CN112526500B - Radar detection data processing method and related device - Google Patents
Radar detection data processing method and related device Download PDFInfo
- Publication number
- CN112526500B CN112526500B CN202011315390.3A CN202011315390A CN112526500B CN 112526500 B CN112526500 B CN 112526500B CN 202011315390 A CN202011315390 A CN 202011315390A CN 112526500 B CN112526500 B CN 112526500B
- Authority
- CN
- China
- Prior art keywords
- radar
- detection
- matrix
- azimuth information
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 131
- 238000003672 processing method Methods 0.000 title abstract description 11
- 239000011159 matrix material Substances 0.000 claims abstract description 83
- 238000000034 method Methods 0.000 claims abstract description 51
- 238000012545 processing Methods 0.000 claims abstract description 30
- 230000003068 static effect Effects 0.000 claims abstract description 26
- 238000004364 calculation method Methods 0.000 claims abstract description 15
- 238000004590 computer program Methods 0.000 claims description 16
- 238000005070 sampling Methods 0.000 claims description 9
- 238000012935 Averaging Methods 0.000 claims description 3
- 238000013500 data storage Methods 0.000 abstract description 5
- 238000005259 measurement Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 6
- 230000000737 periodic effect Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000002592 echocardiography Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- G01S13/06—Systems determining position data of a target
-
- 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
- G01S13/50—Systems of measurement based on relative movement of target
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The embodiment of the application provides a processing method and a related device of radar detection data, and relates to the field of radars. Applied to a radar, the radar being provided on a mobile carrier, the method comprising: detecting a static target object to obtain azimuth information of the static target object; acquiring a speed component of the mobile carrier in the radar detection direction; and Doppler compensation is carried out on the azimuth information according to the speed component, so that the compensated azimuth information is obtained. Because the speed component of the mobile carrier in the radar detection direction is directly used as the moving speed of the stationary object relative to the radar, and the direction information is Doppler-compensated according to the speed component, a distance Doppler matrix does not need to be calculated, and the moving speed of an object in the environment relative to the radar is determined according to the distance Doppler matrix. Therefore, the embodiment of the application can simplify the calculation, save time and data storage space and improve the data processing efficiency of the computing equipment.
Description
Technical Field
The invention relates to the field of radars, in particular to a radar detection data processing method and a related device.
Background
Radar is an electronic device that detects a target using electromagnetic waves. The radar irradiates a target by transmitting electromagnetic waves through a plurality of transmitting antennas and receives echoes thereof through a plurality of receiving antennas, thereby obtaining information such as the distance from the target to an electromagnetic wave transmitting point, the distance change rate (radial velocity), the azimuth, the reflection sectional area and the like. Currently, millimeter wave radar is usually installed on a plant protection unmanned aerial vehicle. The plant protection unmanned aerial vehicle can detect the distance between an object and the plant protection unmanned aerial vehicle in the environment through millimeter wave radar so as to better complete the operation task.
Since the radar generally adopts a time division multiplexing transmission mode, each transmission antenna is driven to individually transmit electromagnetic waves in different time slices, and thus a plurality of transmission antennas of the radar have a time difference between the transmitted electromagnetic waves. If the plant protection unmanned aerial vehicle provided with the radar is moving, doppler frequency offset exists at the moment. Thus, the radar needs to perform doppler compensation on the detected data during target detection.
At present, when Doppler compensation is performed on data detected by a radar, a calculation mode is complex, and efficiency is low.
Disclosure of Invention
The invention aims at providing a radar detection data processing method and a related device, which can efficiently perform Doppler compensation on azimuth information of a static target object to obtain compensated azimuth information.
Embodiments of the invention may be implemented as follows:
In a first aspect, an embodiment of the present invention provides a method for processing radar detection data, which is applied to a radar, where the radar is disposed on a mobile carrier, and the method includes: detecting a static target object to obtain azimuth information of the static target object; acquiring a speed component of the mobile carrier in the radar detection direction; and Doppler compensation is carried out on the azimuth information according to the speed component, so that compensated azimuth information is obtained.
In an alternative embodiment, the radar comprises at least one transmitting antenna and at least two receiving antennas; the step of detecting the stationary object to obtain azimuth information of the stationary object comprises the following steps: driving each transmitting antenna to transmit at least one signal according to a preset modulation wave; sampling signals received by the at least two receiving antennas to obtain a channel data matrix corresponding to each receiving antenna; and determining the azimuth information of the static target object according to the channel data matrix.
In an alternative embodiment, the step of determining the azimuth information of the stationary object according to the channel data matrix includes: performing distance fast Fourier transform on each channel data matrix to obtain a plurality of distance data matrices; accumulating the plurality of distance data matrixes and then averaging to obtain the target detection matrix, or taking a channel data matrix corresponding to a target receiving antenna as the target detection matrix; the target receiving antenna is the receiving antenna with the best performance among the at least two receiving antennas; and determining the azimuth information according to the target detection matrix.
