CN112014819A - Digital signal processing method, digital signal processing system and radar chip - Google Patents
Digital signal processing method, digital signal processing system and radar chip Download PDFInfo
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- 230000003068 static effect Effects 0.000 claims description 22
- 238000005070 sampling Methods 0.000 claims description 21
- 238000001914 filtration Methods 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 16
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- 230000008030 elimination Effects 0.000 claims description 11
- 238000003379 elimination reaction Methods 0.000 claims description 11
- 238000007781 pre-processing Methods 0.000 claims description 6
- 230000010354 integration Effects 0.000 abstract description 6
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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
- G01S7/414—Discriminating targets with respect to background clutter
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/04—Systems determining presence of a target
Abstract
The invention discloses a digital signal processing method, a digital signal processing system and a radar chip, wherein the digital signal processing method comprises the following steps: acquiring original data of millimeter wave echo signals; intercepting and/or zero filling operation is carried out on the original data; acquiring one-dimensional distance FFT data based on FFT; extracting effective target data on a distance domain; caching effective target data in a distance domain, and arranging the data in a preset time period according to the Doppler dimension direction sequence; acquiring two-dimensional Doppler FFT data based on Doppler effect and FFT; valid target data over a range-doppler two-dimensional domain is extracted. According to the invention, the original data of the millimeter wave echo signals are used as input, various data can be selectively output after processing, high-level effective radar target data obtained by extraction is output to an off-chip system of the millimeter wave radar chip for further flexible processing, and thus, the millimeter wave radar chip and the millimeter wave radar product with higher integration level and lower cost are realized.
Description
Technical Field
The invention belongs to the technical field of digital signal processing, and particularly relates to a digital signal processing method, a digital signal processing system and a radar chip.
Background
The millimeter wave is electromagnetic wave with the wavelength of 0.1-1 cm, the corresponding frequency range is 30-300 GHz, and the millimeter wave radar has wide application in the fields of intelligent sensing and interaction, intelligent robots, automobile radars and the like. The millimeter wave radar chip is one of core components of the millimeter wave radar, along with the integration level of the millimeter wave radar chip being higher and higher, the millimeter wave radar chip realizes more and more functions, and more special digital signal processing hardware accelerating units are integrated in the chip. The millimeter wave radar chip with high integration level greatly simplifies the system development complexity of the millimeter wave radar, and simultaneously greatly reduces the system cost.
In the prior art, a hardware acceleration unit mainly includes a distance FFT (Fast Fourier transform) module, which is used for performing Fast Fourier transform on a digital signal and calculating related information such as a distance and a speed of a target or multiple targets. The output of the distance FFT module is data of a single level, and millimeter wave radar chips and millimeter wave radar products with higher integration level and lower cost cannot be realized.
Therefore, in order to solve the above technical problems, it is necessary to provide a digital signal processing method, a digital signal processing system and a radar chip.
Disclosure of Invention
The invention aims to provide a digital signal processing method, a digital signal processing system and a radar chip so as to realize the processing of millimeter wave signal data.
In order to achieve the above object, an embodiment of the present invention provides the following technical solutions:
a digital signal processing method, the digital signal processing method comprising:
acquiring original data of millimeter wave echo signals;
intercepting and/or zero filling operation is carried out on the original data;
acquiring one-dimensional distance FFT data based on FFT;
extracting effective target data on a distance domain;
caching effective target data in a distance domain, and arranging the data in a preset time period according to the Doppler dimension direction sequence;
acquiring two-dimensional Doppler FFT data based on Doppler effect and FFT;
valid target data over a range-doppler two-dimensional domain is extracted.
In one embodiment, the "acquiring raw data of the millimeter wave echo signal" specifically includes:
and filtering and down-sampling the original data of the millimeter wave echo signals according to the corresponding filtering parameters and the down-sampling rate to obtain the down-sampled original data.
In one embodiment, the "obtaining one-dimensional distance FFT data based on FFT" further includes:
and eliminating a static background part in the one-dimensional distance FFT data by a static background signal elimination method, and reserving effective dynamic target information.
