN 111856451A
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
- G01S13/888—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons through wall detection
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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
- G01S7/41—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
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
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Abstract
The invention discloses a method and a system for self-adaptive detection of moving and static human body targets based on a through-wall radar, and relates to the technical field of radar detection. The invention comprises the following steps: SS01 obtains baseband signals after frequency mixing and amplification of the through-wall radar and the radio frequency module; SS02 collects 32 groups of data, and after distance Fourier transform and Doppler Fourier transform, the accumulation of Doppler direction on corresponding distance units is carried out after taking the module; SS03 judgment of moving human body; SS04 conversion of stationary human body distance units; SS05 judgment of static human body; SS06 location determination. According to the invention, the moving human body target and the static human body target can be respectively detected through the moving target detection algorithm and the static target detection algorithm, so that on one hand, the detection accuracy is improved, on the other hand, the interference of the moving target on the detection of the static human body target is effectively inhibited, and the problem that the existing detection method cannot realize the simultaneous detection of the moving target and the static target is solved by utilizing the characteristic that the breathing heartbeat frequency of the static human body target is low.
Description
Technical Field
The invention belongs to the technical field of radar detection, and particularly relates to a dynamic and static human body target self-adaptive detection method and system based on a through-wall radar.
Background
The ultra-wideband through-wall radar detection technology utilizes electromagnetic waves to penetrate through barriers such as building walls and the like to detect, position and identify concealed targets in buildings, and has great application value and social benefits in the fields of anti-terrorism, law enforcement, rescue and the like.
Generally, the traditional moving target and static target detection technologies are independent and separate and are quite mature, the moving target detection method mainly comprises that a moving target displays an MTI (maximum transmission interface) and a moving target detects an MTD (maximum transmission delay), static target detection is usually distinguished by means of respiratory heartbeat periodic signals acquired through long-time data accumulation, at present, a moving and static human target is distinguished in an energy threshold mode, namely, a proper energy threshold is set, when the energy is larger than the threshold, the target is judged to be in a moving state at the moment, otherwise, the target is in a static state, but the one-dimensional distance is deteriorated due to the motion of the human body, the static target signal is usually submerged in noise and cannot be distinguished, and the detection environment is complex, the different distances of the target, the types and thicknesses of penetrating media are different, and the echo energy of a radar is influenced, so that the threshold method has great limitation.
Disclosure of Invention
The invention aims to provide a self-adaptive detection method for moving and static human body targets based on a through-wall radar, which can respectively detect moving human body targets and static human body targets through a moving target detection algorithm and a static target detection algorithm and solves the problem that the existing detection method cannot realize simultaneous detection of the moving and static human body targets.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a dynamic and static human body target self-adaptive detection method based on a through-wall radar, which comprises the following steps of:
SS01 echo data acquisition: the method comprises the following steps that a first-sending and a second-receiving antenna are adopted, the first-sending antenna sends linear frequency modulation continuous waves, the second-receiving antenna receives two paths of echo signals, and the two paths of echo signals are subjected to frequency mixing and amplification processing through a radio frequency module to obtain baseband signals;
SS02 conversion of moving body distance unit: uploading the baseband signals collected in SS01 to an upper computer through a radio frequency module, collecting 32 groups of data by the upper computer, performing range-to-Fourier transform and Doppler-to-Fourier transform, and performing accumulation of Doppler directions on corresponding range units after modulus taking;
SS03 judgment of moving human body: setting an adaptive threshold A, and obtaining a target distance delay M1 of a first channel and a target distance delay M2 of a second channel according to a target extraction method;
If the signal amplitude on the distance unit is larger than a threshold value A, the existence of a moving human body target is indicated, and if the signal amplitude is smaller than the threshold value A, the nonexistence of the moving human body target is indicated;
the target extraction method comprises the following steps: if the number of the continuous points larger than the adaptive threshold value A exceeds N, a target is considered to exist;
SS04 stationary body distance cell conversion: the upper computer collects 512 groups of data, sets a distance direction minimum value as a, a distance direction maximum value as b, a Doppler direction minimum value as c and a Doppler direction maximum value as d, performs distance direction Fourier transform and Doppler direction Fourier transform, performs modulus extraction, keeps the value between the distance direction minimum value and the distance direction maximum value unchanged according to the set distance direction minimum value and maximum value and the Doppler direction minimum value and maximum value, and then sets the values except the distance direction minimum value and the distance direction maximum value to zero; keeping the value between the Doppler minimum value and the Doppler maximum value unchanged, and then setting all the values except the Doppler minimum value and the Doppler maximum value to zero;
judgment of SS05 resting human body: accumulating Doppler directions of the same distance unit, setting an adaptive threshold B, and obtaining a target distance delay S1 of a first channel and a target distance delay S2 of a second channel according to a target extraction method;
If the signal amplitude on the distance unit is larger than the threshold value B, the existence of a static human body target is indicated, and if the signal amplitude is smaller than the adaptive threshold value B, the existence of the static human body target is indicated;
wherein, the target extraction method in SS05 is the same as that in SS 03;
SS06 location determination: according to the trilateration target location principle, the position of a moving target and the position of a stationary target are detected.