In an alternative embodiment, the step of determining the azimuth information according to the target detection matrix includes: determining a distance of the stationary object relative to the radar according to the object detection matrix; determining the azimuth angle of the static target relative to the radar according to the target detection matrix and a preset azimuth angle calculation rule; and determining the azimuth information according to the distance and the azimuth angle.
In a second aspect, an embodiment of the present invention provides a processing device for radar detection data, which is applied to a radar, where the radar is disposed on a mobile carrier, and the device includes: the detection module is used for detecting the static target object and obtaining the azimuth information of the static target object; the detection module is also used for acquiring the velocity component of the mobile carrier in the radar detection direction; and the compensation module is used for carrying out Doppler compensation on the azimuth information according to the speed component to obtain compensated azimuth information.
In an alternative embodiment, the radar comprises at least one transmitting antenna and at least two receiving antennas; the detection module is used for driving each transmitting antenna to transmit at least one signal according to preset modulation waves; the detection module is further used for sampling signals received by the at least two receiving antennas to obtain a channel data matrix corresponding to each receiving antenna; the detection module is further used for determining the azimuth information of the static target object according to the channel data matrix.
In an optional embodiment, the detection module is configured to perform a distance fast fourier transform on each channel data matrix to obtain a plurality of distance data matrices; the detection module is further configured to accumulate the plurality of distance data matrices and then average the accumulated distance data matrices to obtain the target detection matrix, or use a channel data matrix corresponding to a target receiving antenna as the target detection matrix; the target receiving antenna is the receiving antenna with the best performance among the at least two receiving antennas; the detection module is further used for determining the azimuth information according to the target detection matrix.
In an alternative embodiment, the detection module is configured to determine a distance of the stationary object relative to the radar according to the object detection matrix; the detection module is further used for determining the azimuth angle of the stationary object relative to the radar according to the object detection matrix and a preset azimuth angle calculation rule; the detection module is further used for determining the azimuth information according to the distance and the azimuth.
In a third aspect, embodiments of the present invention provide a storage medium having stored thereon a computer program which, when executed by a processor, implements a method according to any of the preceding embodiments.
In a fourth aspect, an embodiment of the present invention provides a radar comprising a processor and a memory, the memory storing a computer program, the processor being configured to execute the computer program to implement a method according to any one of the preceding embodiments.
In a fifth aspect, an embodiment of the present invention provides a mobile working apparatus, including: a body; the power equipment is arranged on the machine body and used for providing power for the mobile operation equipment; the controller is arranged on the machine body and used for controlling the mobile operation equipment to move; and a radar installed at the body; the radar comprises a processor and a memory, the memory storing a computer program for executing the computer program to implement the method of any of the preceding embodiments.
Because the speed component of the mobile carrier in the radar detection direction is directly used as the moving speed of the stationary object relative to the radar, and the direction information is Doppler-compensated according to the speed component, a distance Doppler matrix does not need to be calculated, and the moving speed of an object in the environment relative to the radar is determined according to the distance Doppler matrix. Therefore, the embodiment of the application can simplify the calculation, save time and data storage space and improve the data processing efficiency of the computing equipment. That is, the present application can efficiently perform doppler compensation on the azimuth information of the stationary object, and obtain the azimuth information after compensation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an object in a detection environment of a conventional millimeter wave radar;
FIG. 2 is a diagram of time-sharing transmission;
FIG. 3 is a schematic diagram of a data structure of a receive channel;
FIG. 4 is a block diagram of a radar according to an embodiment of the present application;
FIG. 5 is a block diagram of a mobile carrier according to an embodiment of the present application;
FIG. 6 is a flowchart of a method for processing radar detection data according to an embodiment of the present application;
fig. 7 is an application scenario schematic diagram of a method for processing radar detection data according to an embodiment of the present application;
FIG. 8 is a flowchart of steps involved in S200 of the method of FIG. 6;
FIG. 9 is a flowchart of steps involved in S203 of the method of FIG. 8;
FIG. 10 is a flowchart of steps involved in S203C of the method of FIG. 9;
fig. 11 is a functional block diagram of a radar detection data processing apparatus according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
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 definition or explanation thereof is necessary in the following figures.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
In the implementation process of the embodiment of the present application, the inventors of the present application found that:
Take as an example a millimeter wave radar comprising 2 sets of transmit antennas (Tx 1, tx 2) and 4 sets of receive antennas (Rx 1, rx2, rx3, rx 4). Referring to fig. 1, when detecting an object in an environment, the conventional millimeter wave radar mainly includes the following steps:
Step 1, setting a modulation wave. The set modulated wave is a periodic saw tooth wave.
And 2, driving the radio frequency circuit to emit electromagnetic waves. As shown in the time-sharing transmission schematic diagram of fig. 2, each sawtooth wave can make the radio frequency circuit drive the transmitting antenna to transmit an electromagnetic wave once. Where a radar requires multiple measurement cycles for one detection of the target (e.g., a single detection typically requires 16 or 32 complete measurements). And the process of each measurement period comprises the following steps: the transmitting antenna Tx1 will first transmit electromagnetic waves, and then the 4 sets of receiving antennas receive the reflected electromagnetic waves; then the transmitting antenna Tx2 will again transmit electromagnetic waves, and then the receiving antennas of the 4 sets receive reflected electromagnetic waves.
