CN112630772A - Lateral two-beam vehicle-mounted Doppler velocity measurement radar equipment - Google Patents
Lateral two-beam vehicle-mounted Doppler velocity measurement radar equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- 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
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Abstract
The invention relates to lateral two-beam Doppler velocity measurement radar equipment, which mainly solves the problems that the prior art can not simultaneously measure the forward velocity and the lateral velocity of a vehicle and has low measurement precision. It includes: the antenna comprises an antenna (1), a transceiver (2), a signal processing unit (3) and a power supply component (4). The transceiver generates K-waveband continuous wave signals and enters a transmitting antenna, the transmitting antenna generates echo signals with Doppler frequency shift by ground radiation, the receiving antenna receives the echo signals and then enters the transceiver for amplification and orthogonal frequency mixing, and orthogonal Doppler frequency shift signals are output; the signal processing unit samples Doppler frequency shift signals, calculates Doppler frequency shift through a frequency tracking algorithm and calculates the forward speed and the lateral speed of the radar by combining beam pointing angle information. The invention eliminates the random error caused by vehicle vibration and bump, reduces the speed measurement mean error, avoids the accumulated error, and can be used for measuring the forward speed and the lateral speed of the vehicle relative to the ground.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a Doppler velocity measurement radar which can be used for measuring the forward velocity and the lateral velocity of a vehicle relative to the ground.
Background
The common vehicle-mounted speed measuring equipment mainly comprises a speedometer, wherein the speedometer directly measures the distance and the speed of a vehicle running on the ground by means of the number of rotation turns of a vehicle tire, and the speedometer belongs to mechanical speed measurement. The general odometer is arranged on a transmission shaft of the vehicle, the odometer is driven to count the number of turns when the vehicle runs, and accurate speed and distance information can be obtained by combining diameter parameters of the vehicle. However, when the vehicle slips, the wheel idles, and the lateral drift occurs, the real-time speed cannot be accurately measured, the lateral speed data cannot be provided, and the odometer also faces the problems of wheel wear and tire pressure change.
The Doppler speed measuring radar can measure the speed of the carrier relative to the ground in a non-contact measuring mode through the Doppler effect, and solves the speed measuring problems under the conditions of slipping and transverse drifting when the speedometer measures the speed and the accumulated errors caused by wheel abrasion and tire pressure change.
The existing vehicle-mounted Doppler velocity measurement radar equipment comprises: automobile anti-collision radar and train speed measuring radar. Wherein:
the vehicle-mounted anti-collision radar is used for testing relative position information and relative speed information of a carrier and an obstacle, has low requirement on speed precision, mostly adopts a one-transmitting multi-receiving antenna system, and uses a linear frequency modulation mode to obtain multi-target speed and distance information. The radar is characterized by multi-target monitoring, and the focus of attention is relative position information and distance information of a target and a carrier instead of speed information of the carrier relative to the ground, so that high-precision speed information of the carrier relative to the ground cannot be acquired.
The train speed measuring radar is used for measuring the forward speed of a train running on a fixed track, adopts a fixed single-beam antenna to radiate the track to obtain Doppler frequency, and obtains speed information by matching a track strong reflection target algorithm. Because the mode adopts single beam, the beam irradiation direction is along the train running direction, and the lateral speed cannot be calculated. Meanwhile, the vertical speed caused by vehicle bump can be superposed to the forward speed, and a speed measurement error is introduced, so that the measurement error is large.
The two radars have relatively low speed measurement precision, are not suitable for being installed on a vehicle, and cannot meet the requirement of measuring the forward speed and the lateral speed of the automobile relative to the ground.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a lateral two-beam vehicle-mounted Doppler velocity measurement radar device so as to realize the measurement of the ground forward velocity and the lateral velocity by the radar in a complex environment.
