CN112859067B - Dynamic target monitoring method based on millimeter wave radar - Google Patents
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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
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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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
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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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
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
-
- 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
- G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath signals
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a method for monitoring a dynamic target based on millimeter wave radar, which comprises the following steps: s1, transmitting a linear frequency modulation signal by utilizing a millimeter wave radar, and obtaining a baseband beat signal after mixing an echo signal and a transmitting signal; s2, preprocessing the obtained signal to remove the problems that the signal quality is affected, such as parasitic amplitude modulation interference, quadrature mixing image interference and the like; s3, performing frequency estimation on the beat signal containing the target distance information by using DFT, and then converting the frequency estimation into distance estimation to realize the distance parameter measurement of the target; s4, realizing three-dimensional space positioning of targets by multiple millimeter wave radar distributed networking. The method provided by the invention can be used for monitoring the dynamic target, and the method for monitoring the dynamic target by preprocessing, DFT calculation and distributed networking of the raw data acquired by the millimeter wave radar can be used for dynamically monitoring the physical signs of special people such as the old, infants, mental patients, large-area burns and the like.
Description
Technical Field
The invention relates to a method for monitoring a dynamic target based on millimeter wave radars, in particular to radar signal ground transmission, collection and pretreatment, distributed networking three-dimensional positioning of a plurality of millimeter wave radars and the like.
Background
In recent years, the family empty nest trend is increased with the solitary old people, and the demand of intelligent medical equipment capable of realizing remote real-time home monitoring is continuously increased. The young generation is also becoming a great army of chronic diseases, has the characteristics of long disease time and great service demand, and is a topic of wide attention in the current society how to reasonably and effectively manage the middle-aged chronic diseases.
Millimeter wave radar is a radar system with high frequency band, narrow beam, high interference immunity. In the indoor positioning field, unlike the limitation of the technologies of combining the sensors such as electric infrared, bluetooth, WIFI and the like with the technologies such as TOF, AOA and the like in terms of accuracy, false alarm and environmental changes (such as darkness, brightness and smoke), the indoor personnel positioning and falling detection method based on the millimeter wave radar has the advantages of strong penetrating capacity, non-invasive sensing, good privacy protection, difficult influence by environmental factors (such as weather, temperature, illumination and the like) and the like, and can work in the completely darkness or brightly daytime. Compared with wearable medical equipment, the non-contact millimeter wave radar effectively avoids discomfort to people due to contact with bodies, and compared with a sport bracelet, the millimeter wave radar is more sufficient in application of detected data, has stronger medical value, and is higher in flexibility compared with the wearable medical equipment, more comfortable and convenient in experience and wider in applicable crowd. Products for realizing vital sign detection by using millimeter wave technology exist in the market, but the technology is still in a development stage, and the technology is not mature enough and the scene is not multiple enough.
The method involves the monitoring of dynamic targets by means of millimeter wave radars, thus requiring computational analysis of the acquired data. In order to acquire the azimuth information of the complete target, a plurality of millimeter wave radars are required to be distributed and networked to complete the positioning of the three-dimensional space. Because the real-time requirement on three-dimensional positioning is higher, a method with high enough precision and strong real-time is sought, and the acquisition, calculation and analysis of radar data can be completed quickly.
Disclosure of Invention
In order to collect millimeter wave radar data more efficiently and conveniently and simultaneously provide original data for the positioning of a dynamic target in real time, the method for monitoring the dynamic target based on the millimeter wave radar is necessary. The method can be used for rapidly completing acquisition, pretreatment and networking positioning of the beat signals, and has the advantages of high precision, real-time monitoring, interference resistance and the like. The specific technical scheme of the invention is as follows:
a method for monitoring a dynamic target based on millimeter wave radar comprises the following steps:
s1: transmitting a linear frequency modulation signal f (T) by utilizing a millimeter wave radar, and obtaining a beat signal delta S (T) of a baseband after mixing an echo signal R (T) with a transmitting signal T (T);
s2: preprocessing the obtained signal to remove parasitic amplitude modulation interference and quadrature mixing image interference;
s3: performing frequency estimation on the beat signal containing the target distance information by using DFT, and then converting the frequency estimation into distance estimation to realize the distance parameter measurement of the target;
s4: and a plurality of millimeter wave radars are distributed and networked to realize three-dimensional space positioning of the target.
Further, in S1, the transmitting the chirp signal f (T) by using the millimeter wave radar, mixing the echo signal R (T) with the transmitting signal T (T) to obtain a baseband beat signal Δs (T), includes:
the millimeter wave radar emits a linear frequency modulation signal f (t);
the transmit signal T (T) and the echo signal R (T) are mixed to obtain a baseband beat signal Δs (T).