And step 3, sampling each receiving channel to obtain channel data of each receiving channel. In the actual signal processing process, for millimeter wave radar, 2-shot 4-shot is required to be virtualized into 1-shot 8-shot. Furthermore, one measurement cycle results in signals (Rx 1, rx2, …, rx 8) for 8 receive channels. If 16 measurement cycles are required for one detection of the target object by the radar, 16 sets of 8 reception channels of reception signals are obtained.
If each receive channel uses ADC sampling, M data (e.g., 256) are acquired at a time. The data structure of each receive channel is shown in fig. 3 with the horizontal axis representing the number of data samples per sample (256) and the vertical axis representing the number of full measurement cycles performed per detection, e.g. 16. The data structure of a single receive channel is a matrix of 16X 256. Since there are 8 receive channels, the complete data structure for sampling each receive channel data is 8×16×256.
Wherein each receiving antenna can be regarded as a receiving channel, and the signal received by each receiving antenna can be regarded as channel data received by the receiving channel, i.e. each receiving antenna corresponds to a receiving channel.
And 4, performing distance fast Fourier transform on each channel data to obtain channel data in a distance dimension. The method comprises the following steps: and respectively performing fast Fourier transform on each line of data in each channel data to obtain channel data of a distance dimension corresponding to each channel data. At this time, the unit of the horizontal axis of the channel data of the distance dimension is frequency (since there is a constant relationship between distance and frequency, frequency can be regarded as distance).
And 5, carrying out Doppler fast Fourier transform on the channel data of each distance dimension to obtain a distance Doppler matrix. And respectively performing fast Fourier transform on each column of data in the channel data of each distance dimension to obtain a distance Doppler matrix corresponding to the channel data of each distance dimension. At this time, the horizontal axis of the range-doppler matrix represents the range, and the vertical axis represents the velocity. The value of each point in the matrix represents the signal strength of that point. Since there are a total of 8 receive channels, 8 range-doppler matrices can be obtained.
And 6, processing the range-Doppler matrix to obtain a target detection matrix.
And 7, detecting the distance between the object in the environment and the radar, the speed of the object in the environment and the target azimuth angle of the object in the environment relative to the radar according to the target detection matrix.
And 8, determining the target position of the object in the environment.
Based on the above description, it can be clearly known that in the prior art, when performing doppler compensation on information such as the target azimuth angle of an object detected by the radar, the information must be passed through step 5 to obtain a range-doppler matrix, and the moving speed of the object in the environment relative to the radar is determined according to the range-doppler matrix. And further performs Doppler compensation for information such as the target azimuth angle of the object based on the moving speed. The method is complex in calculation, long in time, low in efficiency and needs a large data storage space.
In order to improve the above-mentioned drawbacks in the prior art, an embodiment of the present application provides a method and a related device for processing radar detection data, which can efficiently perform doppler compensation on azimuth information of a stationary target object to obtain compensated azimuth information. It should be noted that, the above technical solutions in the prior art all have various drawbacks, which are the results obtained by the inventor after careful practical study, and therefore, the discovery process of the above problems and the solutions proposed by the embodiments of the present application below for the above problems should be all contributions of the inventor to the implementation of the present application.
Firstly, the embodiment of the application provides the radar which can efficiently carry out Doppler compensation on the azimuth information of the static target object and obtain the azimuth information after compensation. Please refer to fig. 4, which is a block diagram of a radar according to an embodiment of the present application. The radar 140 may include: memory 141, processor 142, the memory 141, processor 142 may be electrically connected, directly or indirectly, to a communication interface to enable transmission and interaction of data. For example, the components may be electrically connected to each other via buses and/or signal lines.
The memory 141 may store therein a computer program related to a processing method of radar detection data. Processor 142 may process information and/or data related to the processing of radar detection data to perform one or more functions described herein. For example, the processor 142 may execute the computer program, detect a stationary object, obtain azimuth information of the stationary object, and perform radar detection data processing based on the information or data. The radar 140 can efficiently perform doppler compensation on the azimuth information of the stationary target object, and obtain the compensated azimuth information.
The memory 141 described above may be, but is not limited to: solid state disk (Solid STATE DISK, SSD), mechanical hard disk (HARD DISK DRIVE, HDD), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), random access Memory (Random Access Memory, RAM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), and the like.
The processor 142 described above may be, but is not limited to: a central processor (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but are also not limited to: application SPECIFIC INTEGRATED Circuits (ASICs), digital signal processors (DIGITAL SIGNAL Processing, DSP), field-Programmable gate arrays (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Thus, the processor 142 may be an integrated circuit chip with signal processing capabilities.
It is to be understood that the configuration of radar 140 shown in fig. 4 is merely one illustrative configuration, and that radar 140 may also include more or fewer components or modules than the configuration shown in fig. 4, or have a different configuration or construction than the configuration shown in fig. 4. Also, the components shown in FIG. 4 may be implemented in hardware, software, or a combination of both. In addition, the radar 140 provided by the present application may be a millimeter wave radar, a synthetic aperture radar, etc., and it is understood that the present application is not limited to the specific type and structure of the radar 140.