In order to achieve the above object, the lateral two-beam vehicle-mounted doppler velocity measurement radar device of the present invention includes an antenna, a transceiver, a signal processing unit, and a power supply module, wherein the power supply module is connected to the transceiver and the signal processing unit, and is characterized in that:
the antenna is set as a receiving antenna and a transmitting antenna, each antenna is provided with two feeding ends, and the switching of forward transmitting wave beams, backward transmitting wave beams, forward receiving wave beams and backward receiving wave beams is realized by applying signals to different feeding ends;
the transceiver is used for generating K-waveband low-phase-noise continuous wave signals, outputting the K-waveband low-phase-noise continuous wave signals through two radio frequency output ends of the transmitting beam selection switch, respectively connecting two feed ends of the transmitting antenna, generating ground radiation signals with different directions, and generating echo signals with Doppler frequency shift after ground reflection; after receiving the corresponding directional echo signal, the receiving antenna outputs the signal through two corresponding feed ends of the receiving antenna, enters a transceiver through two radio frequency input ends of a receiving beam selection switch, sequentially performs low-noise amplification and zero intermediate frequency orthogonal frequency mixing, and outputs two paths of orthogonal Doppler frequency shift signals to a signal processing unit;
the signal processing unit is used for carrying out FFT (fast Fourier transform), matched filtering and resolving on two paths of orthogonal Doppler frequency shift signals in sequence to obtain Doppler frequency shift values, resolving current carrier forward and lateral speed values according to the Doppler frequency shift and an antenna beam pointing angle, and controlling a receiving and transmitting time sequence and a beam switching time sequence of the transceiver.
Furthermore, the antenna forward wave beam and the antenna backward wave beam are symmetrically distributed on two sides of the H surface of the antenna, the E surface antenna wave beam pointing angle alpha is 16-24 degrees, and the lobe width is less than or equal to 4 degrees; the antenna forward wave beam and the antenna backward wave beam are distributed on the same side of the E surface of the antenna, the pointing angle beta of the antenna wave beam of the H surface is 10-12 degrees, and the lobe width is less than or equal to 6 degrees.
Further, two feed ends of the transmitting antenna are respectively a forward beam feed end I11And a transmit backward beam feed terminal I12The transmitting forward beam feed terminal I11And a first RF output of the transceiverO21Connection of the transmission backward beam feed terminal I12And a second radio frequency output terminal O of the transceiver22Connecting; two feed ends of the receiving antenna are respectively a receiving forward wave beam feed end O11And a reception backward beam feeding terminal O12The receiving forward beam feeding end O11And a first radio frequency input terminal I of the transceiver21Connection of the receiving backward beam feed terminal O12And a second radio frequency input terminal I of the transceiver22And (4) connecting.
Further, the transceiver includes: the device comprises a 100MHz temperature compensation crystal oscillator, a phase-locked source, a power divider, a transmitting wave beam selection switch, a receiving wave beam selection switch, a low noise amplifier, a quadrature mixer circuit and a power supply processing function circuit; the temperature compensation crystal oscillator generates 100MHz reference signal, which enters into phase-locked source to perform frequency-doubling phase-locking to generate 24.2GHz low-phase noise emission signal and phase-locked indication voltage, and the phase-locked indication terminal O25Outputting; the transmission signals pass through the power divider and then pass through the transmission beam selection switch from the first radio frequency output end O21And a second radio frequency output terminal O22Outputting, and enabling the other path of the output signal to be used as a local oscillator of orthogonal frequency mixing to enter an orthogonal frequency mixing circuit; radar echo is input via a first radio frequency I21And a second radio frequency input terminal I22Enters a receiving beam selection switch of the transceiver and generates I, Q orthogonal signals through a low noise amplifier and a quadrature mixer circuit.
Further, the signal processing unit includes: the system comprises an A/D sampling circuit, an ARM microcontroller and an RS422 interface circuit, wherein the A/D sampling circuit carries out digital sampling on two paths of input I and Q signals and sends sampling data to the ARM microcontroller, the ARM microcontroller carries out FFT and matched filtering on the data to calculate a Doppler frequency shift value, and the current carrier forward speed V is calculated according to the frequency shift, the current controlled wave beam state and the corresponding wave beam angle informationXAnd lateral velocity VYThe data is sent to an external upper computer through an RS422 interface circuit, and meanwhile, an ARM microcontroller receives an instruction of the external upper computer to complete radar self-checking, beam control and power supply control.
