CN112285715A - Millimeter wave radar system based on AT instruction and control method - Google Patents
Millimeter wave radar system based on AT instruction and control method Download PDFInfo
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- CN112285715A CN112285715A CN202011002154.6A CN202011002154A CN112285715A CN 112285715 A CN112285715 A CN 112285715A CN 202011002154 A CN202011002154 A CN 202011002154A CN 112285715 A CN112285715 A CN 112285715A
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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
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
- G05B19/0425—Safety, monitoring
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Abstract
The invention belongs to the technical field of radar systems, and particularly relates to a millimeter wave radar system based on AT instructions and a control method. The system comprises a radio frequency processing board, a digital signal processing board and an application control board, wherein the radio frequency processing board is electrically connected with the digital signal processing board through a connector, and the digital signal processing board is electrically connected with the application control board through a UART interface and a CAN interface. According to the invention, a user can communicate with the digital signal processing board by using the AT instruction through the UART interface of the MCU microcontroller of the application control board, and the user can directly control the on and off of the millimeter wave radar system, the radio frequency parameter adjustment of the radio frequency processing board and the parameter adjustment of the digital signal processing board through the AT instruction. The invention has the characteristics of realizing flexible configuration and universal control of the millimeter wave radar system and meeting the requirements of adapting to different scenes.
Description
Technical Field
The invention belongs to the technical field of radar systems, and particularly relates to a millimeter wave radar system based on AT instructions and a control method.
Background
Radar technology plays an extremely important role in military detection, and radar can detect target conditions in different ranges, such as target distance, speed and position, track and predict the motion track of a target, and even detect the shape of the target for classification and identification. With the continuous improvement of the performance of microwave integrated circuits, civil consumption millimeter wave radars are continuously deeply applied. The millimeter wave radar still can keep stable performance in the environment with poor illumination or rain, snow, smoke and dust, and is deeply applied to the fields of automatic driving vehicle cruising, urban intelligent traffic monitoring, obstacle avoidance of industrial moving robots and the like. Compared with optical sensors such as a camera and the like, the millimeter wave radar has the advantage of very high privacy protection, and is also applied differently in the occasions of building automation, indoor intelligent monitoring, monitoring medical treatment and the like. The millimeter wave radar is continuously and deeply applied to different scenes of the industry and the consumption industry, huge market demands can be met in the future, and the millimeter wave radar can be widely applied to consumption application occasions in a convenient and fast using mode.
At present, the millimeter wave radar is a targeted fixed application, the system difference under different applications is considered to be large, system design and installation and debugging are required to be carried out again under different scenes and different applications, the rapid and universal performance is difficult to achieve, and meanwhile, the difficulty in development and use is increased.
For example, a millimeter wave radar system described in chinese utility model application No. CN201820402725.7 includes: the antenna comprises a radar chip module, a receiving antenna array and a transmitting antenna array; the receiving antenna array comprises a plurality of rows of single-row antennas, and the transmitting antenna array comprises at least two transmitting antennas; the radar chip module comprises at least two transmitters with phase shifters, wherein the transmitting antennas are connected with the transmitters in a one-to-one correspondence mode, and the phase shifters are used for adjusting the phase of transmitting beams of the corresponding transmitting antennas so as to adjust the maximum gain direction of the transmitting antenna array. Although the phase of the transmitting beam corresponding to the transmitting antenna is adjusted by the phase shifter, so as to adjust the phase difference of the transmitting beams of the adjacent transmitting antennas, and adjust the maximum gain direction of the transmitting antenna array to change along with the change of the detection direction, so that the millimeter wave radar system realizes multi-directional beam scanning, and further realizes tracking detection of a target, the design of the radar system is simplified, the integration level is improved, and the cost of the radar system is reduced, the millimeter wave radar system has the defects that the design and the application of the millimeter wave radar system are to the tracking detection of the target, if the millimeter wave radar system is required to be applied to other scenes or functions, the system design, installation and debugging are required to be carried out again, the efficiency is low, and the system is very.
