CN112099003B - Special-shaped plane aperture three-dimensional holographic imaging radar data preprocessing method - Google Patents
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Abstract
The invention relates to the technical field of microwave three-dimensional imaging, in particular to rapid receiving and transmitting of broadband holographic imaging radar signals, and particularly provides a data preprocessing method for a special-shaped planar aperture three-dimensional holographic imaging radar. The pretreatment method comprises the following steps: determining the number N of antenna arrays; dividing echo signals received by the antenna array into N frequency sub-band signals according to the number N of the antenna array; each antenna array sequentially transmits frequency sub-band signals; estimating and compensating phase errors of the N frequency sub-band signals of each antenna array; and splicing and synthesizing the frequency sub-band signals after the phase error compensation in each antenna array. According to the invention, the echo signals received by the antenna array are divided into a plurality of frequency sub-band signals, and the frequency sub-band signals are simultaneously received and transmitted by the plurality of antenna arrays according to the designated sequence, so that the data acquisition efficiency can be improved, and the problem of low efficiency in data acquisition with large bandwidth is solved.
Description
The technical field is as follows:
the invention relates to the technical field of microwave three-dimensional imaging, in particular to rapid receiving and transmitting of broadband holographic imaging radar signals, and particularly provides a data preprocessing method for a special-shaped planar aperture three-dimensional holographic imaging radar.
Background art:
with the development of social economy, public transportation hubs such as airports, railway stations, subways and bus stations are receiving more and more passenger flows and logistics, the security level of the areas needs to eliminate potential safety hazards so as to ensure public safety and meet high detection efficiency of quick passing, and in order to meet the requirements, holographic imaging radars are gradually adopted in developed countries in Europe and America to be used for security inspection at airports and the like, particularly for personal security inspection of passengers. The holographic imaging radar is an omnibearing three-dimensional imaging radar, generally adopts a cylindrical surface aperture and is mainly applied to human body safety detection.
In practical applications, the requirement for efficient and fast detection puts high demands on fast signal transceiving. For reducing the cost, a cylindrical aperture is mostly formed by adopting a linear array antenna rotation scanning mode, for example, patent CN201110334768.9 discloses a millimeter wave active three-dimensional holographic imaging human body security inspection system, which comprises a cylindrical main body frame with an entrance, a first millimeter wave transceiver, a second millimeter wave transceiver, a first millimeter wave switch antenna array connected with the first millimeter wave transceiver, a second millimeter wave switch antenna array connected with the second millimeter wave transceiver, a rotation scanning driving device, a control device and a parallel image processing device, wherein the parallel image processing device is used for synthesizing a three-dimensional holographic image of a person to be inspected according to acquired data from the first and second millimeter wave transceivers and spatial position information of the acquired data; for another example, patent CN201720657908.9 discloses a moving walkway type millimeter wave holographic imaging security inspection system, which includes a millimeter wave switch array radar, a moving walkway and a moving handrail, where the millimeter wave switch array radar is provided with one or more millimeter wave switch array radars vertically arranged at two sides of the moving walkway, the moving handrail is arranged above the moving walkway in a closed ring structure, the millimeter wave switch array radars scan and detect a human body on the moving walkway, and the millimeter wave switch array radar includes an antenna array, a switch matrix, a transmitter, a receiver, an a/D acquisition and an imaging processor; in addition, in order to meet the requirement of accurate safety detection of a human body, centimeter-level or even millimeter-level resolution is required, so that large signal bandwidth is required to be transmitted, high resolution is realized, time is consumed for sequentially receiving and transmitting large-bandwidth signals in the rotary scanning process of each channel of the array antenna, and the efficiency in practical application is influenced.
The invention content is as follows:
the invention aims to solve the technical problem of providing a data preprocessing method for a special-shaped planar aperture three-dimensional holographic imaging radar, aiming at the defects of low receiving and transmitting efficiency of large-bandwidth signals of the holographic imaging radar and the like in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows: a data preprocessing method for a special-shaped planar aperture three-dimensional holographic imaging radar comprises a plurality of antenna arrays, wherein the antenna arrays are used for transmitting signals and receiving echo signals, and the method is characterized in that: the pretreatment method comprises the following steps:
step S1: determining the number N of antenna arrays, wherein N is greater than or equal to 2;
step S2: dividing echo signals received by the antenna array into N frequency sub-band signals according to the number N of the antenna array;
step S3: each antenna array sequentially transmits frequency sub-band signals;
step S4: estimating and compensating phase errors of the N frequency sub-band signals of each antenna array;
step S5: and splicing and synthesizing the frequency sub-band signals after the phase error compensation in each antenna array.
