CN112882006A - Millimeter wave short-range target detection method based on composite frequency modulation continuous wave - Google Patents

Millimeter wave short-range target detection method based on composite frequency modulation continuous wave Download PDF

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CN112882006A
CN112882006A CN202110076732.9A CN202110076732A CN112882006A CN 112882006 A CN112882006 A CN 112882006A CN 202110076732 A CN202110076732 A CN 202110076732A CN 112882006 A CN112882006 A CN 112882006A
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CN112882006B (en
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李跃华
伍昊
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Nanjing University of Science and Technology
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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
    • 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
    • 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
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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Abstract

The invention discloses a millimeter wave short-range target detection method based on composite frequency modulation continuous waves, which is high in efficiency and good in real-time performance. It includes: (10) millimeter wave radar signal transmission: constructing frequency modulation continuous waves of four sections of target waveforms, and transmitting the frequency modulation continuous waves as millimeter wave radar transmitting signals; (20) echo signal mixing and filtering: mixing, sampling and filtering the echo signal and the transmitting signal; (30) detecting the frequency spectrum peak of the difference frequency signal: fast Fourier transform and peak detection are carried out on the discrete signals, and the peak frequency of the echo difference frequency signal corresponding to each section of target waveform is obtained through peak search; (40) detecting a composite waveform target: synthesizing the echo difference frequency signal peak frequency corresponding to each section of target waveform to obtain a combined target distance velocity matrix, a velocity matrix and a distance matrix; rejecting false targets in the distance and speed matrix of the combined target; rejecting false targets in the distance and speed matrix of the combined target; and obtaining the distance and speed information of the real target.

Description

Millimeter wave short-range target detection method based on composite frequency modulation continuous wave
Technical Field
The invention belongs to the field of target detection, and particularly relates to a millimeter wave short-range target detection method based on composite frequency modulation continuous waves.
Background
The millimeter wave short-range target detection is based on a millimeter wave proximity technology, and detection of target distance and speed information in a range from dozens of centimeters to kilometers is realized. The millimeter wave radar has high spatial resolution, strong anti-interference capability, high range resolution, strong penetration capability and low transmitting power, and is widely applied to the millimeter wave short-range target detection field, such as the military fields of gunfire searching, fuze, target detection and tracking and the like, and the civil fields of intelligent security, automobile collision avoidance, automatic control and the like.
The millimeter wave radar is mainly divided into a pulse system radar and a continuous wave system radar, wherein the frequency modulation continuous wave radar in the continuous wave system radar has the following advantages: (1) the method has very high frequency modulation bandwidth, and the distance resolution can be improved by improving the bandwidth; (2) no distance blind area exists; (3) a large time-bandwidth product; (4) the transmitted signal has narrow beam and good directivity. The advantages make the frequency modulated continuous wave suitable for millimeter wave short-range detection systems.
The frequency modulated continuous wave is divided into a triangular wave, a constant frequency continuous wave, and the like according to a modulation waveform. The principle of distance measurement and speed measurement of the triangular wave frequency modulation continuous wave radar is that an upper sweep frequency section and a lower sweep frequency section are symmetrical, two pairs of echo difference frequency signal peak frequencies of the upper sweep frequency section and the lower sweep frequency section are obtained, so that decoupling of distance and speed is achieved, false targets can be generated due to the fact that the upper sweep frequency section and the lower sweep frequency section have multiple peak frequency spectrums in a multi-target scene, and the constant frequency modulation continuous wave radar can obtain speed information of the targets. The constant frequency continuous wave obtains the speed information of the moving target by using the Doppler frequency shift generated by the movement of the target.
In order to solve the problem that a triangular wave frequency modulation continuous wave radar can generate false targets in a multi-target detection scene, the trapezoidal wave frequency modulation continuous wave radar combines the characteristics of triangular wave frequency modulation continuous waves and constant frequency continuous waves, utilizes triangular wave bands to obtain combined targets, utilizes multi-target radial speed information obtained by constant frequency bands to eliminate the false targets in a speed dimension, but cannot eliminate all the false targets in partial scenes.