Further, the specific steps of the SS06 are as follows:
SS061 assumes that (x, y) is the position of the moving object to be measured, and assumes that the position of the transmitting antenna is: (
，
) The position of the first receiving antenna is (
，
) The position of the second receiving antenna is (
，
）；
SS062 calculates the coordinates (x, y) of the moving object position:
calculating (x, y) by the three equations;
wherein i =0, 1, 2; (
，
) Indicates the position of the ith antenna,
representing the distance between the position of the moving target to be measured and the position of the ith antenna;
wherein M1 is the sum of the distance from the transmitting antenna to the moving object to be measured and the distance from the moving object to be measured to the first receiving antenna, and M2 is the sum of the distance from the transmitting antenna to the moving object to be measured and the distance from the moving object to be measured to the second receiving antenna;
SS063 calculating coordinates of stationary target position (
，
）：
Calculated by the above three equations to give
，
）；
Wherein i =0, 1, 2; (
，
) Indicates the position of the ith antenna,
representing the distance between the position of the moving target to be measured and the position of the ith antenna;
wherein S1 is the sum of the distance from the transmitting antenna to the stationary object to be measured and the distance from the stationary object to be measured to the first receiving antenna, and S2 is the sum of the distance from the transmitting antenna to the moving stationary object to be measured and the distance from the stationary object to be measured to the second receiving antenna.
Further, the setting method of the adaptive threshold a in the SS03 is as follows: the total length of the distance delay is M, the distance backward half part [ R, M ] is taken, wherein R < M, and the average value of the signal amplitude of the part is used as a threshold value, namely an adaptive threshold value A.
Further, the adaptive threshold B in SS05 is set as follows: the noise mean value in the background case is taken as the adaptive threshold B.
Further, the frequency range of the human respiratory heartbeat is between 0.3hz and 2hz, the Doppler direction minimum value in the SS04 is less than 0.3hz, the difference value is in the range of 0.1 hz to 0.2hz, the Doppler direction maximum value in the SS04 is greater than 2hz, and the difference value is in the range of 0.5 hz to 1 hz.
Further, the through-wall radar-based dynamic and static human body target self-adaptive detection system comprises a through-wall radar, a radio frequency module, a collection card and an upper computer;
The through-wall radar comprises a transmitting antenna and two receiving antennas, wherein the transmitting antenna and the receiving antennas are arranged outside a wall, the transmitting antenna is arranged in the middle of the outer wall, the two receiving antennas are respectively arranged on two sides of the transmitting antenna and have equal distance from the transmitting antenna, the receiving antenna and the transmitting antenna are positioned on the same horizontal line, and the receiving antenna and the transmitting antenna form two data channels;
the radio frequency module transmits signals through a transmitting antenna, receives echo signals through a receiving antenna, and the echo signals are obtained by mixing source signals and receiving signals;
the upper computer comprises a processing module and a display module, the radio frequency module is connected with the processing module through a collecting card, and the processing module processes the received two paths of signals and outputs a moving and static human body target detection result and a moving and static human body target position.