Further, the N antenna arrays extend in parallel with each other in the vertical direction, and the N antenna arrays are distributed on the cylindrical curved surface.
Further, an nth frequency subband signal of the N frequency subband signals is denoted as sn(fn)，fnIs the frequency of the nth frequency subband signal; f. ofminFor minimum frequency of transmitted signal, NrIs the number of points of the frequency, Δ f is the frequency interval,
presentation pair
Taking an integer;
when N is not equal to N, f is adjustednExpressed as a line directionAmount form:
where T is a transposed symbol, and when N ≠ N, fnHas a length of
When N is equal to N, f isnExpressed as a row vector:
where T is the transposed symbol, and when N is equal to N, fnHas a length of
Further, the transmitting signal of the antenna array is a frequency modulated continuous wave signal, a linear frequency modulated signal or a step frequency signal.
Further, when the transmission signal is a frequency modulated continuous wave signal, the echo signal is s11(τ) the frequency of the emission signal is f;
carrying out variable substitution, f ═ fmin+Krτ, wherein fminIs the minimum frequency, K, of the transmitted signalrThe frequency modulation rate of the frequency modulation continuous wave signal is shown, and tau is the distance time of the echo signal;
after the variable substitution, the echo signal is represented as s12(f) To s to12(f) Fourier transform to obtain echo signal s13(t)；
For echo signal s13(t) performing residual video phase correction, the correction filter comprising:
H11(t)＝exp(-jπ·Kr·t2)；
t is the distance to time corresponding to frequency f;
will s13(t) and H11(t) multiplying to obtain a residual video phase corrected signal s14(t)；
For signal s14(t) Fourier transforming to obtain signal s15(f)；
Will signal s15(f) Divided into N frequency subband signals.
Further, when the transmission signal is a chirp signal, the echo signal is set to s21(t), the frequency of the transmitted signal is f, where t is the distance to time;
for echo signal s21(t) Fourier transforming to obtain signal s22(f)；
For signal s22(f) Performing matched filtering, wherein the matched filtering function is as follows:
wherein f iscIs the center frequency of the transmitted signal;
will s22(f) And H21(t) multiplying to obtain a matched filtered signal s23(f)；
Will signal s23(f) Divided into N frequency subband signals.
Further, when the transmission signal is a step frequency signal, the echo signal is set as s31(f)；
The echo signal s31(f) Divided into N frequency subband signals.
Further, the frequency f of the transmission signal is a discrete quantity, and the point number of the frequency is assumed to be NrAnd the frequency interval is Δ f, the frequency f is expressed in the form of a row vector:
f＝(fmin，fmin+Δf，fmin+2Δf，…，fmin+(Nr-1)Δf)。
further, in step 3, the m (m 1, 2, 1, N) th antenna arrays sequentially transmit the designated frequency sub-band signals in a time-sharing manner, and transmit the sub-band signalsThe shooting sequence is as follows: f. ofn、fn+1、...、fN、f1、f2、...、fn-1。
Further, in step 4, for the nth frequency sub-band signal sn(fn) Is zero-padded to f when N is equal to NnLength N offThen inverse Fourier transform is carried out to obtain a distance compressed time domain signal sn(t)；
t is expressed as a discrete column vector:
t＝(tmin，tmin+Δt，tmin+2Δt，…，(Nf-1)Δt)T
wherein, tminThe time interval Δ t is equal to C/(2 · Δ f · N) from the start timef)；
Compressing a time-domain signal s with a distance of a 1 st frequency subband signal when n is 11(t) estimating and compensating phase errors of other frequency sub-band signals by taking the reference as a reference;
setting the initial phase error of each frequency subband signal as
The initial phase error can be expressed in the form of a row vector:
representing N frequency sub-band signals as NfThe matrix of xn is:
S0＝(s1(t)，s2(t)，s3(t)，…，sn(t))
signal S0And the following matrix H0Dot multiplication:
matrix H0Is also NfXn, symbol x is a conjugate symbol;
the estimated initial phase error is S0And H0After dot multiplication, accumulating along t and then taking the phase:
wherein, the symbol ·*For dot-by-dot symbols, angle () is the phase taking function;
the phase compensation function for the nth frequency subband signal is:
the nth frequency sub-band signal sn(fn) And hnMultiplying to obtain a frequency sub-band signal after phase compensation as follows:
scn(fn)＝sn(fn)·hn。
further, in step 5, the phase compensated frequency subband signal sc is processedn(fn) Splicing and synthesizing according to the sequence of N from 1 to N to obtain the product with the length of NrThe wideband signal expressed in the form of a row vector as:
S1＝(sc1(f1)，sc2(f2)，sc3(f3)，scn(fn))。
according to the invention, the echo signals received by the antenna array are divided into a plurality of frequency sub-band signals, and the frequency sub-band signals are simultaneously received and transmitted by the plurality of antenna arrays according to the designated sequence, so that the data acquisition efficiency can be improved, and the problem of low efficiency in data acquisition with large bandwidth is solved.
