CN112558059A - Radar angle measurement method and radar - Google Patents

Radar angle measurement method and radar Download PDF

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Publication number
CN112558059A
CN112558059A CN202011357793.4A CN202011357793A CN112558059A CN 112558059 A CN112558059 A CN 112558059A CN 202011357793 A CN202011357793 A CN 202011357793A CN 112558059 A CN112558059 A CN 112558059A
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radar
target
frequency spectrum
region
value
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江应怀
秦屹
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Whst Co Ltd
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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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers

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  • 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 invention is suitable for the technical field of radars, and provides a radar angle measurement method and a radar, wherein the radar angle measurement method comprises the following steps: acquiring target phase data corresponding to each receiving channel of the radar, and obtaining a target frequency spectrum according to the target phase data corresponding to each receiving channel of the radar; determining a region of interest in a target spectrum; refining the frequency spectrum of the target frequency spectrum in the interesting region by adopting CZT conversion to obtain a final point value corresponding to a peak value in the target frequency spectrum; and determining the angle of the target according to the final point value. The method refines the interested region of the frequency spectrum, so that the resolution of the frequency spectrum is higher, and the calculation precision of the target angle is effectively improved. Meanwhile, the method is not influenced by the number of sampling points, and the sampling time and the calculation amount of the system are reduced.

Description

Radar angle measurement method and radar
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a radar angle measurement method and a radar.
Background
With the development of science and technology and the progress of society, radar has become an essential product in people's life. The radar is used for detecting a target and outputting information of multiple dimensions such as distance, speed and angle of the target, wherein the angle information is an important parameter index.
In the prior art, the array radar usually measures angles by using FFT (Fast Fourier transform) according to the phase relation between the receiving channels. The precision of the method is influenced by the number of sampling points, and the more the number of sampling points is, the higher the precision is. However, with the increase of the number of sampling points, the operation amount and the operation time of the system are inevitably greatly increased, and the operation of the system is influenced, so that the radar angle measurement precision is limited.
Disclosure of Invention
In view of this, embodiments of the present invention provide a radar angle measurement method and a radar, so as to solve the problem in the prior art that the accuracy is affected by the number of sampling points when an FFT is used for angle measurement, so that the accuracy of angle measurement is limited.
A first aspect of an embodiment of the present invention provides a radar angle measurement method, including:
acquiring target phase data corresponding to each receiving channel of the radar, and obtaining a target frequency spectrum according to the target phase data corresponding to each receiving channel of the radar;
determining a region of interest in a target spectrum;
refining the frequency spectrum of the target frequency spectrum in the interesting region by adopting CZT conversion to obtain a final point value corresponding to a peak value in the target frequency spectrum;
and determining the angle of the target according to the final point value.
A second aspect of an embodiment of the present invention provides a radar angle measuring apparatus, including:
the frequency domain conversion module is used for acquiring target phase data corresponding to each receiving channel of the radar and obtaining a target frequency spectrum according to the target phase data corresponding to each receiving channel of the radar;
the interesting region determining module is used for determining the interesting region in the target frequency spectrum;
the refining module is used for refining the frequency spectrum of the target frequency spectrum in the interesting region by adopting CZT conversion to obtain a final point numerical value corresponding to a peak value in the target frequency spectrum;
and the angle determining module is used for determining the angle of the target according to the final point value.
A third aspect of an embodiment of the present invention provides a radar including: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the steps of the radar goniometry method as provided by the first aspect of embodiments of the present invention.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the radar angle measuring method provided in the first aspect of the embodiments of the present invention.