Furthermore, the application also provides a mobile carrier, wherein the radar is arranged on the mobile carrier, so that the Doppler compensation can be effectively carried out on the azimuth information of the static target object, and the compensated azimuth information can be obtained. The mobile carrier provided by the application can be in different configurations or structures, for example, the mobile operation equipment provided by the application can be a plant protection unmanned plane, other types of unmanned planes, unmanned vehicles, unmanned ships, agricultural tractors and the like.
In order to better illustrate the present application, a configuration of a mobile carrier as a plant protection unmanned aerial vehicle is taken as an example, and the mobile carrier provided by the embodiment of the present application is described below. Referring to fig. 5, a block diagram of a mobile carrier 100 according to an embodiment of the application is shown, where the mobile carrier 100 may include a body 110, a controller 120, a power device 130, and the radar 140.
The power device 130 may be installed on the body 110 to provide power for moving the carrier 100. Because this removal carrier adopts plant protection unmanned aerial vehicle's structure, power equipment 130 can be plant protection unmanned aerial vehicle's drive module (including motor, rotor etc.), and organism 110 can be plant protection unmanned aerial vehicle's fuselage. The memory 141 of the radar 140 stores a computer program related to a processing method of radar detection data, and the processor 142 can execute the computer program to detect a stationary object, obtain azimuth information of the stationary object, and perform processing of the radar detection data based on the data. And further, the Doppler compensation can be effectively carried out on the azimuth information of the static target object, and the compensated azimuth information is obtained.
It should be noted that the structure shown in fig. 5 is only an illustration, and the mobile carrier 100 may further include more or fewer components than those shown in fig. 5, or have a different configuration from that shown in fig. 5.
In the following, for convenience of understanding, the following embodiments of the present application will take the radar 140 and the mobile carrier 100 shown in fig. 4 and fig. 5 as examples, and the processing method of the radar detection data provided in the embodiments of the present application will be described with reference to the accompanying drawings.
Referring to fig. 6, fig. 6 is a flowchart illustrating a method for processing radar detection data according to an embodiment of the present application. The method for processing radar detection data may be applied to the radar 140, where the radar 140 may be disposed on the mobile carrier 100, and the method for processing radar detection data may include the following steps:
S200, detecting the static target object to obtain the azimuth information of the static target object.
Radar 140 may detect a stationary object in the environment and obtain azimuth information for the stationary object. It can be understood that, in the process of detecting the stationary target object and obtaining the azimuth information of the stationary target object, the radar 140 does not need to detect the speed of the target object, so that step 5 in the prior art, that is, the range-doppler matrix is not required to be calculated in the detection process, and the moving speed of the object in the environment relative to the radar is determined according to the range-doppler matrix.
Wherein the azimuth information may be an azimuth of the stationary object with respect to radar 140.
S210, acquiring a velocity component of the mobile carrier in the radar detection direction.
Since the radar 140 is disposed on the mobile carrier 100, the moving speed of the mobile carrier 100 is the moving speed of the radar 140. Further, the velocity component of the radar 140 in the detection direction is the velocity component of the mobile carrier 100 in the radar detection direction.
The moving speed of the mobile carrier 100 may be accurately measured by a global positioning system (GPS, global Positioning System), a beidou positioning system, and the like. Since the radar 140 is provided on the mobile carrier 100, the coordinate systems of the two are in a fixed rotation-translation relationship, and thus, after the moving speed of the mobile carrier 100 is obtained, the "velocity component of the mobile carrier in the radar detection direction" described above can be obtained by means of coordinate-translation conversion or the like.
And S220, doppler compensation is carried out on the azimuth information according to the speed component, and the compensated azimuth information is obtained.
It should be noted that the objects in the environment of the mobile carrier 100 generally include two types: one is a stationary object and one is a moving object. For stationary objects, which are stationary with respect to the ground coordinate system, radar 140 is moving with respect to the ground coordinate system due to being mounted on mobile carrier 100. Further, referring to fig. 7, the moving speed of radar 140 with respect to the stationary object, that is, the moving speed of the stationary object with respect to radar 140. In other words, the velocity component of the radar 140 in the detection direction is the moving velocity of the stationary object relative to the radar 140.
Therefore, after the azimuth information of the stationary object and the velocity component of the mobile carrier in the radar detection direction are obtained, the radar 140 can directly perform doppler compensation on the azimuth information according to the velocity component, so as to obtain compensated azimuth information.
It should be understood that, since the velocity component of the mobile carrier in the radar detection direction is directly used as the moving velocity of the stationary object relative to the radar, and the direction information is doppler compensated according to the velocity component, it is not necessary to calculate a range-doppler matrix, and the moving velocity of the object in the environment relative to the radar is determined according to the range-doppler matrix. Therefore, the embodiment of the application can simplify the calculation, save time and data storage space and improve the data processing efficiency of the computing equipment. That is, the present application can efficiently perform doppler compensation on the azimuth information of the stationary object, and obtain the azimuth information after compensation.