The signal processing unit is provided with three output ends, respectivelyTime sequence control output end O31422 serial port output end O32And a power supply control output end O33The time sequence controls the output terminal O31And transceiver timing control input terminal I23Connection, the 422 serial port output end O32Connected with an external upper computer, and the power supply controls the output end O33A second input terminal I connected with the power supply assembly42. (ii) a The signal processing unit is provided with four input ends which are I-way intermediate frequency input ends I respectively31Q-way intermediate frequency input end I32Power input terminal I33Phase-locked indication input terminal I34The I-way intermediate frequency input end I31And transceiver I way intermediate frequency output end O23Connected, the Q-way intermediate frequency input terminal I32Q-way intermediate frequency output end O of transceiver24Connection, the power input terminal I33And the second output end O of the power supply assembly42Connected, the phase-locked indication input terminal I34Phase-locked indication output terminal O with transceiver25And (4) connecting.
The invention has the following beneficial effects:
1. the antenna of the invention adopts the configuration of two laterally symmetrical wave beams which are arranged front and back, not only can simultaneously measure the forward speed and the lateral speed of the carrier and eliminate the random error of the forward speed measurement caused by the vibration and the jolt of the vehicle, but also can be freely arranged at the side surface and the bottom of the carrier vehicle without the shielding of the wave beams,
2. the invention adopts the K wave band to transmit the carrier frequency, so that under the same wave beam width, the antenna has small size, high frequency, small corresponding wavelength, large Doppler frequency shift corresponding to the same speed and high speed resolution, is beneficial to the miniaturization requirement of products;
3. the invention adopts the double-antenna continuous wave carrier signal, so that the effective utilization rate of the echo can reach the maximum, the accumulation of the data processing time is long, the measurement precision of the Doppler frequency is improved, and the speed measurement precision is further improved;
4. the transceiver adopts a zero intermediate frequency orthogonal frequency mixing scheme, so that multi-stage frequency conversion is avoided, the cost of the transceiver is reduced, and positive speed and negative speed can be distinguished through an orthogonal phase comparison;
5. compared with the traditional speed measuring equipment, the invention has the following advantages:
compared with the odometer equipment, the invention can simultaneously measure the forward speed and the lateral speed of the carrier without accumulated error;
compared with inertial navigation equipment, the method has the advantages that the average speed information is very accurate, the speed measurement error is stable, no accumulative effect is caused, calibration is not needed, and preheating preparation time is not needed;
compared with the GPS, the speed measurement is completely autonomous, and a ground station or a satellite transmitter is not needed;
compared with laser speed measurement, the system is an all-weather system, can work under various meteorological conditions, and is not influenced by rain, snow and sand environments.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a transceiver in accordance with the present invention;
FIG. 3 is a schematic diagram of a beam configuration in the present invention;
FIG. 4 is a schematic diagram of a signal processing unit according to the present invention;
fig. 5 is a schematic view of the installation position of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1, the vehicle-mounted doppler velocity radar apparatus of the present invention includes an antenna 1, a transceiver 2, a signal processing unit 3, and a power supply module 4. Wherein:
the antenna 1 is divided into a transmitting antenna and a receiving antenna, the transmitting antenna having two input terminals, i.e. a transmitting forward beam feeding terminal I11And a transmit backward beam feed terminal I12The K wave band continuous wave signals generated by the receiver are respectively fed to the end I by the transmitting forward wave beam11And a transmit backward beam feed terminal I12Different directions are formed to radiate to the ground, and when the radar moves relative to the ground, echo signals with Doppler frequency shift are generated. The receiving antenna has two output terminals, i.e. a receiving forward beam feeding terminal O11And a reception backward beam feeding terminal O12. Receiving antenna receiving groundEcho signals of a specific angle and feeding end O by receiving forward wave beam11And a reception backward beam feeding terminal O12And output to the transceiver.