In consideration of the problem that the system radar cannot eliminate all false targets in partial scenes, the current mainstream algorithm is to transmit two sections of triangular waves with different frequency modulation slopes of an upper sweep frequency band and a lower sweep frequency band, and eliminate the false targets by utilizing the characteristic that the distance and speed information of real targets cannot change along with the change of the frequency modulation slopes of the upper sweep frequency band and the lower sweep frequency band. The algorithm can effectively eliminate all false targets,but assuming there are N targets, then 2 x N is performed4The tolerance of the secondary distance dimension is compared with that of the speed dimension, so the algorithm has the defects of high complexity and poor real-time performance.
Therefore, the prior art has the problems that: the millimeter wave short-range target detection method based on the variable-period triangular wave frequency modulation continuous wave has poor real-time performance due to high algorithm complexity.
Disclosure of Invention
The invention aims to provide a millimeter wave short-range target detection method based on composite frequency modulation continuous waves, which is high in efficiency and good in real-time performance and saves the hardware space of a system.
The technical solution for realizing the purpose of the invention is as follows:
a millimeter wave short-range target detection method based on composite frequency modulation continuous waves comprises the following steps:
(10) millimeter wave radar signal transmission: constructing frequency modulation continuous waves of four sections of target waveforms; transmitting the frequency-modulated continuous wave as a millimeter wave radar transmission signal;
(20) echo signal mixing and filtering: mixing the received echo signal and the transmitting signal to obtain an echo difference frequency signal, sampling the difference frequency signal, and filtering the sampled discrete signal;
(30) detecting the frequency spectrum peak of the difference frequency signal: performing fast Fourier transform on the filtered discrete signal to obtain frequency spectrum information of the echo difference frequency signal, performing peak value detection by adopting a constant false alarm algorithm, and obtaining the peak value frequency of the echo difference frequency signal corresponding to each section of target waveform through peak value search;
(40) detecting a composite waveform target: synthesizing the echo difference frequency signal peak frequency corresponding to each section of target waveform to obtain a combined target distance velocity matrix, a velocity matrix and a distance matrix; eliminating false targets in the combined target distance speed matrix in the speed dimension by using the speed information of the speed matrix; eliminating false targets in the distance speed matrix of the combined target in the distance dimension by using the distance information of the distance matrix; thereby obtaining the distance and speed information of the real target.
Compared with the prior art, the invention has the following remarkable advantages:
1. the efficiency is high: the invention utilizes the 3 rd section constant frequency section waveform and the 4 th section frequency ascending section to match and combine the target in the distance dimension and the speed dimension, thereby carrying out 2N at most on all false targets 31 comparison, and the traditional millimeter wave short-range target detection method based on the variable-period triangular wave needs to carry out 2 × N4Compared with the prior art, the method disclosed by the invention can be used for eliminating the false target with higher efficiency.
2. The real-time property is as follows: compared with the prior art, the method disclosed by the invention saves a large amount of operation time, has lower time complexity, and can effectively meet the requirement of a short-range detection system on real-time property.
3. Saving system hardware space: compared with the prior art, the method disclosed by the invention has lower space complexity and greatly saves the hardware space.
The invention is described in further detail below with reference to the figures and the detailed description.
Drawings
Fig. 1 is a main flow chart of the millimeter wave short-range target detection method based on the composite frequency modulation continuous wave.
Fig. 2 is a schematic time-frequency diagram of a transmitting signal, an echo signal and a difference frequency signal in the present invention.
FIG. 3 is a schematic diagram of the matching effect of the velocity channel and the distance channel of the multi-target detection method of the composite frequency modulated continuous wave.
Detailed Description
As shown in fig. 1, the millimeter wave short-range target detection method based on the complex frequency modulated continuous wave of the invention comprises the following steps:
(10) millimeter wave radar signal transmission: constructing frequency modulation continuous waves of four sections of target waveforms; transmitting the frequency-modulated continuous wave as a millimeter wave radar transmission signal; .
The transmitting signal of the millimeter wave radar is frequency modulation continuous millimeter waves based on a target waveform; the target waveform consists of four sections of waveforms, and the reference numbers are 1,2, 3 and 4 in sequence according to the time sequence; the 1 st section of waveform is a frequency rising waveform, the 2 nd section of waveform is a frequency falling waveform, the 3 rd section of waveform is a constant frequency waveform, and the 4 th section of waveform is a frequency rising waveform.