Description of the drawings:
FIG. 1 is a schematic flow chart of a data preprocessing method for a special-shaped planar aperture three-dimensional holographic imaging radar according to the present invention;
fig. 2 is a schematic structural diagram of the special-shaped planar aperture three-dimensional holographic imaging radar.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
As shown in fig. 1, the method for preprocessing the data of the special-shaped planar aperture three-dimensional holographic imaging radar comprises the following steps:
step S1: determining the number N of antenna arrays, wherein N is greater than or equal to 2;
as shown in fig. 2, the special-shaped planar aperture three-dimensional holographic imaging radar includes N antenna arrays 1, 2, 3.. N, where N is greater than or equal to 2; the antenna array 1, 2, 3.. N is used for transmitting signals and receiving echo signals. In particular, the N antenna arrays 1, 2, 3.. N extend in a vertical direction parallel to each other; meanwhile, the N antenna arrays 1, 2, 3.. N are distributed on a cylindrical curved surface.
Step S2: dividing echo signals received by the antenna array into N frequency sub-band signals according to the number N of the antenna array;
in the present invention, the nth frequency subband signal of the N frequency subband signals is denoted as sn(fn)，fnIs the frequency of the nth frequency subband signal; f. ofminFor minimum frequency of transmitted signal, NrIs the number of points of the frequency, Δ f is the frequency interval,
presentation pair
Taking an integer;
when N is not equal to N, f is adjustednExpressed as a row vector:
where T is a transposed symbol, and when N ≠ N, fnHas a length of
When N is equal to N, f isnExpressed as a row vector:
where T is the transposed symbol, and when N is equal to N, fnHas a length of
The transmitting signal of the antenna array can be a frequency modulation continuous wave signal, a linear frequency modulation signal or a step frequency signal and the like, and according to different signal types:
(1) when the transmitting signal is a frequency modulation continuous wave signal, the echo signal is set as s11(τ) the frequency of the emission signal is f;
carrying out variable substitution, f ═ fmin+Krτ, wherein fminIs the minimum frequency, K, of the transmitted signalrThe frequency modulation rate of the frequency modulation continuous wave signal is shown, and tau is the distance time of the echo signal;
after the variable substitution, the echo signal is represented as s12(f) To s to12(f) Fourier transform to obtain echo signal s13(t)；
For echo signal s13(t) performing residual video phase correction, the correction filter comprising:
H11(t)＝exp(-jπ·Kr·t2)；
t is the distance to time corresponding to frequency f;
will s13(t) and H11(t) multiplying to obtain a residual video phase corrected signal s14(t)；
For signal s14(t) Fourier transforming to obtain signal s15(f)；
Will signal s15(f) Dividing into N frequency sub-band signals;
(2) when the transmitting signal is a chirp signal, the echo signal is set as s21(t), the frequency of the transmitted signal is f, where t is the distance to time;
for echo signal s21(t) Fourier transforming to obtain signal s22(f)；
For signal s22(f) Performing matched filtering, wherein the matched filtering function is as follows:
wherein f iscIs the center frequency of the transmitted signal;
will s22(f) And H21(t) multiplying to obtain a matched filtered signal s23(f)；
Will signal s23(f) Dividing into N frequency sub-band signals;
(3) when the transmitting signal is a step frequency signal, the echo signal is set as s31(f)；
The echo signal s31(f) Dividing into N frequency sub-band signals;
in practice, the frequency f of the transmission signal is a discrete quantity, and the number of points of the frequency is assumed to be NrAnd the frequency interval is Δ f, then the frequency f can be expressed in the form of a row vector:
f＝(fmin，fmin+Δf，fmin+2Δf，…，fmin+(Nr-1)Δf)；
step S3: each antenna array sequentially transmits frequency sub-band signals;
the m (m ═ 1, 2,. and N) th antenna array time-divisionally and sequentially transmits the appointed frequency sub-band signals, and the transmission sequence is as follows: f. ofn、fn+1、...、fN、f1、f2、...、fn-1I is f1、f2、...、fNThe n-1 bit of the analog is circularly shifted in the right direction;
step S4: estimating and compensating phase errors of the N frequency sub-band signals of each antenna array;
the N frequency sub-band signals have initial phase errors due to time-sharing transmission and reception and need to be corrected;
for the nth frequency sub-band signal sn(fn) Is zero-padded to f when N is equal to NnLength N offThen inverse Fourier transform is carried out to obtain a distance compressed time domain signal sn(t)；
Due to fnIs discrete, t can be expressed in the form of a corresponding discrete column vector:
t＝(tmin，tmin+Δt，tmin+2Δt，…，(Nf-1)Δt)T
wherein, tminThe time interval Δ t is equal to C/(2 · Δ f · N) from the start timef)；
Since t can be expressed in the form of a corresponding discrete column vector, the distance-compressed time-domain signal sn(t) may also be expressed in the form of a column vector;