A transceiver 2 having four inputs and five outputs, i.e. a first radio frequency input I21A second RF input terminal I22A time sequence control input terminal I23Power supply input terminal I24A first RF output terminal O21A second RF output terminal O22I path intermediate frequency output end O23Q-way intermediate frequency output end O24And phase-locked indication output terminal O25(ii) a The transceiver is used for generating low-phase noise K wave band transmitting signals and respectively transmitting the signals through a first radio frequency output end O after passing through a transmitting wave beam selection switch21A second RF output terminal O22Outputting, and respectively transmitting forward beam feeding end I with transmitting antenna via radio frequency coaxial cable11And a transmit backward beam feed terminal I12Connected to excite a transmitting antenna; a first RF input terminal I21And a second radio frequency input terminal I22Receiving forward wave beam feed end O with receiving antenna through coaxial cable11And a reception backward beam feeding terminal O12Connecting, time-sharing processing the received different directional echo signals by a beam selection switch, then carrying out low-noise amplification and zero intermediate frequency orthogonal frequency mixing to finally generate two paths of orthogonal Doppler frequency shift signals which are respectively output by an I path intermediate frequency output end O23Q-way intermediate frequency output end O24And (6) outputting. The transceiver can also generate a phase-locked indication voltage for determining whether the output frequency of the transmitted signal is normal, the signal being indicated by the phase-locked indication output terminal O25And (6) outputting.
A signal processing unit 3 having four inputs and three outputs, i.e. an I-way IF input I31Q-way intermediate frequency input end I32Power input terminal I33Phase-locked indication input terminal I34And a time sequence control output end O31422 serial port output end O32And a power supply control output terminal O33. The signal processing unit I path intermediate frequency input end I31And Q-way intermediate frequency input end I32Respectively with transceiver I-way intermediate frequencyOutput terminal O23Q-way intermediate frequency output end O24A connection for sequentially performing A/D sampling, frequency calculation and speed calculation on the orthogonal Doppler frequency shift signal output by the transceiver, and passing the speed calculation result through a 422 serial port output end O32Outputting the data to an upper computer; time sequence control output end O31Through discrete signal line and transceiver time sequence control input terminal I23Connecting, controlling the working time sequence of the transmitting wave beam selection switch and the receiving wave beam selection switch of the transceiver; the phase-locked indication input terminal I34Phase-locked indication output terminal O with transceiver25A connection for monitoring a transceiver phase-lock indication voltage; the power supply control output end O33And the power supply component is connected with the power supply component and used for controlling the voltage output of the power supply component according to the instruction of the upper computer so as to control the working power supply of the transceiver.
A power supply module 4 having two input terminals and two output terminals, i.e. I41、I42、O41、O42The first input terminal I41Connected with the upper computer and used for converting the voltage of the vehicle-mounted working power supply provided by the upper computer into the voltage required by the operation of the transceiver and the signal processing component, and the second input end I42And the power supply control output end O of the signal processing unit33A first output end O connected to receive voltage output control command of the signal processing module41And a power supply input end I of the transceiver24Connection for supplying a supply voltage required by the transceiver, and a second output terminal O42And a power input terminal I of the signal processing unit33And the connection is used for providing the power supply voltage required by the signal processing unit.