The embodiment of the invention provides a radar angle measurement method, which comprises the following steps: acquiring target phase data corresponding to each receiving channel of the radar, and obtaining a target frequency spectrum, namely an angle dimensional frequency spectrum, according to the target phase data corresponding to each receiving channel of the radar; and then determining an interested region in the target frequency spectrum, and refining the frequency spectrum of the target frequency spectrum positioned in the interested region by adopting CZT conversion, so that the resolution ratio of the frequency spectrum is higher, the peak information can be obtained more accurately, and the angle of the target is calculated according to the peak information. In the embodiment of the invention, the resolution of the frequency spectrum is improved by thinning the region of interest, the calculation precision of the target angle is effectively improved, the same effect as increasing the number of sampling points can be achieved, the influence of the number of the sampling points is avoided, and the sampling time and the calculation amount of a system are reduced.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart of an implementation of a radar angle measurement method provided by an embodiment of the present invention;
FIG. 2 is a graph comparing an angle of a target measured using a prior art FFT goniometry method with an actual angle of the target;
fig. 3 is a partially enlarged view of a portion a in fig. 2;
FIG. 4 is a diagram comparing an angle of a target measured by a radar angle measuring method provided by an embodiment of the invention with an actual angle of the target;
fig. 5 is a partially enlarged view of a portion B in fig. 4;
FIG. 6 is a graph comparing an angle of a target measured by a prior art FFT angle measurement method with an angle of the target measured by a radar angle measurement method according to an embodiment of the present invention and an actual angle of the target;
fig. 7 is a partially enlarged view of portion C of fig. 6;
FIG. 8 is a comparison graph of angle measurement errors between the FFT angle measurement method of the prior art and the radar angle measurement method provided by the embodiment of the present invention;
fig. 9 is a schematic view of a radar angle measuring apparatus provided by an embodiment of the present invention;
fig. 10 is a schematic diagram of a radar provided by an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Referring to fig. 1, an embodiment of the present invention provides a radar angle measurement method, including:
step S101: acquiring target phase data corresponding to each receiving channel of the radar, and obtaining a target frequency spectrum according to the target phase data corresponding to each receiving channel of the radar;
step S102: determining a region of interest in a target spectrum;
step S103: refining the frequency spectrum of the target frequency spectrum in the interesting region by adopting CZT conversion to obtain a final point value corresponding to a peak value in the target frequency spectrum;
step S104: and determining the angle of the target according to the final point value.
Because the sampling time and the number of sampling points cannot be infinitely prolonged, the frequency spectrum of the frequency spectrum has a 'barrier effect' due to the limitation of the sampling time and the number of the sampling points, and some frequency components are blocked or lost, which may include frequency components really needing to be concerned. Resulting in a certain deviation of the target angle measured by the radar. In order to improve the angle measurement precision of the radar, the number of sampling points needs to be increased continuously, so that the resolution of a frequency spectrum is improved, and the angle measurement precision of the radar is severely limited by the sampling time and the number of points.
The embodiment of the invention does not limit the number of sampling points, and obtains a target frequency spectrum, namely an angle dimensional frequency spectrum according to target phase data corresponding to each receiving channel of the radar; and then determining the interested region in the target frequency spectrum (namely, the region with larger contribution to angle information), and refining the frequency spectrum of the target frequency spectrum positioned in the interested region by adopting CZT (Chirp-Z transform) conversion, so that the resolution of the frequency spectrum is higher, the peak value information can be obtained more accurately, and the angle of the target is calculated according to the peak value information. In the embodiment of the invention, the resolution of the frequency spectrum is improved by thinning the region of interest, the calculation precision of the target angle is effectively improved, the same effect as increasing the number of sampling points can be achieved, the influence of the number of the sampling points is avoided, and the sampling time and the calculation amount of a system are reduced.
In some embodiments, step S101 may include:
step S1011: determining a phase complex sequence according to target phase data corresponding to each receiving channel of the radar;
step S1012: carrying out Fourier transform on the phase complex sequence to obtain a target frequency spectrum;
the calculation formula of the phase complex number sequence sig is as follows:
sig＝[exp(j*φ0),…exp(j*φi),…exp(j*φ(N-1)]
where, Φ i is target phase data corresponding to the i +1 th receiving channel, i is 0, …, N-1, and N is the number of receiving channels.
In some embodiments, step S102 may include:
step S1021: determining an initial point value corresponding to a peak value in a target frequency spectrum;
step S1022: determining the region of interest according to the initial point value;
region of interest [ f ]0,f1]The calculation formula of (2) is as follows:
f0＝fmax-Δf
f1＝fmax+Δf
wherein f ismaxIs an initial point value, fmax∈[0,1,…,FFTNum-1]FFTNum is the number of Fourier transform points; Δ f is a preset threshold; f. of0Is the lower limit value, f, of the region of interest1Is the upper limit value of the region of interest.
For example, in FFTNum points, starting from point 0, the fourier transform result amplitude corresponding to point 95 (i.e., point 96) is the largest, and f ismax95. If Δ f is an integer, for example, Δ f is 20, then 75 to 115 points in the number of fourier transform points are between the regions of interest.
In some embodiments, the fourier transform results may also be counted from 1 point. If starting from point 1, fmax＝96。
Because the effective information contained in the vicinity of the peak point is the most, a certain area in the vicinity of the peak point is selected as an interested area for refining, data which contains less effective information and is far away from the peak point is abandoned, and the calculation efficiency is improved. Wherein, Δ f can be set according to actual conditions.
In some embodiments, step S103 may include:
step S1031: refining the frequency spectrum of the target frequency spectrum in the interested region by adopting CZT conversion to obtain a CZT conversion result;
step S1032: and determining a middle point numerical value corresponding to the peak value in the CZT conversion result, and determining a final point numerical value according to the middle point numerical value.