Further, S2, the preprocessing the obtained signal includes:
by utilizing the characteristic that the parasitic amplitude modulation interference waveform is relatively stable, the beat signal obtained when the radar is in the sky illumination can be approximate to the parasitic amplitude modulation signal;
the Habuss window function with large main lobe energy and small side lobe energy is adopted to inhibit the influence of the side lobe on the main lobe of the near spectrum peak, namely the quadrature mixing mirror image interference.
Further, S3, the method includes performing an N-point DFT on the preprocessed beat signal Δs (t) to obtain distance information, where the method includes:
sampling N points of the sampling rate fs on the delta S (t) to obtain a sequence delta S (N);
and carrying out N-point DFT on the sequence delta S (N) to obtain the frequency at the highest spectral line to realize the estimation of delta S (t) frequency, and then converting the frequency into the estimation of the distance to realize the distance parameter measurement of the target.
Further, S4, the positioning of the target is achieved by the distributed networking of the millimeter wave radars, which includes:
the radars are used for ranging independently, and a spherical equation is established to realize three-dimensional positioning;
and calculating a least square solution of the spherical equation as the position of the target.
The method for monitoring the dynamic target based on the millimeter wave radar can be used for monitoring the dynamic target, and the method for monitoring the dynamic target by preprocessing, DFT calculation and distributed networking of the raw data acquired by the millimeter wave radar can be used for dynamically monitoring the physical signs of special people such as the old, infants, mental patients, large-area burns and the like.
Drawings
Fig. 1 is a flowchart of a method for monitoring a dynamic target based on millimeter wave radar according to an embodiment.
Fig. 2 is a schematic diagram of three-dimensional networking of millimeter wave radars in an embodiment.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required in the embodiments are briefly described below.
The invention is further described below with reference to the accompanying drawings.
The millimeter wave radar dynamic target positioning method provided by the embodiment of the invention is used for acquiring millimeter wave radar data in real time, and calculating and processing to obtain the three-dimensional positioning of the target, and can provide support for applications of nursing homes, hospitals, families and the like. The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
Fig. 1 is a flowchart of a method for monitoring a dynamic target based on millimeter wave radar according to an embodiment of the present application. S1, transmitting a linear frequency modulation signal by utilizing a millimeter wave radar, and obtaining a baseband beat signal after mixing an echo signal and a transmitting signal; s2, preprocessing the obtained signal to remove parasitic amplitude modulation interference and quadrature mixing image interference; s3, performing frequency estimation on the beat signal containing the target distance information by using DFT, and then converting the frequency estimation into distance estimation to realize parameter measurement of the target; s4, realizing three-dimensional space positioning of targets by multiple millimeter wave radar distributed networking.
In step S1, it is assumed that the linear modulation of the single frequency signal is f T (t) phase isThe millimeter wave radar transmit signal is:
the echo signal obtained after t1=2r/c time after transmission is:
the baseband beat signal obtained after mixing is:
ΔS(t)＝exp{j(T(t)-R(t))}
in step S2, for the parasitic amplitude modulation disturbance S (t), the beat signal Δs (t) is affected and disturbed, i.e. a modulation signal is superimposed on the beat signal in the frequency modulation period:
ΔS * (t)＝ΔS(t)+s(t)
at this time, the characteristic of relatively stable parasitic amplitude modulation interference is utilized to firstly obtain the corresponding beat signal delta S of radar space illumination 1 (t), which may be approximated as a parasitic amplitude modulated signal, ΔS 1 (t) ≡s (t), the true beat signal of the target can be obtained, and the influence of the parasitic amplitude modulation disturbance can be suppressed.
For the quadrature mixing image interference, a window function can be used for inhibiting the influence of side lobes on the main lobe of the near spectrum peak, and a third-order Habooth window can be selected here:
where N is the number of samples, k=3, a 0 ＝0.35875，a 1 ＝0.48829，a 2 ＝0.14128，a 3 = 0.01168. In step S3, the target distance R is calculated by substituting t1=2r/c in the pretreated Δs (t) and sampling the same with the sampling rate f s N-point sampling of (a) to obtain a sequence DeltaS (N), and then N-point DFT is calculated to obtain the frequency f at the highest spectral line of the signal spectrum X (k) m When the DFT points are added to refine the frequency spectrum, namely the spectrum spectral line distance is denser, and the highest spectral line is closer to the real frequency value, so that the estimation of the delta S (t) frequency is realized, the estimation accuracy can be improved, and the target distance R is as follows:
in the step S4, the millimeter wave radars are used for ranging independently, a spherical equation can be established to realize three-dimensional positioning, and only each millimeter wave radar is required to measure the distance, angle measurement is not required, phase difference calculation is not required, so that the calculated amount is moderate, and the positioning accuracy is high.