Disclosure of Invention
The invention provides a millimeter wave radar system based on AT instructions and a control method thereof, which can be flexibly configured, have stronger universality and can meet the requirements of different scenes, in order to overcome the problems that in the prior art, the existing millimeter wave radar is a targeted fixed application, the system design and installation and debugging are required to be carried out again under different scenes and different applications, and the development and use difficulty of the millimeter wave radar is higher due to the difficulty in realizing the rapid and universal functions.
In order to achieve the purpose, the invention adopts the following technical scheme:
the millimeter wave radar system based on the AT instruction comprises a radio frequency processing board, a digital signal processing board and an application control board, wherein the radio frequency processing board is used for processing baseband signals; the radio frequency processing board is provided with a millimeter wave antenna which is used for sending and receiving millimeter wave radio frequency signals; the radio frequency processing board comprises an ADC (analog-to-digital converter), the millimeter wave antenna is electrically connected with the ADC, and the radio frequency processing board is electrically connected with the digital signal processing board through a connector; the digital signal processing board comprises a DSP digital signal processor and an ADC data interface, wherein the DSP digital signal processor is used for processing ADC analog-to-digital conversion data, the DSP digital signal processor is electrically connected with the ADC data interface, and the digital signal processing board is electrically connected with the application control board through a UART interface and a CAN interface; the application control panel comprises an MCU microcontroller and a wireless module, wherein the MCU microcontroller is used for receiving the processing result data of the digital signal processing panel, and the wireless module is electrically connected with the MCU microcontroller.
Preferably, the wireless module is an LTE module or a WiFi module.
Preferably, the ADC is electrically connected to the ADC data interface via a connector; and the DSP digital signal processor is electrically connected with the MCU through a UART interface and a CAN interface.
Preferably, a plurality of digital signal processing algorithms are preset in the DSP digital signal processor and used for calculating distance, speed, azimuth and motion trajectory data of a plurality of targets under different scene applications.
The invention also provides a control method of the millimeter wave radar system based on the AT instruction, which comprises the following steps:
s1, supplying power to the millimeter wave radar system based on the AT instruction, and performing initialization setting on the system;
s2, the application control board judges whether the system uses the default parameters after initialization setting;
s3, if the default parameters are judged to be used, the application control board sends an AT instruction for setting the parameter configuration of the millimeter wave radar system based on the AT instruction to be default to the digital signal processing board, and the digital signal processing board receives the AT instruction and sets the parameter configuration of the millimeter wave radar system based on the AT instruction to be default;
s4, if the default parameters are not used, the application control board sends an AT instruction for resetting the millimeter wave radar system parameters based on the AT instruction to the digital signal processing board, and the digital signal processing board receives the AT instruction and resets the millimeter wave radar system parameters based on the AT instruction;
s5, after step S3 or step S4, the application control board sends an AT command for enabling the millimeter wave radar system based on the AT command to start target detection to the digital signal processing board, and the digital signal processing board receives the AT command and enables the millimeter wave radar system based on the AT command to start target detection;
and S6, when the use of the millimeter wave radar system based on the AT instruction needs to be stopped, the application control board sends the AT instruction for stopping the target detection of the millimeter wave radar system based on the AT instruction to the digital signal processing board, and the digital signal processing board receives the AT instruction and stops the target detection of the millimeter wave radar system based on the AT instruction.
Preferably, step S6 further includes the steps of:
after the millimeter wave radar system based on the AT instruction stops the target detection, when the millimeter wave radar system needs to be started again, the millimeter wave radar system based on the AT instruction does not need to be initialized, and the process directly proceeds to step S2.
Preferably, the parameter configuration for setting the millimeter wave radar system based on the AT instruction in step S3 is that the default AT instruction is AT + MMWDEFAULT.