In some possible embodiments, radar 140 may include at least one transmit antenna and at least two receive antennas. In this regard, as to how to "detect the stationary object and obtain the azimuth information of the stationary object", on the basis of fig. 6, a feasible implementation is provided, and referring to fig. 8, S200 may include:
S201, driving each transmitting antenna to transmit at least one signal according to a preset modulation wave.
In the embodiment of the present application, the preset modulation wave may be a periodic saw tooth wave. Further, the radar 140 may drive each transmitting antenna to emit sequential electromagnetic waves according to periodic saw-tooth waves.
In an alternative embodiment, the radar 140 may drive each transmitting antenna to transmit two or more signals according to a preset modulation wave. For example, assuming radar 140 has two sets of transmit antennas (Tx 1, tx 2), radar 140 detects a target object once over two or more measurement cycles. Wherein each measurement cycle may include: the transmitting antenna Tx1 will first transmit electromagnetic waves, and then the 4 sets of receiving antennas receive the reflected electromagnetic waves; then the transmitting antenna Tx2 will again transmit electromagnetic waves, and then the receiving antennas of the 4 sets receive reflected electromagnetic waves.
In another alternative embodiment, the radar 140 may drive each transmitting antenna to transmit a signal once according to a preset modulation wave. For example, assuming that the radar 140 has two sets of transmitting antennas (Tx 1, tx 2), the radar 140 may drive the Tx1 to transmit electromagnetic waves according to a first saw-tooth wave and receive the reflected electromagnetic waves through at least two receiving antennas; the radar 140 then drives the Tx2 to transmit electromagnetic waves according to the second saw tooth wave, and receives the reflected electromagnetic waves through at least two receiving antennas. After the radar 140 has transmitted the electromagnetic wave according to the second saw tooth wave driving Tx2, the detection of the radar 140 ends.
It should be noted here that in the prior art, a single detection of the target by the radar requires multiple measurement cycles (e.g., a single detection typically requires 16 or 32 complete measurements). And the process of each measurement period comprises the following steps: the transmitting antenna Tx1 will first transmit electromagnetic waves, and then the 4 sets of receiving antennas receive the reflected electromagnetic waves; then the transmitting antenna Tx2 will again transmit electromagnetic waves, and then the receiving antennas of the 4 sets receive reflected electromagnetic waves.
In the present application, the radar 140 transmits a signal by driving each transmitting antenna according to a preset modulation wave, and only one measurement period is required for one detection of the target object, wherein the duration of the modulation wave is in a fast time dimension. This can reduce the amount of computation and improve the detection efficiency of the radar 140 for the target object.
S202, sampling signals received by at least two receiving antennas to obtain a channel data matrix corresponding to each receiving antenna.
It will be appreciated that the process of radar 140 sampling the signals received by at least two receiving antennas may coincide with the process of driving each transmitting antenna to transmit at least one signal according to a preset modulation wave.
S203, determining the azimuth information of the static target object according to the channel data matrix.
It should be understood that, since the radar 140 does not need multiple measurement periods when detecting the target, only one measurement period is needed to obtain the channel data matrix corresponding to each receiving antenna, and the azimuth information of the stationary target is determined according to the channel data matrix. Therefore, the processing method of the radar detection data provided by the embodiment of the application can further calculate complexity, save calculation time and space and improve the working efficiency of the radar.
In addition, since multiple measurement periods are not required for performing one detection, the channel data matrix corresponding to each receiving antenna can be obtained only by one measurement period, and the time of one sawtooth wave is very short (generally in microseconds). In addition, the moving speed of the moving carrier 100 is relatively slow (generally within 12 m/s), so the doppler shift has less influence on the calculation result. When the calculation accuracy requirement is not high, the above S220 may be omitted, and the azimuth information of the stationary object obtained in S200 may be directly obtained.
Further, on the basis of the method shown in fig. 8, for determining the azimuth information of the stationary object according to the channel data matrix, the embodiment of the present application further provides a feasible implementation, referring to fig. 9, S203 may include:
S203A, performing distance fast Fourier transform on each channel data matrix to obtain a plurality of distance data matrices.
This step can be referred to as step 4, and will not be described here.
S203B, accumulating and averaging the plurality of distance data matrixes to obtain a target detection matrix, or taking a channel data matrix corresponding to a target receiving antenna as the target detection matrix; the target receiving antenna is the receiving antenna with the best performance among at least two receiving antennas.
The method for determining that the target receiving antenna is the receiving antenna with the best performance in at least two receiving antennas may be: in a first environment, obtaining the background noise of each receiving antenna of the radar; in a first environment, controlling a radar to detect radar calibration equipment to obtain a maximum energy receiving value of each receiving antenna; determining the signal-to-noise ratio of each receiving antenna according to the background noise and the maximum energy receiving value; and according to the signal-to-noise ratio of the receiving antennas, taking the receiving antenna with the largest signal-to-noise ratio of at least two receiving antennas as a target receiving antenna.
It should be added that the first environment may be a darkroom environment commonly used in the radar field. The maximum energy receiving value may be the maximum value in the range-doppler matrix acquired by the receiving channel corresponding to the receiving antenna.