The waveform of the transmitted signal is shown in fig. 2. In the millimeter wave signal transmitting step of (10), the millimeter wave radar signal is as follows:
Figure BDA0002907810400000031
in the formula, alpha0Is the amplitude information of the transmitted signal, f0Is the initial frequency of the signal, B is the bandwidth of the signal, T1、T2、T3、T4Respectively corresponding to the sweep frequency time widths of the 1 st frequency ascending section, the 2 nd frequency descending section, the 3 rd constant frequency section and the 4 th frequency ascending section,
Figure BDA0002907810400000032
corresponding to the initial phase of each segment, respectively.
Sweep frequency time width T of 1 st section waveform frequency ascending section1And the sweep time width T of the 2 nd waveform frequency descending segment2The requirements are as follows:
T1＝T2
the sweep frequency time width T of the 4 th waveform frequency rising segment4The requirements are as follows:
Figure BDA0002907810400000041
in the formula, vminIs the minimum velocity value of the target to be measured, negative number indicates that the target to be measured is far away from the radar, vmaxIs the maximum speed value. m is in the range of 1 to 10. T is4The range can be properly widened by ensuring taumax＜＜T4(τmaxThe target maximum echo delay).
(20) Echo signal mixing and filtering: mixing the received echo signal and the transmitting signal to obtain an echo difference frequency signal, sampling the difference frequency signal, and filtering the sampled discrete signal;
in the echo signal frequency mixing and filtering step, the transmitting signal is used as a local oscillation signal, and the echo signal and the local oscillation signal are subjected to frequency mixing to obtain a difference frequency signal.
In the echo signal mixing and filtering step (20), the discrete signals obtained by sampling are:
Figure BDA0002907810400000042
in the formula, KrIs the reflection coefficient of the target, tsIs the sampling time interval, n is the sampling sequence, τ is the target echo time delay, μ1＝B/T1，μ2＝B/T4,
Figure BDA0002907810400000043
Corresponding to the initial phase of each segment of the difference frequency signal.
(30) Detecting the frequency spectrum peak of the difference frequency signal: performing fast Fourier transform on the filtered discrete signal to obtain frequency spectrum information of the echo difference frequency signal, performing peak value detection by adopting a constant false alarm algorithm, and obtaining the peak value frequency of the echo difference frequency signal corresponding to each section of target waveform through peak value search;
suppose that the target region has a distance RnVelocity vnIf the target n moves at a uniform speed, the peak frequency of the echo difference frequency signal corresponding to each segment of target waveform obtained in the step (30) of detecting the peak value of the echo difference frequency signal is as follows:
Figure BDA0002907810400000051
in the formula (f)b1_up、fb2_down、fb3_cAnd fb4_upAnd respectively corresponding to the peak frequency of the echo difference frequency signal of each section of the target waveform.
(40) Detecting a composite waveform target: synthesizing the echo difference frequency signal peak frequency corresponding to each section of target waveform to obtain a combined target distance velocity matrix, a velocity matrix and a distance matrix; eliminating false targets in the combined target distance speed matrix in the speed dimension by using the speed information of the speed matrix; eliminating false targets in the distance speed matrix of the combined target in the distance dimension by using the distance information of the distance matrix; thereby obtaining the distance and speed information of the real target. The (40) complex waveform target detection step specifically includes:
(41) the combined objective is obtained: pairing the peak frequencies of the 1 st frequency ascending section and the 2 nd frequency descending section to obtain a combined target distance and speed matrix F1[(R1,v1),(R2,v2),...(RW,vW)]；
(42) Speed channel matching: obtaining a target radial velocity matrix V through the peak frequency of the 3 rd section constant frequency band1[v1,v2,..vN]Establishing a speed tolerance function delta v, traversing F1Velocity value of combined target and V in (1)1Carrying out tolerance matching on the medium speed value, removing part of false targets, and obtaining a distance speed matrix F after screening2[(R1,v1),(R2,v2),...(RQ,vQ)]；
(43) Distance channel matching: obtaining a speed channel matrix R through the peak frequency of the 4 th frequency ascending section1[(R1,amb-,R1,amb+),(R2,amb-,R2,amb+),...(Rm,amb-,Rm,amb+)]Go through F2Target distance value and distance channel matrix R in (1)1Each distance channel in the system is matched, and the target which cannot be matched is judged as a false target, so that the distance and speed information of the real target is obtained.