Preferably, the AT instruction for resetting the millimeter wave radar system parameter based on the AT instruction in step S4 includes:
the AT + MMWMODE is args and is used for setting the working mode of the millimeter wave radar system based on the AT instruction;
the AT + MMWCHIRP is args and is used for setting a Chirp parameter of the millimeter wave radar system based on the AT instruction;
the method comprises the following steps that AT + MMWFRAME is args and is used for setting Frame parameters of a millimeter wave radar system based on AT instructions;
the AT + MMWPROFILE is args and is used for setting the Profile parameter of the millimeter wave radar system based on the AT instruction;
AT + MMWPOWER ═ args, is used for setting up the transmission power based on millimeter wave radar system of AT order;
AT + MMWCFAR is args and is used for setting a Cfar parameter of the millimeter wave radar system based on the AT instruction;
AT + MMWAOA is args and is used for setting AOA parameters of the millimeter wave radar system based on AT instructions;
the args in the AT instruction is a self-defined parameter character string, and is determined by a UART application protocol in the digital signal processing board.
Preferably, the AT instruction for causing the millimeter wave radar system based on the AT instruction to start target detection in step S5 is AT + MMWSTART.
Preferably, the AT instruction for causing the AT-instruction-based millimeter wave radar system to stop the target detection in step S6 is AT + MMWSTOP.
Compared with the prior art, the invention has the beneficial effects that: (1) the connector between the radio frequency processing board and the digital signal processing board can detach and separate the radio frequency processing board, so that the radio frequency processing board can be flexibly replaced and can meet the requirements of different scenes; (2) the radio frequency signal parameters in the radio frequency processing board can be configured through AT instructions of UART, so that the overall flexibility of the system is improved, and the development and use difficulty can be reduced; (3) the algorithm in the digital signal processing board can be preset and can also be configured through AT instructions of UART, so that the flexibility and the universality of the system are improved, and the system difference under different scene applications is reduced.
Drawings
FIG. 1 is a schematic structural diagram of an AT command-based millimeter wave radar system according to the present invention;
FIG. 2 is a schematic diagram of AT command configuration and response based on UART application protocol between the DSP board and the application control board according to the present invention;
fig. 3 is a flowchart of a method for controlling the millimeter wave radar system based on the AT command according to the present invention.
In the figure: the device comprises a radio frequency processing board 1, a digital signal processing board 2, an application control board 3, a connector 4, a UART interface 5, a CAN interface 6, a millimeter wave antenna 7, an ADC data interface 8 and a wireless module 9.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention, the following description will explain the embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
Example 1:
the millimeter wave radar system based on the AT command shown in fig. 1 comprises a radio frequency processing board 1 for baseband signal processing, a digital signal processing board 2 and an application control board 3, wherein the radio frequency processing board is electrically connected with the digital signal processing board through a connector 4, and the digital signal processing board is electrically connected with the application control board through a UART interface 5 and a CAN interface 6.
Specifically, the radio frequency processing board is provided with a millimeter wave antenna 7 for sending and receiving millimeter wave radio frequency signals; the radio frequency processing board comprises an ADC (analog-to-digital converter), and the millimeter wave antenna is electrically connected with the ADC; the digital signal processing board comprises a DSP digital signal processor and an ADC data interface 8, wherein the DSP digital signal processor is used for processing ADC analog-to-digital conversion data, and the DSP digital signal processor is electrically connected with the ADC data interface; the application control panel comprises an MCU microcontroller and a wireless module 9, wherein the MCU microcontroller is used for receiving the processing result data of the digital signal processing panel, and the wireless module is electrically connected with the MCU microcontroller.
Specifically, the ADC is electrically connected to the ADC data interface via a connector; the DSP digital signal processor is electrically connected with the MCU microcontroller through a UART interface and a CAN interface
The millimeter wave antenna of the radio frequency processing board is designed with antenna layout and technical parameters according to specific scene application, the radio frequency processing board has baseband signal processing capability, and the output ADC analog-to-digital conversion data can be transmitted to the digital signal processing board through the connector.