In some embodiments, the CZT transform is calculated by:
Figure BDA0002803086600000051
a＝2π*f0/fs
w＝2π*(f1-f0)/(M*fs)
fs＝FFTNum
wherein, X (r) is the value of the CZT conversion result at the r point; r is 0,1, … M-1, M is the number of points of CZT conversion; a is the initial phase, f0Is the lower limit value, f, of the region of interest1Is the upper limit value, f, of the region of interestsIs the sampling point number, w is the phase jump interval, and FFTNum is the point number of Fourier transform.
Similarly, the CZT conversion result is M discrete points, and from 0 point, the point corresponding to the maximum amplitude point in the M CZT conversion results has a numerical value idx 0. For example, starting at point 0, the amplitude is greatest at point 124 (i.e., point 125), and idx0 equals 124.
In some embodiments, CZT transform results may also be counted from 1. Then the corresponding idx0 is 125.
In some embodiments, the final numerical value idx is calculated by the formula:
idx＝f0+idx0*(f1-f0)/M
where idx0 is the midpoint value, f0Is the lower limit value, f, of the region of interest1The upper limit value of the interested region is M is the number of points of CZT conversion.
In some embodiments, the angle θ of the target is calculated by:
Figure BDA0002803086600000061
and the idx is the final numerical value, and the FFTNum is the number of points of Fourier transform.
Referring to fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, and fig. 7, it can be seen that the angle of the target measured by the angle measurement method provided by the embodiment of the present invention is closer to the actual angle and higher in accuracy than the angle of the target measured by the FFT angle measurement method in the prior art. Referring to fig. 8, the angle error level of the angle measurement method provided by the embodiment of the present invention is improved by 20 times compared with the FFT method in the prior art, and the angle measurement accuracy is greatly improved.
Furthermore, the angle measurement method provided by the embodiment of the invention is adopted to measure the angle of the target, and the number of sampling points is set to be 256. If the same angle measurement precision is achieved, the sampling point number needs to be set to 16384 by adopting the existing FFT method, which is difficult to realize in practical application.
Firstly, the FFT operation with a large number of points needs splicing treatment, the complexity is higher, and the time consumption is too long; secondly, the memory space required by a single FFT is huge, the requirements on the access speed of the processor and the external storage capacity are too high, and the hardware platform meeting the requirements is high in cost and inconvenient to commercialize.
In the embodiment of the invention, the angle measurement precision can be effectively improved by using a small point number of FFT and combining a CZT frequency spectrum refining method, but the increased CZT processing amount is similar to that of small-scale FFT operation, so that the requirements on the processing capacity of a radar processor and the system storage space are not high on the whole, and the realization and the commercialization in engineering are facilitated.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Corresponding to the above radar angle measurement method, referring to fig. 9, an embodiment of the present invention further provides a radar angle measurement apparatus, including:
the frequency domain conversion module 21 is configured to obtain target phase data corresponding to each receiving channel of the radar, and obtain a target frequency spectrum according to the target phase data corresponding to each receiving channel of the radar;
an interesting region determining module 22 for determining an interesting region in the target spectrum;
the refining module 23 is configured to refine the frequency spectrum of the target frequency spectrum located in the interested region by using CZT conversion, so as to obtain a final point value corresponding to a peak value in the target frequency spectrum;
and an angle determining module 24, configured to determine an angle of the target according to the final point value.
In some embodiments, the frequency domain converting module 21 may include:
a phase complex sequence determining unit 211, configured to determine a phase complex sequence according to target phase data corresponding to each receiving channel of the radar;
a target spectrum determining unit 212, configured to perform fourier transform on the phase complex sequence to obtain a target spectrum;
the calculation formula of the phase complex number sequence sig is as follows:
sig＝[exp(j*φ0),…exp(j*φi),…exp(j*φ(N-1)]
where, Φ i is target phase data corresponding to the i +1 th receiving channel, i is 0, …, N-1, and N is the number of receiving channels.
In some embodiments, the region of interest determination module 22 may include:
an initial point value determining unit 221, configured to determine an initial point value corresponding to a peak value in the target spectrum;
an interest region determining unit 222 for determining a region of interest based on the initial point value;
region of interest [ f ]0,f1]The calculation formula of (2) is as follows:
f0＝fmax-Δf
f1＝fmax+Δf
wherein f ismaxIs an initial point value, fmaxThe method is characterized by comprising the following steps of (1, 0, …, FFTNum-1), wherein FFTNum is the number of points of Fourier transform; Δ f is a preset threshold; f. of0Is the lower limit value, f, of the region of interest1Is the upper limit value of the region of interest.