The (41) combined target obtaining step specifically comprises:
in a single target scene, pairwise matching peak frequencies obtained by the 1 st frequency ascending section and the 2 nd frequency descending section, and obtaining distance and speed information of a target n through the following formula:
Figure BDA0002907810400000061
in a multi-target scene, if N targets exist and N peak frequencies are obtained in the 1 st section of frequency ascending section and the 2 nd section of frequency descending section through the step (30), N peak frequencies are generated according to the pairwise pairing of the above formulas2Combined targets, combined target range-velocity matrix F1Is [ (R)1,v1),(R2,v2),...(RW,vW)](w＝N2). Target range velocity matrix F1I.e. the combined target obtained in this step, which contains N2-N false targets.
And (42) speed channel matching, wherein the speed channel matching step is as follows:
the resulting speed tolerance function can be established by the following equation:
Figure BDA0002907810400000062
in the formula (f)sAs the sampling frequency, N, of the echo difference frequency signalFFT1Is the number of FFT points of the 1 st frequency rising segment, NFFT3The number of FFT points of the 3 rd section constant frequency section.
Obtaining N peak frequencies f in the 3 rd section constant frequency section through the step (30)b3_cn(N ═ 1,2,. N), the velocity matrix V is obtained by the following formula1[v1,v2,...vN]:
Figure BDA0002907810400000063
The velocity matrix V obtained1I.e. the resulting N speed channels. F is to be1Velocity of medium target and velocity matrix V1The speed values are subjected to tolerance matching, and if the following conditions are met, the matching is met:
|vm-vn|≤Δδv,m∈[1,2,...M],n∈[1,2,...N]
wherein v ism∈F1，vn∈V1M is a distance velocity matrix F1N is the distance momentMatrix V1Of (c) is calculated.
The (43) distance channel matching step specifically comprises:
the distance tolerance function can be established by the following equation:
Figure BDA0002907810400000071
in the formula (f)sAs the sampling frequency, N, of the echo difference frequency signalFFT1Is the number of FFT points of the 1 st frequency rising segment, NFFT4The number of FFT points of the 4 th constant frequency segment.
The peak frequency spectrum corresponding to the upper sweep frequency section of the target m is fb4_upmThen the fuzzy distance R of the target mm,amb＝cfb4_upm/2μ2The precise distance R of the target m can be obtainedmThe range is as follows:
Figure BDA0002907810400000072
wherein v ismin(negative number indicates that the target to be measured is far away from the radar) is the minimum speed value of N targets to be measured, vmaxIs the maximum speed value. Let Rm,amb-＝fb4_upmc/2μ+f0vmin/μ2Expressed as the peak spectrum fbm_upThe left end point of the distance interval of the corresponding target m; let Rm,amb+＝fb4_upmc/2μ2+f0vmax/μ2Expressed as spectral peak fbm_upAnd the right end point of the distance interval of the corresponding target m. The exact distance of the target m can be expressed as:
Rm∈[Rm,amb-，Rm,amb+]
wherein [ R ]m,amb-，Rm,amb+]Is the peak frequency fb4_upmCorresponding distance channel.
Assuming that N peak frequencies are obtained at the 4 th frequency rising section obtained in the step (30), the distance channel matrix R corresponds to1[(R1,amb-,R1,amb+),(R2,amb-,R2,amb+),...(RN,amb-,RN,amb+)]. Distance channel matrix R1I.e. the obtained N distance channels.
At peak frequency fb4_upmTaking the corresponding distance channel as an example, the following correction is made:
Figure BDA0002907810400000073
correcting the N distance channels to obtain a distance channel matrix
R2[(R1,amb-,R1,amb+),(R2,amb-,R2,amb+),...(RN,amb-,RN,amb+)]。
A target distance speed matrix F2Distance value and distance channel R in2And matching, if the following conditions are met:
Rm,amb-≤Rn≤Rm,amb+,m∈[1,2,...M],n∈[1,2,...N]
wherein R isn∈F2，Rm,amb-，Rm,amb+∈F2M is a distance velocity matrix F2N is the distance channel matrix R2Of (c) is calculated.