The radio frequency processing board can be detached and separated from a connector between the radio frequency processing board and the digital signal processing board, and then the suitable radio frequency processing board is selected to be flexibly replaced according to specific scene application requirements, such as different scene requirements of medium-short distance vehicle-mounted millimeter wave radars, long-distance traffic millimeter wave radars, building indoor personnel monitoring millimeter wave radars and the like.
The DSP can be programmed for digital signal processing of the ADC data transmitted by the rf processing board through the connector.
In addition, the digital signal processing board can write in different digital signal processing algorithms through the DSP according to different scene application requirements, and can also preset various digital signal processing algorithms in the DSP for flexible configuration selection to calculate the distances, speeds, azimuth angles, motion tracks and the like of a plurality of targets under different scene applications.
The digital signal processing board CAN also transmit the digital signal processing result to the application control board through the CAN interface, CAN simultaneously receive external data sent by the application control board, such as the moving speed of the millimeter wave radar, and CAN receive the AT instruction sent by the application control board through the UART interface and execute the function setting corresponding to the AT instruction.
The MCU microcontroller included in the application control panel can also be programmed, and after receiving the target processing result data of the digital signal processing board, the MCU microcontroller can perform different logic processing according to different scene application requirements.
In addition, the MCU microcontroller of the application control panel can transmit target processing result data and logic processing results to a remote server through the wireless module so as to realize networking of the millimeter wave radar system. The wireless module adopts an LTE module or a WiFi module, but is not limited to the LTE module or the WiFi module. Likewise, the protocol for communicating with the remote server is not limited to UDP or TCP or MQTT protocols.
Based on embodiment 1, the present invention further provides a method for controlling an AT instruction-based millimeter wave radar system, as shown in fig. 3, including the following steps:
s1, supplying power to the millimeter wave radar system based on the AT instruction, and performing initialization setting on the system;
s2, the application control board judges whether the system uses the default parameters after initialization setting;
s3, if the default parameters are judged to be used, the application control board sends an AT instruction for setting the parameter configuration of the millimeter wave radar system based on the AT instruction to be default to the digital signal processing board, and the digital signal processing board receives the AT instruction and sets the parameter configuration of the millimeter wave radar system based on the AT instruction to be default;
s4, if the default parameters are not used, the application control board sends an AT instruction for resetting the millimeter wave radar system parameters based on the AT instruction to the digital signal processing board, and the digital signal processing board receives the AT instruction and resets the millimeter wave radar system parameters based on the AT instruction;
s5, after step S3 or step S4, the application control board sends an AT command for enabling the millimeter wave radar system based on the AT command to start target detection to the digital signal processing board, and the digital signal processing board receives the AT command and enables the millimeter wave radar system based on the AT command to start target detection;
and S6, when the use of the millimeter wave radar system based on the AT instruction needs to be stopped, the application control board sends the AT instruction for stopping the target detection of the millimeter wave radar system based on the AT instruction to the digital signal processing board, and the digital signal processing board receives the AT instruction and stops the target detection of the millimeter wave radar system based on the AT instruction. After the millimeter wave radar system based on the AT instruction stops the target detection, when the millimeter wave radar system needs to be started again, the millimeter wave radar system based on the AT instruction does not need to be initialized, and the process directly proceeds to step S2.
As shown in fig. 3, AT command AT + MMWDEFAULT is shown for setting the parameter configuration of the millimeter wave radar system based on the AT command as default.