Referring to fig. 2, the transceiver 2 includes: 100MHz temperature compensation crystal oscillator 21, phase-locked source 22, power divider 23, transmitting beam selection switch 24, receiving switch beam selection switch 25, low noise amplifier 26, quadrature mixer circuit 27, power processing function circuit 28; the temperature compensation crystal oscillator generates 100MHz low phase noise signal, enters the phase-locked source for frequency multiplication phase locking to generate 24.2GHz low phase noise emission signal and phase-locked indication voltage, when the phase-locked source is locked, i.e. outputs 24.2GHz signal, the phase-locked indication voltage is high level, when the phase-locked source does not output or outputs other signalsAt a frequency, the phase-locked indication voltage is at a low level and is indicated by the phase-locked indication terminal O25And (6) outputting. Transmitting signal F with frequency of 24.2GHzoThe two signals are output after being divided by the power divider, wherein one signal enters the transmitting beam selection switch and then is output by a first radio frequency output end O21And a second radio frequency output terminal O22Time-sharing output, the working state of the transmitting beam selection switch is controlled by a time sequence input end I23Control of the applied control signal; the other path of the signal enters a quadrature mixing circuit as a local oscillator of quadrature mixing to carry out quadrature phase shift to generate two paths of local oscillators F with equal amplitude and quadratureo0 DEG and FoAt 90 deg.. With Doppler shift FDEcho signal F ofo+FDVia a first RF input terminal I21And a second radio frequency input terminal I22Into a transceiver receive beam selection switch which is also controlled by the timing of input terminal I23The applied control signal controls the switch to output echo signals of each channel in a time-sharing way, the echo signals are amplified by the low-noise amplifier and then enter the orthogonal mixing circuit, the echo signals are subjected to equal-amplitude in-phase power division in the orthogonal mixing circuit, and the generated frequency is Fo+FDTwo paths of same signals are respectively orthogonal to two paths of local oscillator signals Fo0 DEG and Fo90 DEG mixing frequency, eliminating carrier frequency FoThen low-pass filtering is carried out to filter high-order mixing frequency components generated by mixing frequency, and finally two orthogonal Doppler frequency shift signals F are outputD0 DEG and FD90 degrees are respectively provided with an I-way intermediate frequency output end O23And Q-path intermediate frequency output end O24And (6) outputting.
In order to improve the speed measurement precision, the pointing angle and the configuration relation of the antenna beam are optimized, the antenna forward beam and the antenna backward beam are symmetrically distributed on two sides of the H surface of the antenna, the pointing angle alpha of the E surface antenna beam is 16-24 degrees, and the lobe width is less than or equal to 4 degrees; the antenna forward wave beam and the antenna backward wave beam are distributed on the same side of the E surface of the antenna, the pointing angle beta of the antenna wave beam of the H surface is 10-12 degrees, the lobe width is less than or equal to 6 degrees, and the antenna is shown in figure 3.
Referring to fig. 4, the signal processing unit includes: an A/D sampling circuit 31, an ARM microcontroller 32 and an RS422 interface circuit 33.
The A/D sampling circuit 31 carries out digital sampling on two paths of input I and Q signals and sends sampling data to the ARM microcontroller 32;
the ARM microcontroller 32 performs FFT and matched filtering on the sampled data to calculate a Doppler frequency shift value, and calculates the current carrier forward velocity V according to the frequency shift, the current controlled beam state and the corresponding beam angle informationXAnd lateral velocity VYThe calculation principle and formula are as follows:
according to the Doppler effect, the electromagnetic wave generates Doppler frequency shift F between objects moving relativelyDThe doppler shift takes a negative value when away from the target and takes a positive value when close to the target. Therefore, the Doppler frequency shift can be obtained according to the basic formula of the Doppler frequency shift and the wavelength, the relative movement speed and the direction of the electromagnetic wave:
wherein λ represents the wavelength of the carrier wave, V represents the relative motion velocity, and γ represents the angle between the propagation direction of the electromagnetic wave and the direction of the relative motion velocity.
According to the beam pointing direction and configuration relationship of the radar antenna shown in fig. 3, the forward beam of the antenna intersects with the ground at the point a, the backward beam of the antenna intersects with the ground at the point B, and A, B are symmetrically distributed, where α is the beam pointing angle of the E-plane of the antenna, β is the beam pointing angle of the H-plane of the antenna, and θ is the beam incident angle to the ground, and satisfies: sin for medical use2θ＝sin2α+sin2β，
The doppler shift expression can be obtained from the geometry of fig. 4 and the doppler effect principle:
where Vx is the forward velocity component of the vehicle, Vy is the lateral velocity component of the vehicle, and Vz is the tableShowing the vertical velocity component of the carrier, lambda denoting the wavelength of the carrier, fAIndicating the corresponding Doppler shift, f, of the forward beamBIndicating the corresponding Doppler shift of the backward wave beam, the Doppler shift values of the two wave beams are proportional to the triaxial velocity V of the radarX、VYThe projection of Vz in the beam pointing direction is inversely proportional to the carrier wavelength λ.