In one embodiment, before "extracting valid target data in the distance domain", the method further includes: processing one-dimensional distance FFT data through a threshold value and a constant false alarm rate;
before extracting valid target data on a range-doppler two-dimensional domain, the method further comprises the following steps: and processing the two-dimensional Doppler FFT data through a threshold value and a constant false alarm rate.
In one embodiment, the digital signal processing method further includes:
selecting one or more of original data, one-dimensional range FFT data, effective target data in a range domain, two-dimensional Doppler FFT data and effective target data in a range-Doppler two-dimensional domain, and outputting the data.
The technical scheme provided by another embodiment of the invention is as follows:
a digital signal processing system, the digital signal processing system comprising:
the original data acquisition module is used for acquiring original data of the millimeter wave echo signals;
the preprocessing module is used for carrying out interception and/or zero padding operation on the original data;
the one-dimensional distance FFT data calculation module is used for acquiring one-dimensional distance FFT data based on FFT;
the distance target detection module is used for extracting effective target data in a distance domain;
the effective target data frame caching module is used for caching effective target data in a distance domain and arranging the data in a preset time period in the Doppler dimension direction;
the two-dimensional Doppler FFT data calculation module is used for acquiring two-dimensional Doppler FFT data based on the Doppler effect and FFT;
and the range-Doppler target detection module is used for extracting effective target data on a range-Doppler two-dimensional domain.
In an embodiment, the original data obtaining module includes a filtering and down-sampling module, and is configured to filter and down-sample the original data of the millimeter wave echo signal according to a corresponding filtering parameter and a down-sampling rate, so as to obtain the down-sampled original data.
In an embodiment, the digital signal processing system further includes a static background elimination module, configured to eliminate a static background portion in the one-dimensional range FFT data by a static background signal elimination method, and retain valid dynamic target information.
In one embodiment, the distance target detection module is further configured to process one-dimensional distance FFT data by a threshold and a constant false alarm rate;
the range-doppler target detection module is further configured to process the two-dimensional doppler FFT data by a threshold and a constant false alarm rate.
The technical scheme provided by the further embodiment of the invention is as follows:
a radar chip comprises the digital signal processing system.
Compared with the prior art, the invention has the following advantages:
the digital signal processing method and the system of the invention take the original data of the millimeter wave echo signal as input, can selectively output various data after processing, extract the high-level effective radar target data and output the data to the millimeter wave radar chip off-chip system for further flexible processing, thereby realizing the millimeter wave radar chip and the millimeter wave radar product with higher integration level and lower cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a digital signal processing system according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a digital signal processing method according to an embodiment of the invention.
Detailed Description
The present invention will be described in detail below with reference to embodiments shown in the drawings. The embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to the embodiments are included in the scope of the present invention.
Referring to fig. 1, in an embodiment of the present invention, a digital signal processing system is disclosed, which includes:
the original data acquisition module is used for acquiring original data of the millimeter wave echo signals;
the preprocessing module 20 is configured to perform an intercepting and/or zero padding operation on the original data;
a one-dimensional distance FFT data calculation module 30 for obtaining one-dimensional distance FFT data based on FFT;
a distance target detection module 50 for extracting valid target data in a distance domain;
an effective target data frame buffer module 60, configured to buffer effective target data in a range domain, and arrange data in a preset time period in order according to a doppler dimension direction;
a two-dimensional doppler FFT data calculation module 70 for obtaining two-dimensional doppler FFT data based on the doppler effect and FFT;
and a range-doppler target detection module 80 for extracting valid target data on a range-doppler two-dimensional domain.
Preferably, the original data obtaining module in this embodiment includes a filtering and down-sampling module 10, configured to filter and down-sample the original data of the millimeter wave echo signal according to the corresponding filtering parameter and the down-sampling rate, and obtain the down-sampled original data.
Further, the digital signal processing system in this embodiment further includes a static background elimination module, configured to eliminate a static background portion in the one-dimensional distance FFT data by a static background signal elimination method, and retain effective dynamic target information.