In some embodiments, the refinement module 23 may include:
the CZT conversion unit 231 is used for refining the frequency spectrum of the target frequency spectrum located in the interested region by adopting CZT conversion to obtain a CZT conversion result;
and a final point value determining unit 232, configured to determine a middle point value corresponding to the peak in the CZT conversion result, and determine a final point value according to the middle point value.
In some embodiments, the CZT transform is calculated by:
Figure BDA0002803086600000081
a＝2π*f0/fs
w＝2π*(f1-f0)/(M*fs)
fs＝FFTNum
wherein, X (r) is the value of the CZT conversion result at the r point; r is 0,1, … M-1, M is the number of points of CZT conversion; a is the initial phase, f0Is the lower limit value, f, of the region of interest1Is the upper limit value, f, of the region of interestsIs the sampling point number, w is the phase jump interval, and FFTNum is the point number of Fourier transform.
In some embodiments, the final numerical value idx is calculated by the formula:
idx＝f0+idx0*(f1-f0)/M
wherein idx0 is the midpoint value; f. of0Is the lower limit value of the region of interest, f1And M is the number of points of CZT conversion, which is the upper limit value of the interested region.
In some embodiments, the angle θ of the target is calculated by:
Figure BDA0002803086600000091
and the idx is the final numerical value, and the FFTNum is the number of points of Fourier transform.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing functional units and modules are merely illustrated in terms of division, and in practical applications, the foregoing functional allocation may be performed by different functional units and modules as needed, that is, the internal structure of the radar is divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 10 is a schematic block diagram of a radar provided by an embodiment of the present invention. As shown in fig. 10, the radar 4 of this embodiment includes: one or more processors 40, a memory 41, and a computer program 42 stored in the memory 41 and executable on the processors 40. The processor 40, when executing the computer program 42, implements the steps in the various radar goniometry method embodiments described above, such as steps S101 to S104 shown in fig. 1. Alternatively, the processor 40, when executing the computer program 42, implements the functions of the respective modules/units in the above-described radar goniometer embodiment, such as the functions of the modules 21 to 24 shown in fig. 9.
Illustratively, the computer program 42 may be divided into one or more modules/units, which are stored in the memory 41 and executed by the processor 40 to accomplish the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing specific functions that describe the execution of the computer program 42 in the radar 4. For example, the computer program 42 may be divided into a frequency domain conversion module 21, an inter-region-of-interest determination module 22, a refinement module 23 and an angle determination module 24.
The frequency domain conversion module 21 is configured to obtain target phase data corresponding to each receiving channel of the radar, and obtain a target frequency spectrum according to the target phase data corresponding to each receiving channel of the radar;
an interesting region determining module 22 for determining an interesting region in the target spectrum;
the refining module 23 is configured to refine the frequency spectrum of the target frequency spectrum located in the interested region by using CZT conversion, so as to obtain a final point value corresponding to a peak value in the target frequency spectrum;
and an angle determining module 24, configured to determine an angle of the target according to the final point value.
Other modules or units are not described in detail herein.
The radar 4 includes, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 10 is merely an example of a radar and does not constitute a limitation of radar 4 and may include more or fewer components than shown, or some components in combination, or different components, e.g., radar 4 may also include input devices, output devices, network access devices, buses, etc.
The Processor 40 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the radar, such as a hard disk or a memory of the radar. The memory 41 may also be an external storage device of the radar, such as a plug-in hard disk provided on the radar, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 41 may also include both an internal storage unit of the radar and an external storage device. The memory 41 is used for storing a computer program 42 and other programs and data required by the radar. The memory 41 may also be used to temporarily store data that has been output or is to be output.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed radar and method may be implemented in other ways. For example, the above-described radar embodiments are merely illustrative, and for example, a division of modules or units is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method according to the embodiments described above may be implemented by a computer program, which is stored in a computer readable storage medium and used by a processor to implement the steps of the embodiments of the methods described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may include any suitable increase or decrease as required by legislation and patent practice in the jurisdiction, for example, in some jurisdictions, computer readable media may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A method of radar angle measurement, comprising:
acquiring target phase data corresponding to each receiving channel of the radar, and obtaining a target frequency spectrum according to the target phase data corresponding to each receiving channel of the radar;
determining a region of interest in the target spectrum;
refining the frequency spectrum of the target frequency spectrum in the interesting region by adopting CZT conversion to obtain a final point value corresponding to a peak value in the target frequency spectrum;
and determining the angle of the target according to the final point numerical value.