And S203C, determining azimuth information according to the target detection matrix.
The azimuth information may include the distance between the radar and the stationary object, and the azimuth angle of the stationary object relative to the radar.
It should be appreciated that, since the radar 140 may directly use the channel data matrix corresponding to the target receiving antenna as the target detection matrix, the target receiving antenna is the best-performing receiving antenna among the at least two receiving antennas. Therefore, the processing method of the radar detection data provided by the embodiment of the application can improve the measurement accuracy and the data processing efficiency of the radar 140.
For how to "determine azimuth information according to the target detection matrix", please refer to fig. 10, S203C may include:
S203C-1, determining the distance between the stationary object and the radar according to the object detection matrix.
Since the object detection matrix in this step can be regarded as actually obtained by performing the distance fast fourier transform on the channel data matrix in S203A. The unit of the horizontal axis of the resulting data matrix is frequency (frequency can be regarded as distance because of a constant relationship between distance and frequency) due to the distance fast fourier transform performed on each channel data. And then the distance between the stationary object and the radar can be determined according to the object detection matrix.
The specific determination method may be CFAR (Constant False-ALARM RATE) or set a fixed threshold, and compare the value of each data point in the target detection matrix with the threshold, where a point greater than the threshold is the target, and the coordinates of the point (the horizontal axis of the matrix) are the distances between the radar and the target.
S203C-2, determining the azimuth angle of the stationary object relative to the radar according to the object detection matrix and a preset azimuth angle calculation rule.
There are various azimuth angles of the target with respect to the radar, for example FFT, DBF, MUSIC, etc., and they are not described in detail herein.
Because the target detection matrix in this step can be actually obtained by performing a distance fast fourier transform on the channel data matrix in S203A, the method actually adopted in the method embodiment of the present application when the azimuth angle of the stationary target relative to the radar is obtained is: and performing distance fast Fourier transform on the channel data to obtain channel data in a distance dimension, and then directly performing angle fast Fourier transform on the channel data in the distance dimension.
It should be noted that, when comparing the existing radar detection method shown in fig. 1 with the method provided by the embodiment of the present application, it can be clearly known that the existing radar detection method must go through step 5 when obtaining the azimuth angle of the stationary object relative to the radar, and perform doppler fast fourier transform on the channel data of each distance dimension to obtain a distance doppler matrix, so as to obtain the azimuth angle of the stationary object relative to the radar. In the embodiment of the method, when the azimuth angle of the stationary object relative to the radar is obtained, the distance fast Fourier transform is actually carried out on each channel data to obtain the channel data in the distance dimension, and then the angle fast Fourier transform is directly carried out on the channel data in the distance dimension (which is equivalent to omitting the step 5, and the azimuth angle of the stationary object relative to the radar is directly obtained on the basis of the step 4).
S203C-3, determining azimuth information according to the distance and the azimuth angle.
In order to execute the corresponding steps in the foregoing embodiments and the various possible manners, an implementation manner of a radar detection data processing apparatus is given below, and referring to fig. 11, fig. 11 is a functional block diagram of a radar detection data processing apparatus according to an embodiment of the present application. It should be noted that, the basic principle and the technical effects of the processing device 300 for radar detection data provided in this embodiment are the same as those of the foregoing embodiments, and for brevity, reference may be made to the corresponding contents of the foregoing embodiments. The radar detection data processing apparatus 300 may include: a detection module 310, a compensation module 320.
Alternatively, the above modules may be stored in a memory in the form of software or Firmware (Firmware) or solidified in the radar 140 provided by the present application and executed by a processor in the radar 140. Meanwhile, data, codes of programs, and the like required to execute the above-described modules may be stored in the memory.
The detection module 310 may be configured to detect a stationary object and obtain azimuth information of the stationary object.
It is to be appreciated that detection module 310 may be utilized to support radar 140 to perform S200, etc. described above, and/or other processes for the techniques described herein, e.g., S201-S203, S203A-S203C, S203C-1, S203C-3.
The detection module 310 may also be configured to obtain a velocity component of the mobile carrier in the radar detection direction.
It is to be appreciated that detection module 310 may be utilized to support radar 140 to perform S210, etc. described above, and/or other processes for the techniques described herein.
The compensation module 320 may be configured to perform doppler compensation on the azimuth information according to the velocity component, to obtain compensated azimuth information.
It is to be appreciated that detection module 310 may be utilized to support radar 140 to perform S220, etc. described above, and/or other processes for the techniques described herein.
Based on the above method embodiments, the present application further provides a storage medium, on which a computer program is stored, which when executed by a processor performs the steps of the above method for processing radar detection data.
The storage medium can be a general storage medium, such as a mobile magnetic disk, a hard disk and the like, and when the computer program on the storage medium is run, the processing method of the radar detection data can be executed, so that the problems of complex calculation mode and low efficiency when the Doppler compensation is carried out on the data detected by the radar at present are solved, and the purposes of efficiently carrying out Doppler compensation on the azimuth information of a static target object and obtaining the azimuth information after the compensation are realized.