Calculating the forward speed V of the radar by the formulaXAnd lateral velocity VYThe following formula:
from forward speed VXAnd lateral velocity VYIt can be seen that vertical velocity pairs V can be eliminated with this beam configurationXBut at VYThe direction can bring about twice vertical speed error, but in actual use, the vehicle is gone on the road surface, and vertical speed mean value is zero, consequently does not influence speed mean value error, but the vehicle vibration with jolt can increase the transient error that the side direction was tested the speed.
Calculated radar forward velocity VXAnd lateral velocity VYThe radar is sent to an external upper computer through an RS422 interface circuit 33, and meanwhile, an ARM microcontroller 32 receives an instruction of the external upper computer to complete radar self-checking, beam control and power supply control.
Referring to fig. 5, the radar of the present example is installed on the side of the carrier vehicle at an installation height of 1m to 2.5m, and is installed parallel to the vehicle and positioned by screws. The upper computer supplies power and sends out an instruction to work/silence, the radar outputs forward speed and lateral speed information in real time during working, and the radar does not output or electromagnetic radiation during silence.
The foregoing description is only an example of the present invention and should not be construed as limiting the invention, as it will be apparent to those skilled in the art that various modifications and variations in form and detail can be made without departing from the principle and structure of the invention after understanding the present disclosure and the principles, but such modifications and variations are considered to be within the scope of the appended claims.
Claims (10)
1. The utility model provides an on-vehicle Doppler of two wave beams of side direction speed measuring radar equipment, includes antenna (1), transceiver (2), signal processing unit (3) and power supply module (4), power supply module (4) are connected its characterized in that with transceiver (2), signal processing unit (3) respectively:
the antenna is set as a receiving antenna and a transmitting antenna, each antenna is provided with two feeding ends, and the switching of forward transmitting wave beams, backward transmitting wave beams, forward receiving wave beams and backward receiving wave beams is realized by applying signals to different feeding ends;
the transceiver is used for generating K-waveband low-phase-noise continuous wave signals, outputting the K-waveband low-phase-noise continuous wave signals through two radio frequency output ends of the transmitting beam selection switch, respectively connecting two feed ends of the transmitting antenna, generating ground radiation signals with different directions, and generating echo signals with Doppler frequency shift after ground reflection; after receiving the corresponding directional echo signal, the receiving antenna outputs the signal through two corresponding feed ends of the receiving antenna, enters a transceiver through two radio frequency input ends of a receiving beam selection switch, sequentially performs low-noise amplification and zero intermediate frequency orthogonal frequency mixing, and outputs two paths of orthogonal Doppler frequency shift signals to a signal processing unit;
the signal processing unit is used for carrying out FFT (fast Fourier transform), matched filtering and resolving on two paths of orthogonal Doppler frequency shift signals in sequence to obtain Doppler frequency shift values, resolving current carrier forward and lateral speed values according to the Doppler frequency shift values and the antenna beam pointing angle, and controlling the transceiving time sequence and the beam switching time sequence of the transceiver.
2. The apparatus of claim 1, wherein:
two feed ends of the transmitting antenna are respectively a transmitting forward wave beam feed end I11And transmit backward beam feedElectric terminal I12The transmitting forward beam feed terminal I11And a first radio frequency output terminal O of the transceiver21Connection of the transmission backward beam feed terminal I12And a second radio frequency output terminal O of the transceiver22Connecting;
two feed ends of the receiving antenna are respectively a receiving forward wave beam feed end O11And a reception backward beam feeding terminal O12The receiving forward beam feeding end O11And a first radio frequency input terminal I of the transceiver21Connection of the receiving backward beam feed terminal O12And a second radio frequency input terminal I of the transceiver22And (4) connecting.