2. The method of claim 1, wherein obtaining a target spectrum according to target phase data corresponding to each receiving channel of the radar comprises:
determining a phase complex sequence according to target phase data corresponding to each receiving channel of the radar;
performing Fourier transform on the phase complex sequence to obtain the target frequency spectrum;
wherein, the calculation formula of the phase complex number sequence sig is as follows:
sig＝[exp(j*φ0),…exp(j*φi),…exp(j*φ(N-1)]
phi i is target phase data corresponding to the i +1 th receiving channel, i is 0, …, N-1, and N is the number of the receiving channels.
3. The radar goniometry method of claim 2, wherein the determining a region of interest in the target spectrum comprises:
determining an initial point value corresponding to a peak value in the target frequency spectrum;
determining the region of interest according to the initial point value;
the region of interest [ f ]0,f1]The calculation formula of (2) is as follows:
f0＝fmax-Δf
f1＝fmax+Δf
wherein f ismaxIs the initial point value, fmaxThe method is characterized by comprising the following steps of (1, 0, …, FFTNum-1), wherein FFTNum is the number of points of Fourier transform; Δ f is a preset threshold; f. of0Is the region of interestLower limit value of (f)1Is the upper limit value of the interested region.
4. The radar angle measurement method of claim 2, wherein the refining the frequency spectrum of the target frequency spectrum located in the region of interest by using the CZT transform to obtain a final point value corresponding to a peak value in the target frequency spectrum comprises:
refining the frequency spectrum of the target frequency spectrum in the interested region by adopting CZT conversion to obtain a CZT conversion result;
and determining a middle point numerical value corresponding to the peak value in the CZT conversion result, and determining the final point numerical value according to the middle point numerical value.
5. The radar goniometry method of claim 4, wherein the CZT transform is calculated by the formula:
Figure FDA0002803086590000021
a＝2π*f0/fs
w＝2π*(f1-f0)/(M*fs)
fs＝FFTNum
wherein X (r) is the value of the CZT transform result at point r; r is 0,1, … M-1, M is the number of points of CZT conversion; a is the initial phase, f0Is the lower limit value of the region of interest, f1Is the upper limit value of the region of interest, fsIs the sampling point number, w is the phase jump interval, and FFTNum is the point number of Fourier transform.
6. The radar angle-measuring method according to claim 4, wherein the final value idx is calculated by the formula:
idx＝f0+idx0*(f1-f0)/M
wherein idx0 is the midpoint value; f. of0As between said regions of interestLower limit value, f1And M is the number of points of CZT conversion, which is the upper limit value of the interested region.
7. The radar angle measuring method according to any one of claims 2 to 6, wherein the angle θ of the target is calculated by the formula:
Figure FDA0002803086590000031
and the idx is the final numerical value, and the FFTNum is the number of points of Fourier transform.
8. A radar angle measuring apparatus, characterized by comprising:
the frequency domain conversion module is used for acquiring target phase data corresponding to each receiving channel of the radar and obtaining a target frequency spectrum according to the target phase data corresponding to each receiving channel of the radar;
an interested region determining module, configured to determine an interested region in the target spectrum;
the refining module is used for refining the frequency spectrum of the target frequency spectrum in the interested region by adopting CZT conversion to obtain a final point value corresponding to a peak value in the target frequency spectrum;
and the angle determining module is used for determining the angle of the target according to the final point value.
9. A radar comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of the radar goniometry method according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the radar goniometry method according to any one of claims 1 to 7.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102841335A (en) * 2012-09-10 2012-12-26 西安电子科技大学 Iterative FFT-based quick MIMO radar waveform synthesis method
CN105445714A (en) * 2015-11-24 2016-03-30 大连楼兰科技股份有限公司 Automobile forward direction anticollision system signal processing method
CN108713154A (en) * 2016-02-29 2018-10-26 三菱电机株式会社 Radar installations
CN109765551A (en) * 2019-01-30 2019-05-17 西安天伟电子系统工程有限公司 Radar angle measurement method, apparatus, equipment, computer equipment and storage medium

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102841335A (en) * 2012-09-10 2012-12-26 西安电子科技大学 Iterative FFT-based quick MIMO radar waveform synthesis method
CN105445714A (en) * 2015-11-24 2016-03-30 大连楼兰科技股份有限公司 Automobile forward direction anticollision system signal processing method
CN108713154A (en) * 2016-02-29 2018-10-26 三菱电机株式会社 Radar installations
CN109765551A (en) * 2019-01-30 2019-05-17 西安天伟电子系统工程有限公司 Radar angle measurement method, apparatus, equipment, computer equipment and storage medium

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