In this embodiment, the input of the digital signal processing system is the original data of the echo signal received by the millimeter wave radar chip in the millimeter wave radar system, and the filtering and down-sampling, the one-dimensional range FFT data calculation, the static background elimination and the target detection in the range domain, the two-dimensional doppler FFT data calculation, and the target detection in the range-doppler two-dimensional domain are completed. After a series of digital signal processing, various types of selectable data are obtained and output, and the data which can be selectively output comprise original data, one-dimensional range FFT data, effective target data on a range domain, two-dimensional Doppler FFT data and effective target data on a range Doppler two-dimensional domain.
As shown in fig. 2, the digital signal processing method in this embodiment specifically includes:
1. the method for acquiring the original data of the millimeter wave echo signal specifically comprises the following steps:
the original data of the millimeter wave echo signal firstly enters a filtering and down-sampling module 10, and filtering and down-sampling are performed according to corresponding filtering parameters and a down-sampling rate, so as to obtain the original data after down-sampling.
Preferably, the filtering is performed by using a low-pass filter, the filtering parameters are configurable, the down-sampling rate during data down-sampling is configurable, the down-sampling is not performed when the configuration is 1, and the filtering parameters can be configured according to the down-sampling rate. The filtering plays a role in reducing sampling and anti-aliasing, and the original data after being reduced sampled can be output through an output interface.
2. And carrying out interception and/or zero padding operation on the original data.
The original data after down-sampling enters the preprocessing module 20, and the preprocessing module 20 can perform operations of intercepting and zero-filling on the data according to the configuration so as to complete the preprocessing required by the calculation of the subsequent one-dimensional distance FFT data.
For example, the original data length of the millimeter wave radar is 1500 data points per period, and the millimeter wave radar can be configured to intercept 1024 points; the original data length of the millimeter wave radar is 1000 data points in each period, and the millimeter wave radar can be configured to obtain 1024 points by subsequently supplementing 24 zero points.
3. One-dimensional range FFT data is acquired based on the FFT.
The one-dimensional distance FFT data calculation module 30 completes one-dimensional distance FFT calculation of the original data to obtain a millimeter wave echo signal spectrum, i.e., one-dimensional distance information.
4. Static background elimination:
the static background elimination module 40 eliminates the static background part in the one-dimensional distance FFT data by static background signal elimination, and retains effective dynamic target information. The data after static background elimination can be output through an output interface.
The static background removal module 40 may be configured to be disabled, when the output is one-dimensional range FFT data containing static background information.
5. Valid target data over the range domain is extracted.
The one-dimensional distance FFT data after the static background is eliminated enters the distance target detection module 50, and the distance target detection module 50 processes the one-dimensional distance FFT data by a threshold and a Constant False-Alarm Rate (CFAR), and extracts effective target data in a distance domain. Valid target data on the range domain may be output through the output interface.
6. Effective target data caching:
the effective target data in the range domain is output to the effective target data frame buffer module 60, and the effective target data frame buffer module 60 buffers the effective target data in the range domain and arranges the data in the preset time period in the doppler dimension direction sequence.
The valid target data frame buffer module 60 operates using double or triple buffering to support the storing of the current frame data and the outputting of the previous frame data to subsequent modules for processing.
7. Two-dimensional doppler FFT data is acquired based on the doppler effect and FFT.
The two-dimensional doppler FFT data calculation module 70 receives the effective target data in the range region buffered by the effective target data frame buffer module 60, and completes the calculation of the two-dimensional doppler FFT data to obtain the doppler effect spectrum of the millimeter wave echo signal, i.e. the two-dimensional range doppler information.
8. Valid target data over a range-doppler two-dimensional domain is extracted.
The range-doppler-target detection module 80 receives the two-dimensional doppler FFT data calculated by the two-dimensional doppler FFT data calculation module 70, and extracts effective target data on a range-doppler two-dimensional domain after processing the two-dimensional doppler FFT data by a threshold and a Constant False Alarm Rate (CFAR). Valid target data on the range-doppler two-dimensional domain may be output through the output interface.