Fig. 3 is a schematic diagram showing matching effects of a speed channel and a distance channel of a millimeter wave short-range target detection method based on a composite frequency modulation continuous wave, and it can be seen that peak frequencies of a 1 st section of frequency rising section and a 2 nd section of frequency falling section are pairwise paired to calculate 16 combined targets, 4 radial speed values are obtained through a 3 rd section of constant frequency band, 9 false targets are removed through the speed channel, 4 distance channels are obtained through a 4 th section of frequency rising section, 3 false targets are removed through the distance channels, the 4 remaining combined targets after final matching are real targets, the algorithm is compared for 92 times totally, and the traditional target detection method based on a variable-period triangular wave is compared for 512 times, so that the method disclosed by the invention is higher in efficiency.

Claims (9)

1. A millimeter wave short-range target detection method based on composite frequency modulation continuous waves is characterized by comprising the following steps:
(10) millimeter wave radar signal transmission: constructing frequency modulation continuous waves of four sections of target waveforms; transmitting the frequency-modulated continuous wave as a millimeter wave radar transmission signal;
(20) echo signal mixing and filtering: mixing the received echo signal and the transmitting signal to obtain an echo difference frequency signal, sampling the difference frequency signal, and filtering the sampled discrete signal;
(30) detecting the frequency spectrum peak of the difference frequency signal: performing fast Fourier transform on the filtered discrete signal to obtain frequency spectrum information of the echo difference frequency signal, performing peak value detection by adopting a constant false alarm algorithm, and obtaining the peak value frequency of the echo difference frequency signal corresponding to each section of target waveform through peak value search;
(40) detecting a composite waveform target: synthesizing the echo difference frequency signal peak frequency corresponding to each section of target waveform to obtain a combined target distance velocity matrix, a velocity matrix and a distance matrix; eliminating false targets in the combined target distance speed matrix in the speed dimension by using the speed information of the speed matrix; eliminating false targets in the distance speed matrix of the combined target in the distance dimension by using the distance information of the distance matrix; thereby obtaining the distance and speed information of the real target.
2. The short-range target detection method of claim 1, wherein in the (10) millimeter wave signal transmission step, the millimeter wave radar signal is as follows:
Figure FDA0002907810390000011
in the formula, alpha0Is the amplitude information of the transmitted signal, f0Is the initial frequency of the signal, B is the bandwidth of the signal, T1、T2、T3Respectively corresponding to the 1 st frequency ascending section, the 2 nd frequency descending section, the 3 rd constant frequency section and the 4 th frequency ascending sectionThe frequency sweep time of (2) is wide,
Figure FDA0002907810390000012
corresponding to the initial phase of each segment, respectively.
3. The short range object detection method of claim 2 wherein said 1 st segment frequency rise segment frequency sweep duration T1And the sweep time width T of the 2 nd frequency falling section2The requirements are as follows:
T1＝T2
the sweep frequency time width T of the 4 th frequency rising segment4The requirements are as follows:
Figure FDA0002907810390000021
in the formula, vminIs the minimum velocity value of the target to be measured, negative number indicates that the target to be measured is far away from the radar, vmaxM is the maximum speed value and ranges from 1 to 10, T4The range is guaranteedmax＜＜T4,τmaxThe target maximum echo time delay.
4. The short-range object detection method of claim 2, wherein in the echo signal mixing and filtering step (20), the sampled discrete signals are:
Figure FDA0002907810390000022
in the formula, KrIs the reflection coefficient of the target, tsIs the sampling time interval, n is the sampling sequence, τ is the target echo time delay, μ1＝B/T1，μ2＝B/T4,
Figure FDA0002907810390000024
Corresponding to the initial phase of each segment of the difference frequency signal.
5. The short-range target detection method of claim 4, wherein the peak frequency of the echo difference frequency signal corresponding to each target waveform obtained in the step of (30) detecting the peak value of the echo difference frequency signal is:
Figure FDA0002907810390000023
in the formula (f)b1_up、fb2_down、fb3_cAnd fb4_upAnd respectively corresponding to the peak frequency of the echo difference frequency signal of each section of the target waveform.