compressing a time-domain signal s with a distance of a 1 st frequency subband signal when n is 11(t) estimating and compensating phase errors of other frequency sub-band signals by taking the reference as a reference;
setting the initial phase error of each frequency subband signal as
The initial phase error can be expressed in the form of a row vector:
representing N frequency sub-band signals as NfThe matrix of xn is:
S0＝(s1(t)，s2(t)，s3(t)，…，sn(t))
signal S0And the following matrix H0Dot multiplication:
matrix H0Is also NfXn, symbol x is a conjugate symbol;
the estimated initial phase error is S0And H0After dot multiplication, accumulating along t and then taking the phase:
wherein, the symbol ·*For dot-by-dot symbols, angle () is the phase taking function;
the phase compensation function for the nth frequency subband signal is:
the nth frequency sub-band signal sn(fn) And hnMultiplying to obtain a frequency sub-band signal after phase compensation as follows:
scn(fn)＝sn(fn)·hn
step S5: splicing and synthesizing the frequency sub-band signals after the phase error compensation in each antenna array;
for the frequency sub-band signal sc after phase compensationn(fn) Splicing and synthesizing according to the sequence of N from 1 to N to obtain the product with the length of NrThe wideband signal expressed in the form of a row vector as:
S1＝(sc1(f1)，sc2(f2)，sc3(f3)，scn(fn))
according to the invention, the echo signals received by the antenna array are divided into a plurality of frequency sub-band signals, and the frequency sub-band signals are simultaneously received and transmitted by the plurality of antenna arrays according to the designated sequence, so that the data acquisition efficiency can be improved, and the problem of low efficiency in data acquisition with large bandwidth is solved.
The above contents are further detailed descriptions of the method for preprocessing the data of the special-shaped planar aperture three-dimensional holographic imaging radar, and the scope of the invention is not limited thereto, and various modifications and improvements made by those skilled in the art according to the technical scheme of the present invention without departing from the concept of the present invention should be considered as falling within the protection scope of the present invention.
Claims (9)
1. A data preprocessing method for a special-shaped planar aperture three-dimensional holographic imaging radar comprises a plurality of antenna arrays, wherein the antenna arrays are used for transmitting signals and receiving echo signals, and the method is characterized in that: the pretreatment method comprises the following steps:
step S1: determining the number N of antenna arrays, wherein N is greater than or equal to 2;
step S2: dividing echo signals received by the antenna array into N frequency sub-band signals according to the number N of the antenna array; an nth one of the N frequency subband signals is denoted as sn(fn)，fnIs the frequency of the nth frequency subband signal; f. ofminFor minimum frequency of transmitted signal, NrIs the number of points of the frequency, Δ f is the frequency interval,
presentation pair
Taking an integer;
when N is not equal to N, f is adjustednExpressed as a row vector:
where T is a transposed symbol, when N ≠ N，fnHas a length of
When N is equal to N, f isnExpressed as a row vector:
where T is the transposed symbol, and when N is equal to N, fnHas a length of
Step S3: each antenna array sequentially transmits frequency sub-band signals;
step S4: estimating and compensating phase errors of the N frequency sub-band signals of each antenna array;
in step 4, for the nth frequency sub-band signal sn(fn) Is zero-padded to f when N is equal to NnLength N offThen inverse Fourier transform is carried out to obtain a distance compressed time domain signal sn(t)；
t is expressed as a discrete column vector:
t＝(tmin，tmin+Δt，tmin+2Δt，…，(Nf-1)Δt)T
wherein, tminIs the distance to the starting time, Δ t is the time interval;
compressing a time-domain signal s with a distance of a 1 st frequency subband signal when n is 11(t) estimating and compensating phase errors of other frequency sub-band signals by taking the reference as a reference;
setting the initial phase error of each frequency subband signal as
The initial phase error can be expressed in the form of a row vector:
representing N frequency sub-band signals as NfThe matrix of xn is:
S0＝(s1(t)，s2(t)，s3(t)，…，sn(t))
signal S0And the following matrix H0Dot multiplication:
matrix H0Is also NfXn, symbol x is a conjugate symbol;
the estimated initial phase error is S0And H0After dot multiplication, accumulating along t and then taking the phase:
wherein, the symbol is a dot-multiplied symbol, and the angle () is a phase taking function;
the phase compensation function for the nth frequency subband signal is:
the nth frequency sub-band signal sn(fn) And hnMultiplying to obtain a frequency sub-band signal after phase compensation as follows:
scn(fn)＝sn(fn)·hn；
step S5: and splicing and synthesizing the frequency sub-band signals after the phase error compensation in each antenna array.