The invention has the following beneficial effects:
according to the invention, the moving human body target and the static human body target can be respectively detected through the moving target detection algorithm and the static target detection algorithm, so that on one hand, the detection accuracy is improved, on the other hand, the interference of the moving target on the detection of the static human body target is effectively inhibited, the position information of the static target is extracted by utilizing the characteristic that the breathing heartbeat frequency of the static human body target is low, and the function of simultaneously detecting the moving target and the static target is realized.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method for adaptively detecting moving and static human body targets based on a through-wall radar in the invention;
FIG. 2 is a schematic diagram of a trilateration method of the present invention;
FIG. 3 is a block diagram of the system architecture of the present invention;
FIGS. 4 (a) and 4 (b) are schematic diagrams illustrating the result of Doppler accumulation for detecting moving human body targets;
fig. 5 is a schematic diagram of two-dimensional results of distance-doppler direction detection for a stationary human target.
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.
Referring to fig. 1-5, the invention relates to a method and a system for detecting moving and static human body targets in a self-adaptive manner based on a through-wall radar, comprising the following steps:
step one, echo data acquisition: as shown in fig. 3, two human targets exist in a room, one of the two human targets is still, the other one of the two human targets moves back and forth, a through-wall radar system is placed outside a wall body of the room, a transmitting antenna is located in the middle, two receiving antennas are respectively located on two sides of the transmitting antenna, the transmitting antenna transmits signals, and the receiving antennas receive data and then are processed by a radio frequency module to obtain baseband signals;
step two, firstly, 32 groups of data are collected, results shown in fig. 4 (a) and fig. 4 (b) are obtained through data processing, and the target position of the channel 1 and the target position of the channel 2 can be obtained through moving target feature extraction and are marked as (M1, M2);
acquiring 512 groups of data, processing the data to obtain a result shown in fig. 5, setting a distance direction minimum value of 1m and a distance direction maximum value of 3m, setting a Doppler direction minimum value of 0.1hz and a Doppler direction maximum value of 3hz, accumulating the distance directions to obtain the result shown in fig. 5, extracting the characteristics of the stationary target to obtain a channel 1 target position, and recording the channel 2 target position as (S1, S2);
step four, according to the trilateration target location principle, as shown in figure 2,
Noting (x, y) as the target position, its distance from the ith antenna located at (xi, yi) as di, in case the number of antennas M is greater than or equal to 3, the target position can be determined by solving the following three equations:
taking the position information M1 obtained in step two as an example, M1 is the sum of the distance from the transmitting antenna to the target and the distance from the target to the receiving antenna 1, and M2, S1, and S2 are similar, so the current coordinate position of the moving target M can be obtained by solving the equation:
the coordinate position of the stationary target S can be obtained according to the following formula;
in the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (6)
1. A self-adaptive detection method for moving and static human body targets based on a through-wall radar is characterized by comprising the following steps: the method comprises the following steps:
SS01 echo data acquisition: the method comprises the following steps that a first-sending and a second-receiving antenna are adopted, the first-sending antenna sends linear frequency modulation continuous waves, the second-receiving antenna receives two paths of echo signals, and the two paths of echo signals are subjected to frequency mixing and amplification processing through a radio frequency module to obtain baseband signals;
SS02 conversion of moving body distance unit: uploading the baseband signals collected in SS01 to an upper computer through a radio frequency module, collecting 32 groups of data by the upper computer, performing range-to-Fourier transform and Doppler-to-Fourier transform, and performing accumulation of Doppler directions on corresponding range units after modulus taking;
SS03 judgment of moving human body: setting an adaptive threshold A, and obtaining a target distance delay M1 of a first channel and a target distance delay M2 of a second channel according to a target extraction method;
if the signal amplitude on the distance unit is larger than a threshold value A, the existence of a moving human body target is indicated, and if the signal amplitude is smaller than the threshold value A, the nonexistence of the moving human body target is indicated;
the target extraction method comprises the following steps: if the number of the continuous points larger than the adaptive threshold value A exceeds N, a target is considered to exist;
SS04 stationary body distance cell conversion: the upper computer collects 512 groups of data, sets a distance direction minimum value as a, a distance direction maximum value as b, a Doppler direction minimum value as c and a Doppler direction maximum value as d, performs distance direction Fourier transform and Doppler direction Fourier transform, performs modulus extraction, keeps the value between the distance direction minimum value and the distance direction maximum value unchanged according to the set distance direction minimum value and the set distance direction maximum value and the set Doppler direction minimum value and the set distance direction maximum value, and then sets the values except the distance direction minimum value and the set distance direction maximum value to zero; keeping the value between the Doppler minimum value and the Doppler maximum value unchanged, and then setting all the values except the Doppler minimum value and the Doppler maximum value to zero;
judgment of SS05 resting human body: accumulating Doppler directions of the same distance unit, setting an adaptive threshold B, and obtaining a target distance delay S1 of a first channel and a target distance delay S2 of a second channel according to a target extraction method;
if the signal amplitude on the distance unit is larger than the threshold value B, the existence of a static human body target is indicated, and if the signal amplitude is smaller than the adaptive threshold value B, the existence of the static human body target is indicated;
wherein, the target extraction method in SS05 is the same as that in SS 03;
SS06 location determination: according to the trilateration target location principle, the position of a moving target and the position of a stationary target are detected.