In summary, an embodiment of the present application provides a method for processing radar detection data and a related device, where the method is applied to a radar, and the radar is disposed on a mobile carrier, and the method includes: detecting a static target object to obtain azimuth information of the static target object; acquiring a speed component of the mobile carrier in the radar detection direction; and Doppler compensation is carried out on the azimuth information according to the speed component, so that the compensated azimuth information is obtained. Because the speed component of the mobile carrier in the radar detection direction is directly used as the moving speed of the stationary object relative to the radar, and the direction information is Doppler-compensated according to the speed component, a distance Doppler matrix does not need to be calculated, and the moving speed of an object in the environment relative to the radar is determined according to the distance Doppler matrix. Therefore, the embodiment of the application can simplify the calculation, save time and data storage space and improve the data processing efficiency of the computing equipment. That is, the present application can efficiently perform doppler compensation on the azimuth information of the stationary object, and obtain the azimuth information after compensation.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A method of processing radar detection data, characterized by being applied to a radar provided on a mobile carrier, the method comprising:
Detecting a static target object to obtain azimuth information of the static target object, wherein the azimuth information is an azimuth angle of the static target object relative to the radar;
acquiring a speed component of the mobile carrier in the radar detection direction, wherein the speed component of the mobile carrier in the radar detection direction is the speed component of the radar in the detection direction, and the speed component of the radar in the detection direction is the moving speed of the stationary object relative to the radar;
doppler compensation is carried out on the azimuth information according to the speed component, and compensated azimuth information is obtained;
the radar comprises at least one transmitting antenna and at least two receiving antennas; the step of detecting the stationary object to obtain azimuth information of the stationary object comprises the following steps:
Driving each transmitting antenna to transmit at least one signal according to a preset modulation wave;
Sampling signals received by the at least two receiving antennas to obtain a channel data matrix corresponding to each receiving antenna;
Performing distance fast Fourier transform on each channel data matrix to obtain a plurality of distance data matrices;
accumulating the distance data matrixes and then averaging to obtain a target detection matrix, or taking a channel data matrix corresponding to a target receiving antenna as the target detection matrix; the target receiving antenna is a receiving antenna with the maximum signal-to-noise ratio in the at least two receiving antennas;
And determining the azimuth information according to the target detection matrix.
2. The method of claim 1, wherein the step of determining the orientation information from the object detection matrix comprises:
determining a distance of the stationary object relative to the radar according to the object detection matrix;
Determining the azimuth angle of the static target relative to the radar according to the target detection matrix and a preset azimuth angle calculation rule;
and determining the azimuth information according to the distance and the azimuth angle.
3. A processing device for radar detection data, characterized by being applied to a radar provided on a mobile carrier, the device comprising:
The detection module is used for detecting a static target object to obtain azimuth information of the static target object, wherein the azimuth information is an azimuth angle of the static target object relative to the radar;
the detection module is further configured to obtain a speed component of the mobile carrier in the radar detection direction, where the speed component of the mobile carrier in the radar detection direction is a speed component of the radar in the detection direction, and the speed component of the radar in the detection direction is a moving speed of the stationary object relative to the radar;
the compensation module is used for carrying out Doppler compensation on the azimuth information according to the speed component to obtain compensated azimuth information;
The radar comprises at least one transmitting antenna and at least two receiving antennas; the detection module is used for driving each transmitting antenna to transmit at least one signal according to preset modulation waves;
the detection module is further used for sampling signals received by the at least two receiving antennas to obtain a channel data matrix corresponding to each receiving antenna;
the detection module is further used for performing distance fast Fourier transform on each channel data matrix to obtain a plurality of distance data matrices;
The detection module is further configured to accumulate the plurality of distance data matrices and then average the accumulated distance data matrices to obtain a target detection matrix, or take a channel data matrix corresponding to a target receiving antenna as the target detection matrix; the target receiving antenna is a receiving antenna with the maximum signal-to-noise ratio in the at least two receiving antennas;
The detection module is further used for determining the azimuth information according to the target detection matrix.
4. The apparatus of claim 3, wherein the detection module is configured to determine a distance of the stationary object relative to the radar based on the object detection matrix;
The detection module is further used for determining the azimuth angle of the stationary object relative to the radar according to the object detection matrix and a preset azimuth angle calculation rule;
The detection module is further used for determining the azimuth information according to the distance and the azimuth.
5. A storage medium having stored thereon a computer program, which when executed by a processor implements the method of claim 1 or 2.
6. A radar comprising a processor and a memory, the memory storing a computer program, the processor being configured to execute the computer program to implement the method of claim 1 or 2.