As shown in FIG. 2, three fixed radars are positioned perpendicular to each other, and the coordinates are (x i ,y i ,z i ) I=1, 2,3, the target coordinates are (x, y, z), and the distance to the radar is R i ,
Because of errors in the actual environment, the measured value and the true value have certain errors, thereby setting
The least square solution of the equation set is solved, the solution is the solution closest to the true value under the current measurement condition, namely the coordinates of the target, and the specific process of solving the nonlinear equation set by the Newton method is as follows:
let it be solved asA point in the vicinity thereof->Handle f i (x, y, z) into Taylor expansion:
ignoring the remainder R i The method comprises the following steps:
this is a set of linear equations, its solutionAs a solution, a coefficient matrix type Jacobi array
Written in vector form:substituting the above linear equation set, then:
f(x 0 )+J(x 0 )(x-x 0 )＝0
solving for least squares solution x 1
x 1 ＝x 0 -J -1 (x 0 )(x 0 )
Wherein J -1 It should be understood that the generalized inverse of Jacobi arrays, and therefore the values for each iteration:
x k+1 ＝x k -J -1 (x k )(x k )
and when the iteration error gradually decreases to be smaller than the threshold value or reaches the set maximum iteration number, obtaining a least square solution.
And because the motion displacement of the dynamic target is very small in very small time, the dynamic target can be regarded as a static target, and therefore, the method can realize the monitoring of the dynamic target with higher precision and higher real-time performance.
Claims (3)
1. The method for monitoring the dynamic target based on the millimeter wave radar is characterized by comprising the following steps of:
s1: transmitting a linear frequency modulation signal f (T) by utilizing a millimeter wave radar, and obtaining a beat signal delta S (T) of a baseband after mixing an echo signal R (T) with a transmitting signal T (T);
s2: preprocessing the obtained signal to remove parasitic amplitude modulation interference and quadrature mixing image interference;
s3: performing frequency estimation on the beat signal containing the target distance information by using DFT, and then converting the frequency estimation into distance estimation to realize the distance parameter measurement of the target;
s4: a plurality of millimeter wave radars are distributed and networked to realize three-dimensional space positioning of targets;
the preprocessing of the obtained signal in S2 includes:
by utilizing the characteristic that the parasitic amplitude modulation interference waveform is relatively stable, the beat signal obtained when the radar is in the sky illumination can be approximate to the parasitic amplitude modulation signal;
the Habuss window function with large main lobe energy and small side lobe energy is adopted to inhibit the influence of the side lobe on the main lobe of the near spectrum peak, namely the quadrature mixing mirror image interference;
in S3, the method includes performing an N-point DFT on the preprocessed beat signal Δs (t) to obtain distance information, where the method includes:
sampling N points of the sampling rate fs on the delta S (t) to obtain a sequence delta S (N);
and carrying out N-point DFT on the sequence delta S (N) to obtain the frequency at the highest spectral line to realize the estimation of delta S (t) frequency, and then converting the frequency into the estimation of the distance to realize the distance parameter measurement of the target.
2. The method for monitoring a dynamic target based on a millimeter wave radar according to claim 1, wherein in S1, the step of transmitting the chirp signal f (T) by the millimeter wave radar, mixing the echo signal R (T) with the transmission signal T (T) to obtain a baseband beat signal Δs (T), comprises:
the millimeter wave radar emits a linear frequency modulation signal f (t);
the transmit signal T (T) and the echo signal R (T) are mixed to obtain a baseband beat signal Δs (T).
3. The method for monitoring a dynamic target based on millimeter wave radar according to claim 1, wherein S4, the distributed networking of the plurality of millimeter wave radars achieves positioning of the target, comprising:
the radars are used for ranging independently, and a spherical equation is established to realize three-dimensional positioning;
and calculating a least square solution of the spherical equation as the position of the target.
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| CN107907878A (en) * | 2017-11-08 | 2018-04-13 | 零八电子集团有限公司 | The method that high accuracy obtains fmcw radar distance measure |
| CN109959930A (en) * | 2017-12-22 | 2019-07-02 | 英飞凌科技股份有限公司 | Use the system and method for millimetre-wave radar sensor monitoring of structures object |
| CN110118966A (en) * | 2019-05-28 | 2019-08-13 | 长沙莫之比智能科技有限公司 | Personnel's detection and number system based on millimetre-wave radar |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102170318A (en) * | 2011-01-11 | 2011-08-31 | 南京国睿安泰信科技股份有限公司 | Spectral analysis algorithm used for receiver performance test |
| CN102621550A (en) * | 2011-01-28 | 2012-08-01 | 上海无线电设备研究所 | Realization method for W-band forward-detection automotive anti-collision radar system |
| CN107907878A (en) * | 2017-11-08 | 2018-04-13 | 零八电子集团有限公司 | The method that high accuracy obtains fmcw radar distance measure |
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