CN112014811B - Fine estimation method for radar carrier frequency - Google Patents
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Classifications
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R23/00—Arrangements for measuring frequencies; Arrangements for analysing frequency spectra
- G01R23/02—Arrangements for measuring frequency, e.g. pulse repetition rate; Arrangements for measuring period of current or voltage
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R23/00—Arrangements for measuring frequencies; Arrangements for analysing frequency spectra
- G01R23/16—Spectrum analysis; Fourier analysis
Abstract
The application discloses a fine estimation method of radar carrier frequency, which belongs to the field of fine estimation of carrier frequency, and comprises the steps of firstly, extracting the maximum value in an FFT output amplitude spectrum sequence of a radar carrier signal and the maximum value in a value adjacent to the maximum value; then, an estimated threshold value is obtained according to the statistical characteristics of the FFT output sequence, and whether the radar carrier is successfully captured is judged by judging whether the two values exceed the estimated threshold value; finally, according to the constructed discrimination function linearly related to the carrier frequency, calculating to obtain the compensation quantity of the FFT process on the carrier frequency estimation, thereby improving the estimation precision of the radar carrier frequency; the application has simple structure and small calculated amount, and the carrier frequency fine estimation module added after the carrier frequency estimation structure in the original FFT process can greatly improve the estimation precision of the carrier frequency, thereby having higher engineering use value.
Description
Technical Field
The application belongs to the field of radar carrier frequency fine estimation, and particularly relates to a radar carrier frequency fine estimation method.
Background
The carrier frequency of the radar is an important parameter in radar frequency domain parameters, and the existing radar carrier frequency estimation generally adopts an FFT frequency estimator, but the frequency estimation accuracy of the FFT is related to the data length.
Increasing the length of the FFT processing sequence to improve the estimation accuracy of the FFT processing sequence to the frequency can lead to the counting of the system
The computing resources are consumed exponentially.
Disclosure of Invention
In order to solve the technical problems of the background technology, the application aims to improve the estimation precision of the radar carrier frequency according to the FFT output amplitude spectrum characteristic, and provides a fine estimation method of the radar carrier frequency on the basis of not increasing the calculation amount and not changing the structure of the original FFT estimation carrier frequency.
In order to achieve the above purpose, the technical scheme provided by the application is as follows: precision of radar carrier frequency
A fine estimation method comprising the steps of:
step one, extracting the maximum value M in the FFT output amplitude spectrum sequence S (k) of the radar carrier signal FFT And the maximum value S in the values adjacent thereto ubm ；
Step two, respectively judging the maximum value M FFT And the maximum value S in the values adjacent thereto ubm And an estimated threshold value Y t If both are larger than the estimated threshold value Y t Continuing to estimate, and ending otherwise;
step three, obtaining a compensation value of the FFT process on carrier frequency estimation according to a formula (1),
wherein Deltaf' isThe FFT process estimates the compensation value of the carrier frequency, delta f is the carrier frequency after frequency reduction, T L Is the size of a rectangular window;
and step four, obtaining a radar carrier frequency fine estimation value according to the compensation value.
Further, the first step includes:
the structure of the down-converted radar carrier signal S (t) is shown in formula (2),
where A is the amplitude of the carrier signal, i is the imaginary unit, Δf is the carrier frequency after down-conversion,is the initial phase of the carrier wave;
after the radar carrier signal S (t) after down-conversion is subjected to dispersion and truncation, as shown in formula (3),
wherein δ (·) is the Dirac Delta function, T s Is the sampling period, rect (·) is a rectangular window function, T L Is the size of a rectangular window;
the formula (3) is abbreviated as:
wherein d (t) is a sampling pulse signal; w (t) is a rectangular window signal;
according to the principle of the convolution of the time domain multiplied by the frequency domain, the spectrum of the obtained S (n) is shown in the following formula,
wherein, is a convolution symbol;a frequency spectrum that is a discrete limited-length time-domain signal S (n); s (f) is the frequency spectrum of the continuous infinite-length time-domain signal S (t); d (f) is the frequency spectrum of the continuous infinite-length time-domain signal d (t); w (f) is the frequency spectrum of the continuous infinite-length time-domain signal w (t);
each term in the formula (5) is unfolded to obtain an amplitude spectrum sequence of the DTFT output as shown in the following formula,
wherein sinc (·) is a sinc function;
according to the FFT principle, the continuous infinite length spectrum obtained by DTFT is obtainedPerforming dispersion and truncation to obtain an amplitude spectrum sequence output by the FFT, wherein the amplitude spectrum sequence comprises the following steps:
as can be seen from equation (7), the maximum value of the FFT output amplitude spectrum sequence can be expressed by equation (8),
in the FFT output amplitude spectrum sequence, one of points adjacent to the FFT output maximum value point is smaller than the maximum value only, as shown in formula (9),
wherein round (·) is a rounding function, M FFT Representing the maximum value of the FFT output amplitude spectrum sequence, S ubm Representation and M FFT Larger values in neighboring points.