The AT instruction for resetting the millimeter wave radar system parameter based on the AT instruction in step S4 includes:
the AT + MMWMODE is args and is used for setting the working mode of the millimeter wave radar system based on the AT instruction;
the AT + MMWCHIRP is args and is used for setting a Chirp parameter of the millimeter wave radar system based on the AT instruction;
the method comprises the following steps that AT + MMWFRAME is args and is used for setting Frame parameters of a millimeter wave radar system based on AT instructions;
the AT + MMWPROFILE is args and is used for setting the Profile parameter of the millimeter wave radar system based on the AT instruction;
AT + MMWPOWER ═ args, is used for setting up the transmission power based on millimeter wave radar system of AT order;
AT + MMWCFAR is args and is used for setting a Cfar parameter of the millimeter wave radar system based on the AT instruction;
AT + MMWAOA is args and is used for setting AOA parameters of the millimeter wave radar system based on AT instructions;
the args in the AT instruction is a self-defined parameter character string, and is determined by a UART application protocol in the digital signal processing board. Specifically, the AT command used in fig. 3 to reset the millimeter wave radar system parameters based on the AT command is AT + MMWMODE ═ args, AT + MMWCHIRP ═ args, AT + MMWFRAME ═ args, and AT + mmwprole ═ args.
The AT command AT + MMWSTART described in step S5 is used to start target detection by the millimeter wave radar system based on the AT command.
The AT instruction AT + MMWSTOP described in step S6 is used to stop the millimeter wave radar system based on the AT instruction from target detection.
Besides the AT command, the ADC further includes AT + MMWADC ═ args, which is used to set the ADC analog-to-digital converter to be turned on or off; AT + MMWBAUD ═ args, used to set the baud rate of the UART protocol.
According to the invention, a user can communicate with the digital signal processing board by using the AT instruction through the UART interface of the MCU microcontroller of the application control board so as to realize flexible configuration and universal control of the millimeter wave radar system. Specifically, the schematic diagram of AT instruction configuration and response based on UART application protocol between the digital signal processing board and the application control board shown in fig. 2 is taken as an example:
when the application control board sends an AT command AT + MMWSTART, and the digital signal processing board receives the information, the information is confirmed to be correct and fed back to the application control board, so that the application control board control system starts target detection; and when the application control board sends an AT command AT + MMWSTART which is 0, after the digital signal processing board receives the information, the information is confirmed to be different from the preset correct information, the error is identified, the error information is fed back to the application control board, and the application control board does not respond.
In the invention, a user can directly control the on and off of the millimeter wave radar system, the radio frequency parameter adjustment of the radio frequency processing board and the parameter adjustment of the digital signal processing board through the AT instruction, so as to improve the flexibility and the universality of the millimeter wave radar system, reduce the system difference under different scene applications and solve the problem that the targeted fixed application of the millimeter wave radar system is not flexible.
The foregoing has outlined rather broadly the preferred embodiments and principles of the present invention and it will be appreciated that those skilled in the art may devise variations of the present invention that are within the spirit and scope of the appended claims.
Claims (10)
1. The millimeter wave radar system based on the AT instruction is characterized by comprising a radio frequency processing board, a digital signal processing board and an application control board, wherein the radio frequency processing board is used for processing baseband signals; the radio frequency processing board is provided with a millimeter wave antenna which is used for sending and receiving millimeter wave radio frequency signals; the radio frequency processing board comprises an ADC (analog-to-digital converter), the millimeter wave antenna is electrically connected with the ADC, and the radio frequency processing board is electrically connected with the digital signal processing board through a connector; the digital signal processing board comprises a DSP digital signal processor and an ADC data interface, wherein the DSP digital signal processor is used for processing ADC analog-to-digital conversion data, the DSP digital signal processor is electrically connected with the ADC data interface, and the digital signal processing board is electrically connected with the application control board through a UART interface and a CAN interface; the application control panel comprises an MCU microcontroller and a wireless module, wherein the MCU microcontroller is used for receiving the processing result data of the digital signal processing panel, and the wireless module is electrically connected with the MCU microcontroller.
2. The AT command based millimeter wave radar system according to claim 1, wherein the wireless module is an LTE module or a WiFi module.