3. The apparatus of claim 1, wherein: the signal processing unit is provided with three output ends which are respectively a time sequence control output end O31422 serial port output end O32And a power supply control output end O33The time sequence controls the output terminal O31And transceiver timing control input terminal I23Connection, the 422 serial port output end O32Connected with an external upper computer, and the power supply controls the output end O33A second input terminal I connected with the power supply assembly42。
4. The apparatus of claim 1, wherein: the signal processing unit is provided with four input ends which are I-way intermediate frequency input ends I respectively31Q-way intermediate frequency input end I32Power input terminal I33Phase-locked indication input terminal I34The I-way intermediate frequency input end I31And transceiver I way intermediate frequency output end O23Connected, the Q-way intermediate frequency input terminal I32Q-way intermediate frequency output end O of transceiver24Connection, the power input terminal I33And the second output end O of the power supply assembly42Connected, the phase-locked indication input terminal I34Phase-locked indication output terminal O with transceiver25And (4) connecting.
5. The apparatus of claim 1, wherein: first input terminal I of power supply assembly41With the outsideThe upper computer is connected with the first output end O of the power supply assembly41And a power supply input terminal I of the transceiver24And (4) connecting.
6. The apparatus of claim 2, wherein: the antenna forward wave beam and the antenna backward wave beam are symmetrically distributed on two sides of an H surface of the antenna, the pointing angle alpha of the antenna wave beam on the E surface is 16-24 degrees, the lobe width is less than or equal to 4 degrees, the method is used for resolving the forward speed of the radar and eliminating the speed measurement error caused by vibration and bumping at the same time.
7. The apparatus of claim 2, wherein: the antenna forward wave beam and the antenna backward wave beam are distributed on the same side of the E surface of the antenna, the pointing angle beta of the H surface antenna wave beam is 10-12 degrees, the lobe width is less than or equal to 6 degrees, and the method is used for resolving the lateral speed.
8. The apparatus of claim 1, wherein: the transceiver (2) comprises: the device comprises a 100MHz temperature compensation crystal oscillator (21), a phase-locked source (22), a power divider (23), a transmitting beam selection switch (24), a receiving beam selection switch (25), a low noise amplifier (26), a quadrature mixer circuit (27) and a power supply processing function circuit (28); the temperature compensation crystal oscillator (21) generates 100MHz reference signal, enters the phase-locked source (22) for frequency doubling phase locking to generate 24.2GHz low-phase noise emission signal and phase-locked indication voltage, and is phase-locked indication terminal O25Outputting; the transmission signals pass through a power divider (23) and then pass through a transmission beam selection switch (24) from a first radio frequency output end O21And a second radio frequency output terminal O22The other path of the output signal is used as a local oscillator of quadrature mixing and enters a quadrature mixing circuit (27); radar echo is input via a first radio frequency I21And a second radio frequency input terminal I22Enters a transceiver receiving beam selection switch (25) and generates I, Q orthogonal signals through a low noise amplifier (26) and a quadrature mixing circuit (27).
9. The apparatus of claim 1, wherein: the signal processing unit includes: an A/D sampling circuit (31), an ARM microcontroller (32), an RS422 interface circuit (33) and an A/D sampling circuit(31) The method comprises the steps of carrying out digital sampling on two paths of input I and Q signals, sending sampling data to an ARM microcontroller (32), carrying out FFT (fast Fourier transform) and matched filtering on the data by the ARM microcontroller (32), calculating a Doppler frequency shift value, and calculating the forward speed V of a current carrier according to the frequency shift, the current controlled beam state and corresponding beam angle informationXAnd lateral velocity VYThe data is sent to an external upper computer through an RS422 interface circuit (33), and an ARM microcontroller (32) receives an instruction of the external upper computer to complete radar self-checking, beam control and power supply control.
10. The apparatus of claim 9, wherein: the ARM microcontroller (32) calculates the current carrier forward velocity value V according to the Doppler frequency shift value and the antenna beam pointing angleXAnd lateral velocity value VYThe method is carried out by the following formula:
wherein f isAFor measured values of the Doppler frequency shift of the forward beam, fBFor the measured Doppler frequency shift value of the backward wave beam, alpha is the E-surface wave beam pointing angle of the antenna, beta is the surface pointing angle of the antenna H, theta is the incidence angle of the wave beam to the ground, and the following conditions are satisfied: sin for medical use2θ＝sin2α+sin2Beta; vz represents the vehicle vertical velocity component, and Vz is zero when the vehicle is traveling on a road surface.
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