The estimated threshold value Y in the second step t The method comprises the following steps:
noise mixed in the FFT magnitude spectrum belongs to Rayleigh (Rayleigh) distribution, and FFT magnitude output belongs to Rice (Rice) distribution, so a calculation formula (11) for estimating a threshold value can be deduced according to a formula (10);
wherein f n (. Cndot.) is the probability density function of Rayleigh distribution, P fa Is the false alarm rate, yt is the estimated threshold value, and σ is the noise statistical standard deviation.
In the third step, a compensation value of the FFT process for carrier frequency estimation is obtained according to formula (1), and the method further comprises:
constructing a linear discrimination function D related to the carrier frequency Deltaf after the down-conversion according to the formula (9) isc (. Cndot.) is represented by formula (12).
Where |·| is the absolute sign.
If S ubm And M is as follows FFT Adjacent positions in the FFT output amplitude sequence, the FFT estimate compensation formula can be derived from formula (1),
where Δf' is the offset of the FFT process to the carrier frequency estimate.
Optionally, the fourth step further includes:
if the maximum value S in the adjacent values ubm At the position of maximum value M in FFT output amplitude sequence FFT To the left of the position, the estimated carrier frequencyCan be expressed by formula (13); if on the right, can be expressed by equation (14),
wherein f FFT For the FFT procedure to estimate the carrier frequency,is a fine estimate of the compensated carrier frequency.
Compared with the prior art, the application has the beneficial effects that: the fine estimation method comprises the steps of firstly, constructing a discrimination function linearly related to carrier frequency according to two values (maximum value and maximum value in values adjacent to the maximum value) in an FFT output amplitude spectrum sequence; then, according to the statistical characteristics of the FFT output sequence, an estimated threshold value is designed, and whether the radar carrier is captured is judged by judging whether the two values exceed the estimated threshold value or not; and finally, calculating and obtaining the compensation quantity of the FFT process on the carrier frequency estimation according to the constructed linear correlation discrimination function, thereby improving the estimation precision of the radar carrier frequency. The application has simple structure and small calculated amount, and the carrier frequency fine estimation module added after the carrier frequency estimation structure in the original FFT process can greatly improve the estimation precision of the carrier frequency, thereby having higher engineering use value.
Drawings
Fig. 1 is a flow chart of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
As used in the specification and in the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Referring to fig. 1, the present embodiment provides a fine estimation method of radar carrier frequency, including the following steps:
step 1: extracting two values (maximum value M) in the radar carrier signal FFT (Fast Fourier Transform ) output amplitude spectrum sequence S (k) FFT And the maximum value S in the values adjacent thereto ubm )；
Specifically, the structure of the radar carrier signal S (t) after down-conversion is shown in formula (1),
where A is the amplitude of the carrier signal, i is the imaginary unit, Δf is the carrier frequency after down-conversion,is the carrier initial phase.
After the radar carrier signal S (t) after down-conversion is subjected to dispersion and truncation, as shown in formula (2),
wherein δ (·) is the Dirac Delta function, T s Is the sampling period, rect (·) is a rectangular window function, T L Is the size of a rectangular window.
The formula (2) is abbreviated as:
wherein d (t) is a sampling pulse signal; w (t) is a rectangular window signal;
according to the principle of the convolution of the time domain multiplied by the frequency domain, the spectrum of the obtained S (n) is shown in the following formula,
where x is the convolution symbol.