7. A mobile work device, comprising:
A body;
The power equipment is arranged on the machine body and used for providing power for the mobile operation equipment;
The controller is arranged on the machine body and used for controlling the mobile operation equipment to move;
And a radar installed at the body; the radar comprises a processor and a memory, the memory storing a computer program, the processor being adapted to execute the computer program to implement the method of claim 1 or 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011315390.3A CN112526500B (en) | 2020-11-20 | 2020-11-20 | Radar detection data processing method and related device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011315390.3A CN112526500B (en) | 2020-11-20 | 2020-11-20 | Radar detection data processing method and related device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112526500A CN112526500A (en) | 2021-03-19 |
| CN112526500B true CN112526500B (en) | 2024-06-07 |
Family
ID=74982141
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011315390.3A Active CN112526500B (en) | 2020-11-20 | 2020-11-20 | Radar detection data processing method and related device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112526500B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009192427A (en) * | 2008-02-15 | 2009-08-27 | Toyota Motor Corp | Radar system |
| CN106199574A (en) * | 2015-06-01 | 2016-12-07 | 松下知识产权经营株式会社 | Radar installations |
| CN107490793A (en) * | 2016-06-13 | 2017-12-19 | 松下知识产权经营株式会社 | Radar installations and detection method |
| CN108205138A (en) * | 2016-12-20 | 2018-06-26 | 松下知识产权经营株式会社 | Article detection device, object detection program and recording medium |
| CN109407071A (en) * | 2018-12-13 | 2019-03-01 | 广州极飞科技有限公司 | Radar range finding method, radar range unit, unmanned plane and storage medium |
| CN110703239A (en) * | 2019-09-23 | 2020-01-17 | 上海广电通信技术有限公司 | Coherent marine radar target enhancement technology based on Doppler processing |
| CN111433629A (en) * | 2017-12-15 | 2020-07-17 | 三菱电机株式会社 | Radar signal processing device, radar device, and radar signal processing method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6432221B2 (en) * | 2014-01-15 | 2018-12-05 | パナソニック株式会社 | Radar equipment |
-
2020
- 2020-11-20 CN CN202011315390.3A patent/CN112526500B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009192427A (en) * | 2008-02-15 | 2009-08-27 | Toyota Motor Corp | Radar system |
| CN106199574A (en) * | 2015-06-01 | 2016-12-07 | 松下知识产权经营株式会社 | Radar installations |
| CN107490793A (en) * | 2016-06-13 | 2017-12-19 | 松下知识产权经营株式会社 | Radar installations and detection method |
| CN108205138A (en) * | 2016-12-20 | 2018-06-26 | 松下知识产权经营株式会社 | Article detection device, object detection program and recording medium |
| CN111433629A (en) * | 2017-12-15 | 2020-07-17 | 三菱电机株式会社 | Radar signal processing device, radar device, and radar signal processing method |
| CN109407071A (en) * | 2018-12-13 | 2019-03-01 | 广州极飞科技有限公司 | Radar range finding method, radar range unit, unmanned plane and storage medium |
| CN110703239A (en) * | 2019-09-23 | 2020-01-17 | 上海广电通信技术有限公司 | Coherent marine radar target enhancement technology based on Doppler processing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112526500A (en) | 2021-03-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111373282B (en) | Radar processing chain for FMCW radar system | |
| KR102167097B1 (en) | Radar Apparatus and Antenna Apparatus therefor | |
| US11105894B2 (en) | Weak target detection method, microwave radar sensor, and unmanned aerial vehicle | |
| CN107688178A (en) | A kind of sawtooth waveforms ranging and range rate method based on 77GHz millimetre-wave radars | |
| US20240219516A1 (en) | Target detection method and apparatus, radar, and vehicle | |
| CN111103580A (en) | Radar signal processing method and device | |
| US20220221569A1 (en) | Signal sending method, signal processing method, and radar apparatus | |
| JP6637540B2 (en) | Electronic device, control method for electronic device, and control program for electronic device | |
| CN112740071A (en) | Radar system for vehicle | |
| US20210323560A1 (en) | Vehicle speed calculation method, system, device, and storage medium | |
| CN112526500B (en) | Radar detection data processing method and related device | |
| CN112578341A (en) | Signal sending method, signal processing method and device | |
| EP4202473A1 (en) | Radar sensor processing chain | |
| CN112689773A (en) | Radar signal processing method and radar signal processing device | |
| Vargas et al. | SDR-based speed measurement with continuous-wave Doppler radar | |
| CN116500620A (en) | Data processing method and device of millimeter wave radar, storage medium and unmanned vehicle | |
| US11681039B2 (en) | Failure determination apparatus and method of vehicle radar apparatus, and vehicle radar apparatus with the same | |
| CN116047442A (en) | Method and device for detecting target angle and electronic equipment | |
| CN116263497A (en) | Target object distance determining method and device, radar level gauge and intelligent container | |
| JP6640269B2 (en) | Electronic device, control method for electronic device, and control program for electronic device | |
| EP3855213A1 (en) | Electronic device, electronic device control method, and electronic device control program | |
| CN112526503B (en) | Method for detecting object distance and related device | |
| CN112505670A (en) | Radar detection method and related device | |
| US20240280692A1 (en) | Fine-near-range estimation method for automotive radar applications | |
| US20240019565A1 (en) | Motion compensation for fast target detection in automotive radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant after: XAG Co., Ltd. Address before: 510000 Block C, 115 Gaopu Road, Tianhe District, Guangzhou City, Guangdong Province Applicant before: Guangzhou Xaircraft Technology Co.,Ltd. |
|
| GR01 | Patent grant |