The data output in this embodiment includes raw data, one-dimensional range FFT data, effective target data in a range domain, two-dimensional doppler FFT data, and effective target data in a range-doppler two-dimensional domain, and one or more of the above data may be selected and output in different radar chips.
The digital signal processing system and the method can be applied to a millimeter wave radar chip, and the digital signal processing system can be integrated into the millimeter wave radar chip or externally arranged outside the millimeter wave radar chip and realized by programmable logic devices such as an FPGA (field programmable gate array).
According to the technical scheme, the invention has the following beneficial effects:
the digital signal processing method and the system of the invention take the original data of the millimeter wave echo signal as input, can selectively output various data after processing, extract the high-level effective radar target data and output the data to the millimeter wave radar chip off-chip system for further flexible processing, thereby realizing the millimeter wave radar chip and the millimeter wave radar product with higher integration level and lower cost.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A digital signal processing method, characterized in that the digital signal processing method comprises:
acquiring original data of millimeter wave echo signals;
intercepting and/or zero filling operation is carried out on the original data;
acquiring one-dimensional distance FFT data based on FFT;
extracting effective target data on a distance domain;
caching effective target data in a distance domain, and arranging the data in a preset time period according to the Doppler dimension direction sequence;
acquiring two-dimensional Doppler FFT data based on Doppler effect and FFT;
valid target data over a range-doppler two-dimensional domain is extracted.
2. The digital signal processing method according to claim 1, wherein the "acquiring raw data of the millimeter wave echo signal" specifically includes:
and filtering and down-sampling the original data of the millimeter wave echo signals according to the corresponding filtering parameters and the down-sampling rate to obtain the down-sampled original data.
3. The method of claim 1, wherein the step of obtaining one-dimensional distance FFT data based on FFT further comprises:
and eliminating a static background part in the one-dimensional distance FFT data by a static background signal elimination method, and reserving effective dynamic target information.
4. The digital signal processing method of claim 1, wherein before extracting valid target data in the range domain, the method further comprises: processing one-dimensional distance FFT data through a threshold value and a constant false alarm rate;
before extracting valid target data on a range-doppler two-dimensional domain, the method further comprises the following steps: and processing the two-dimensional Doppler FFT data through a threshold value and a constant false alarm rate.
5. The digital signal processing method of claim 1, further comprising:
selecting one or more of original data, one-dimensional range FFT data, effective target data in a range domain, two-dimensional Doppler FFT data and effective target data in a range-Doppler two-dimensional domain, and outputting the data.
6. A digital signal processing system, comprising:
the original data acquisition module is used for acquiring original data of the millimeter wave echo signals;
the preprocessing module is used for carrying out interception and/or zero padding operation on the original data;
the one-dimensional distance FFT data calculation module is used for acquiring one-dimensional distance FFT data based on FFT;
the distance target detection module is used for extracting effective target data in a distance domain;
the effective target data frame caching module is used for caching effective target data in a distance domain and arranging the data in a preset time period in the Doppler dimension direction;
the two-dimensional Doppler FFT data calculation module is used for acquiring two-dimensional Doppler FFT data based on the Doppler effect and FFT;
and the range-Doppler target detection module is used for extracting effective target data on a range-Doppler two-dimensional domain.
7. The digital signal processing system of claim 6, wherein the raw data obtaining module comprises a filtering and down-sampling module, configured to filter and down-sample the millimeter wave echo signal raw data according to corresponding filtering parameters and a down-sampling rate, so as to obtain down-sampled raw data.
8. The digital signal processing system of claim 6, further comprising a static background cancellation module for canceling a static background portion of the one-dimensional range FFT data by static background signal cancellation, and retaining valid dynamic object information.
9. The digital signal processing system of claim 6, wherein the range target detection module is further configured to process one-dimensional range FFT data by a threshold and a constant false alarm rate;
the range-doppler target detection module is further configured to process the two-dimensional doppler FFT data by a threshold and a constant false alarm rate.
10. A radar chip comprising the digital signal processing system of any one of claims 6 to 9.
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