Each term in the formula (4) is expanded to obtain an amplitude spectrum sequence of a DTFT (Discrete-time fourier transform) output as shown in the following formula,
wherein, is a convolution symbol;a frequency spectrum that is a discrete limited-length time-domain signal S (n); s (f) is the frequency spectrum of the continuous infinite-length time-domain signal S (t); d (f) is the frequency spectrum of the continuous infinite-length time-domain signal d (t); w (f) is the frequency spectrum of the continuous infinite-length time-domain signal w (t);
according to the FFT principle, the continuous infinite length spectrum obtained by DTFT is obtainedPerforming dispersion and truncation to obtain an amplitude spectrum sequence output by the FFT, wherein the amplitude spectrum sequence comprises the following steps:
as can be seen from equation (6), the maximum value of the FFT output amplitude spectrum sequence can be represented by equation (7),
in the FFT output amplitude spectrum sequence, one value of points (or left point or right point) adjacent to the maximum value point of FFT output is only smaller than the maximum value, which can be expressed by a formula (8),
wherein round (·) is a rounding function, M FFT Representing the maximum value of the FFT output amplitude spectrum sequence, S ubm Representation and M FFT Larger values in neighboring points.
Step 2: for these two values (M FFT And S is ubm ) The analysis is carried out and the analysis is carried out,by and estimating the threshold value Y t Comparing and judging M FFT And S is ubm Whether conditions are met that can be used to improve the accuracy of the FFT's estimation of frequency are used to attenuate the noise impact on the method;
wherein the threshold value Y is estimated t The noise mixed in the FFT magnitude spectrum belongs to the rayleigh distribution and the FFT magnitude output belongs to the rice distribution, so the calculation formula (10) of the estimation threshold value can be derived from the formula (9).
Wherein f n (. Cndot.) is the probability density function of Rayleigh distribution, P fa Is the false alarm rate, yt is the estimated threshold value, and σ is the noise statistical standard deviation.
Will output the maximum value M in the amplitude spectrum sequence S (k) by FFT FFT And the maximum value S in the values adjacent thereto ubm Respectively compared with the estimated threshold value Yt, if both are larger than Yt, then the description M FFT And S is ubm Can be used to improve the accuracy of FFT frequency estimation, and further to perform the subsequent steps, if M FFT If the carrier wave is smaller than or equal to Yt, indicating that the carrier wave is not detected, ending the calculation, if S ubm Less than or equal to Yt, then specify S ubm And cannot be used for improving the estimation accuracy of FFT on the frequency, and the calculation is finished.
Step 3: if M is as described above FFT And S is ubm Are both greater than the threshold value Yt, then the two values (M FFT And S is ubm ) And calculating the compensation quantity of the FFT process on the carrier frequency estimation, thereby improving the estimation accuracy of the radar carrier frequency.
Specifically, a linear discrimination function D related to the carrier frequency Deltaf after the down-conversion can be constructed according to the formula (8) isc (. Cndot.) is represented by formula (9).
Where |·| is the absolute sign.
If S ubm And M is as follows FFT Adjacent positions in the FFT output amplitude sequence, the FFT estimate compensation formula can be derived from formula (11),
where Δf' is the offset of the FFT process to the carrier frequency estimate.
Step 4: judgment S ubm Whether or not the position of the FFT output amplitude sequence is M FFT To the left of the position,
if on the left, then the estimated carrier frequency estimateCan be expressed by formula (13);
if on the right, can be expressed by equation (14),
wherein f FFT For the FFT procedure to estimate the carrier frequency,is a fine estimate of the compensated carrier frequency.
The application has simple structure and small calculated amount, and the carrier frequency fine estimation module added after the carrier frequency estimation structure in the original FFT process can greatly improve the estimation precision of the carrier frequency, thereby having higher engineering use value.
The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.