3. The AT instruction based millimeter wave radar system according to claim 1 or 2, wherein the ADC analog-to-digital converter is electrically connected to the ADC data interface through a connector; and the DSP digital signal processor is electrically connected with the MCU through a UART interface and a CAN interface.
4. The AT instruction-based millimeter wave radar system according to claim 3, wherein a plurality of digital signal processing algorithms are pre-configured in the DSP digital signal processor for calculating distance, speed, azimuth angle and motion trajectory data of a plurality of targets under different scene applications.
5. The AT command-based millimeter wave radar system control method according to claim 1, comprising the steps of:
s1, supplying power to the millimeter wave radar system based on the AT instruction, and performing initialization setting on the system;
s2, the application control board judges whether the system uses the default parameters after initialization setting;
s3, if the default parameters are judged to be used, the application control board sends an AT instruction for setting the parameter configuration of the millimeter wave radar system based on the AT instruction to be default to the digital signal processing board, and the digital signal processing board receives the AT instruction and sets the parameter configuration of the millimeter wave radar system based on the AT instruction to be default;
s4, if the default parameters are not used, the application control board sends an AT instruction for resetting the millimeter wave radar system parameters based on the AT instruction to the digital signal processing board, and the digital signal processing board receives the AT instruction and resets the millimeter wave radar system parameters based on the AT instruction;
s5, after step S3 or step S4, the application control board sends an AT command for enabling the millimeter wave radar system based on the AT command to start target detection to the digital signal processing board, and the digital signal processing board receives the AT command and enables the millimeter wave radar system based on the AT command to start target detection;
and S6, when the use of the millimeter wave radar system based on the AT instruction needs to be stopped, the application control board sends the AT instruction for stopping the target detection of the millimeter wave radar system based on the AT instruction to the digital signal processing board, and the digital signal processing board receives the AT instruction and stops the target detection of the millimeter wave radar system based on the AT instruction.
6. The AT command-based millimeter wave radar system control method according to claim 5, wherein the step S6 further comprises the steps of:
after the millimeter wave radar system based on the AT instruction stops the target detection, when the millimeter wave radar system needs to be started again, the millimeter wave radar system based on the AT instruction does not need to be initialized, and the process directly proceeds to step S2.
7. The method for controlling an AT instruction-based millimeter wave radar system according to claim 5, wherein the parameter configuration for setting the AT instruction-based millimeter wave radar system in step S3 is AT + MMWDEFAULT as a default AT instruction.
8. The AT instruction-based millimeter wave radar system control method according to claim 5, wherein the AT instruction in step S4 for resetting the AT instruction-based millimeter wave radar system parameters comprises:
the AT + MMWMODE is args and is used for setting the working mode of the millimeter wave radar system based on the AT instruction;
the AT + MMWCHIRP is args and is used for setting a Chirp parameter of the millimeter wave radar system based on the AT instruction;
the method comprises the following steps that AT + MMWFRAME is args and is used for setting Frame parameters of a millimeter wave radar system based on AT instructions;
the AT + MMWPROFILE is args and is used for setting the Profile parameter of the millimeter wave radar system based on the AT instruction;
AT + MMWPOWER ═ args, is used for setting up the transmission power based on millimeter wave radar system of AT order;
AT + MMWCFAR is args and is used for setting a Cfar parameter of the millimeter wave radar system based on the AT instruction;
AT + MMWAOA is args and is used for setting AOA parameters of the millimeter wave radar system based on AT instructions;
the args in the AT instruction is a self-defined parameter character string, and is determined by a UART application protocol in the digital signal processing board.
9. The AT instruction-based millimeter wave radar system control method according to any one of claims 5 to 8, wherein the AT instruction for causing the AT instruction-based millimeter wave radar system to start target detection in step S5 is AT + MMWSTART.
10. The method for controlling an AT-instruction-based millimeter wave radar system according to claim 9, wherein the AT instruction for causing the AT-instruction-based millimeter wave radar system to stop the target detection in step S6 is AT + MMWSTOP.
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