2. The method for preprocessing the data of the special-shaped planar aperture three-dimensional holographic imaging radar according to claim 1, wherein the method comprises the following steps: the N antenna arrays extend in parallel to each other in the vertical direction, and are distributed on the cylindrical curved surface.
3. The method for preprocessing the data of the special-shaped planar aperture three-dimensional holographic imaging radar according to claim 1, wherein the method comprises the following steps: the transmitting signal of the antenna array is a frequency modulation continuous wave signal, a linear frequency modulation signal or a step frequency signal.
4. The method for preprocessing the data of the special-shaped planar aperture three-dimensional holographic imaging radar according to claim 3, wherein the method comprises the following steps: when the transmitting signal is a frequency modulation continuous wave signal, the echo signal is set as s11(τ) the frequency of the emission signal is f;
carrying out variable substitution, f ═ fmin+Krτ，KrThe frequency modulation rate of the frequency modulation continuous wave signal is shown, and tau is the distance time of the echo signal;
after the variable substitution, the echo signal is represented as s12(f) To s to12(f) Fourier transform to obtain echo signal s13(t)；
For echo signal s13(t) performing residual video phase correction, the correction filter comprising:
H11(t)＝exp(-jπ·Kr·t2)；
t is the distance to time corresponding to frequency f;
will s13(t) and H11(t) multiplying to obtain a residual video phase corrected signal s14(t)；
For signal s14(t) Fourier transforming to obtain signal s15(f)；
Will signal s15(f) Divided into N frequency subband signals.
5. The method for preprocessing the data of the special-shaped planar aperture three-dimensional holographic imaging radar according to claim 3, wherein the method comprises the following steps: when the hair is in motionWhen the transmitting signal is a linear frequency modulation signal, the echo signal is set as s21(t), the frequency of the transmitted signal is f, where t is the distance to time;
for echo signal s21(t) Fourier transforming to obtain signal s22(f)；
For signal s22(f) Performing matched filtering, wherein the matched filtering function is as follows:
wherein f iscIs the center frequency, K, of the transmitted signalrThe frequency modulation rate of the frequency modulation continuous wave signal is obtained;
will s22(f) And H21(t) multiplying to obtain a matched filtered signal s23(f)；
Will signal s23(f) Divided into N frequency subband signals.
6. The method for preprocessing the data of the special-shaped planar aperture three-dimensional holographic imaging radar according to claim 3, wherein the method comprises the following steps: when the transmitting signal is a step frequency signal, the echo signal is set as s31(f)；
The echo signal s31(f) Divided into N frequency subband signals.
7. The method for preprocessing the data of the special-shaped planar aperture three-dimensional holographic imaging radar according to claim 1, wherein the method comprises the following steps: the frequency f of the emission signal is discrete quantity, and the point number of the assumed frequency is NrAnd the frequency interval is Δ f, the frequency f is expressed in the form of a row vector:
f＝(fmin，fmin+Δf，fmin+2Δf，…，fmin+(Nr-1)Δf)。
8. the method for preprocessing the data of the special-shaped planar aperture three-dimensional holographic imaging radar according to claim 1, wherein the method comprises the following steps: in step (b)In step 3, the nth antenna array sequentially transmits the specified frequency sub-band signals in a time-sharing manner, wherein the transmission sequence is as follows: f. ofn、fn+1、...、fN、f1、f2、...、fn-1。
9. The method for preprocessing the data of the special-shaped planar aperture three-dimensional holographic imaging radar according to claim 1, wherein the method comprises the following steps: in step 5, the phase-compensated frequency subband signal sc is processedn(fn) Splicing and synthesizing according to the sequence of N from 1 to N to obtain the product with the length of NrThe wideband signal expressed in the form of a row vector as:
S1＝(sc1(f1)，sc2(f2)，sc3(f3)，...，scn(fn))。
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