2. The through-the-wall radar-based dynamic and static human body target self-adaptive detection method according to claim 1, wherein the SS06 comprises the following specific steps:
SS061 assumes that (x, y) is the position of the moving object to be measured, and assumes that the position of the transmitting antenna is: (
，
) The position of the first receiving antenna is (
，
) The position of the second receiving antenna is (
，
）；
SS062 calculates the coordinates (x, y) of the moving object position:
calculating (x, y) by the three equations;
wherein i =0, 1, 2; (
，
) Indicates the position of the ith antenna,
representing the distance between the position of the moving target to be measured and the position of the ith antenna;
wherein M1 is the sum of the distance from the transmitting antenna to the moving object to be measured and the distance from the moving object to be measured to the first receiving antenna, and M2 is the sum of the distance from the transmitting antenna to the moving object to be measured and the distance from the moving object to be measured to the second receiving antenna;
SS063 calculating coordinates of stationary target position (
，
）：
Calculated by the above three equations to give
，
）；
Wherein i =0, 1, 2; (
，
) Indicates the position of the ith antenna, 
Representing the distance between the position of the moving target to be measured and the position of the ith antenna;
wherein S1 is the sum of the distance from the transmitting antenna to the stationary object to be measured and the distance from the stationary object to be measured to the first receiving antenna, and S2 is the sum of the distance from the transmitting antenna to the moving stationary object to be measured and the distance from the stationary object to be measured to the second receiving antenna.
3. The method for adaptively detecting the moving and static human body targets based on the through-wall radar as claimed in claim 1, wherein the adaptive threshold A in SS03 is set as follows: the total length of the distance delay is M, the distance backward half part [ R, M ] is taken, wherein R < M, and the average value of the signal amplitude of the part is used as a threshold value, namely an adaptive threshold value A.
4. The method for adaptively detecting the moving and static human body targets based on the through-wall radar as claimed in claim 1, wherein the adaptive threshold B in SS05 is set as follows: the noise mean value in the background case is taken as the adaptive threshold B.
5. The method for adaptively detecting the moving and static human targets based on the through-wall radar as claimed in claim 1, wherein the frequency range of the human respiratory heartbeat is between 0.3hz and 2hz, the minimum value of the Doppler direction in the SS04 is less than 0.3hz, the difference value is in the range of 0.1 hz and 0.2hz, the maximum value of the Doppler direction in the SS04 is greater than 2hz, and the difference value is in the range of 0.5 hz and 1 hz.
6. The through-wall radar-based dynamic and static human body target self-adaptive detection system according to any one of claims 1 to 5, which is characterized by comprising a through-wall radar, a radio frequency module, a collection card and an upper computer;
the through-wall radar comprises a transmitting antenna and two receiving antennas, wherein the transmitting antenna and the receiving antennas are arranged outside a wall, the transmitting antenna is arranged in the middle of the outer wall, the two receiving antennas are respectively arranged on two sides of the transmitting antenna and have equal distance from the transmitting antenna, the receiving antenna and the transmitting antenna are positioned on the same horizontal line, and the receiving antenna and the transmitting antenna form two data channels;
the radio frequency module transmits signals through a transmitting antenna, receives echo signals through a receiving antenna, and the echo signals are obtained by mixing source signals and receiving signals;
the upper computer comprises a processing module and a display module, the radio frequency module is connected with the processing module through a collecting card, and the processing module processes the received two paths of signals and outputs a moving and static human body target detection result and a moving and static human body target position.
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