Claims (4)
1. A method for fine estimation of radar carrier frequency, comprising:
extracting a maximum value M in a radar carrier signal FFT output amplitude spectrum sequence S (k) FFT And the maximum value S in the values adjacent thereto ubm ；
Respectively judging the maximum value M FFT And the maximum value S in the values adjacent thereto ubm And an estimated threshold value Y t If both are larger than the estimated threshold value Y t Continuing to estimate, and ending otherwise;
the compensation value of the FFT procedure for the carrier frequency estimate is derived according to equation (1),
wherein Δf' is the compensation value of FFT to carrier frequency estimation, Δf is the carrier frequency after down-conversion, T L Is the size of a rectangular window; m is M FFT Outputting a maximum value in the amplitude spectrum sequence for the FFT; s is S ubm Is the maximum value in the neighborhood value of the maximum value;
obtaining a fine carrier frequency estimation value of the radar carrier according to the compensation value;
the extracted radar carrier signal FFT outputs a maximum value M in a magnitude spectrum sequence S (k) FFT And the maximum value S in the values adjacent thereto ubm Comprising:
the structure of the down-converted radar carrier signal S (t) is shown in formula (2),
where A is the amplitude of the carrier signal, i is the imaginary unit, Δf is the carrier frequency after down-conversion,is the initial phase of the carrier wave;
after the radar carrier signal S (t) after down-conversion is subjected to dispersion and truncation, as shown in formula (3),
wherein δ (·) is the Dirac Delta function, T s Is the sampling period, rect (·) is a rectangular window function, T L Is the size of a rectangular window;
the formula (3) is abbreviated as:
S(n)＝S(t)d(t)w(t)
wherein d (t) is a sampling pulse signal; w (t) is a rectangular window signal;
according to the principle of time domain multiplication frequency domain convolution, S (n) is converted to the frequency domain by discrete time fourier transform, as shown in equation (5):
wherein, is a convolution symbol;a frequency spectrum that is a discrete limited-length time-domain signal S (n); s (f) is the frequency spectrum of the continuous infinite-length time-domain signal S (t); d (f) is the frequency spectrum of the continuous infinite-length time-domain signal d (t); w (f) is a continuous infinitely long time domain signal w (t)A frequency spectrum;
each term in the formula (5) is unfolded to obtain an amplitude spectrum sequence of the DTFT output as shown in the following formula,
wherein sinc (·) is a sinc function;
according to the FFT principle, the continuous infinite length spectrum obtained by DTFT is obtainedPerforming dispersion and truncation to obtain an amplitude spectrum sequence output by the FFT, wherein the amplitude spectrum sequence comprises the following steps:
as can be seen from equation (7), the maximum value of the FFT output amplitude spectrum sequence can be expressed by equation (8),
in the FFT output amplitude spectrum sequence, one of points adjacent to the FFT output maximum value point is smaller than the maximum value only, as shown in formula (9),
where round (·) is a rounding function.
2. The fine estimation method according to claim 1, characterized in that theEstimation threshold value Y t The method comprises the following steps:
noise mixed in the FFT amplitude spectrum belongs to Rayleigh distribution, and FFT amplitude output belongs to rice distribution, so a calculation formula (11) for estimating a threshold value can be deduced according to a formula (10);
wherein f n (. Cndot.) is the probability density function of Rayleigh distribution, P fa Is the false alarm rate, yt is the estimated threshold value, and σ is the noise statistical standard deviation.
3. The fine estimation method according to claim 1, wherein the deriving the compensation value of the FFT process for the carrier frequency estimation according to equation (1) further comprises:
constructing a linear discrimination function D related to the carrier frequency Deltaf after the down-conversion according to the formula (9) isc (. Cndot.) is represented by formula (12):
wherein, |·| is the absolute value sign;
if S ubm And M is as follows FFT Adjacent positions in the FFT output amplitude sequence, the FFT estimate compensation formula can be derived from formula (1),
where Δf' is the offset of the FFT process to the carrier frequency estimate.
4. A fine estimation method according to claim 3, wherein said deriving a radar carrier frequency fine estimation value from said compensation value further comprises:
if the maximum value S in the adjacent values ubm At the position of maximum value M in FFT output amplitude sequence FFT To the left of the position, the estimated carrier frequencyCan be expressed by formula (13); if on the right, can be expressed by equation (14),
wherein f FFT For the FFT procedure to estimate the carrier frequency,is a fine estimate of the compensated carrier frequency.
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