6. The short-range object detection method of claim 5, wherein said (40) complex-waveform object detection step specifically comprises:
(41) the combined objective is obtained: pairing the peak frequencies of the 1 st frequency ascending section and the 2 nd frequency descending section to obtain a combined target distance and speed matrix F1[(R1,v1),(R2,v2),...(RW,vW)]；
(42) Speed channel matching: obtaining a target radial velocity matrix V through the peak frequency of the 3 rd section constant frequency band1[v1,v2,...vN]Establishing a speed tolerance function delta v, traversing F1Velocity value of combined target and V in (1)1Carrying out tolerance matching on the medium speed value, removing part of false targets, and obtaining a distance speed matrix F after screening2[(R1,v1),(R2,v2),...(RQ,vQ)]；
(43) Distance channel matching: obtaining a speed channel matrix R through the peak frequency of the 4 th frequency ascending section1[(R1,amb-,R1,amb+),(R2,amb-,R2,amb+),...(Rm,amb-,Rm,amb+)]Go through F2Target distance value and distance channel matrix R in (1)1Each distance channel in the system is matched, and the target which cannot be matched is matchedAnd judging as a false target, and obtaining the distance and speed information of the real target.
7. Short-range object detection method according to claim 6, characterized in that said (41) combined object obtaining step is embodied as:
under a single-target scene, matching the peak frequency obtained by the 1 st frequency ascending section and the 2 nd frequency descending section, and obtaining the distance and speed information of a target n by the following formula:
Figure FDA0002907810390000031
under the multi-target scene, if N targets exist and N peak frequencies are obtained in the 1 st section of frequency rising section and the 2 nd section of frequency falling section through echo difference frequency signal peak value detection, N peak frequencies can be generated according to the pairwise pairing of the above formulas2Combined targets, combined target range-velocity matrix F1Is [ (R)1,v1),(R2,v2),...(RW,vW)](w＝N2) Target range velocity matrix F1I.e. the combined target obtained in this step, which contains N2-N false targets.
8. Short-range object detection method according to claim 7, characterized in that the speed channel matching step (42) is embodied as:
n peak frequencies f are obtained from the 3 rd constant frequency sectionb3_cn(N ═ 1,2,. N), the velocity matrix V is obtained by the following formula1[v1,v2,...vN]:
Figure FDA0002907810390000041
The velocity matrix V1Namely obtaining N speed channels; the resulting velocity tolerance function Δ δ v can be established by the following equation:
Figure FDA0002907810390000042
in the formula (f)sAs the sampling frequency, N, of the echo difference frequency signalFFT1Is the number of FFT points of the 1 st frequency rising segment, NFFT3The number of FFT points of the 3 rd section constant frequency section;
f is to be1Velocity of medium target and velocity matrix V1The speed values are subjected to tolerance matching, and if the following conditions are met, the matching is met:
|vm-vn|≤Δδv,m∈[1,2,...M],n∈[1,2,...N]
where M is a distance velocity matrix F1N is a distance matrix V1Of (c) is calculated.
9. Short-range target detection method according to claim 8, characterized in that the (43) distance channel matching step is embodied as:
the peak frequency spectrum corresponding to the upper sweep frequency section of the target m is fb4_upmThen the fuzzy distance R of the target mm,amb＝cfb4_upm/2μ2The precise distance R of the target m can be obtainedmThe range is as follows:
Figure FDA0002907810390000043
wherein v isminIs the minimum speed value of N targets to be measured, negative number indicates that the target to be measured is far away from radar, vmaxFor the maximum speed value, let Rm,amb-＝fb4_upmc/2μ+f0vmin/μ2Expressed as the peak spectrum fbm_upThe left end point of the distance interval of the corresponding target m; let Rm,amb+＝fb4_upmc/2μ2+f0vmax/μ2Expressed as spectral peak fbm_upAnd the accurate distance of the target m at the right end point of the corresponding distance interval of the target m has the following relation:
Rm∈[Rm,amb-，Rm,amb+]
wherein [ R ]m,amb-，Rm,amb+]Is the peak frequency fb4_upmA corresponding distance channel;
obtaining N peak frequencies from the 4 th frequency rising section, and corresponding to the distance channel matrix R1[(R1,amb-,R1,amb+),(R2,amb-,R2,amb+),...(RN,amb-,RN,amb+)]Distance channel matrix R1Namely N distance channels are obtained;
the distance tolerance function Δ δ R can be established by the following equation:
Figure FDA0002907810390000051
in the formula (f)sAs the sampling frequency, N, of the echo difference frequency signalFFT1Is the number of FFT points of the 1 st frequency rising segment, NFFT4The number of FFT points of the 4 th constant frequency section;
wherein the peak frequency fb4_upmThe corresponding distance channel is corrected as follows:
Figure FDA0002907810390000052
respectively correcting the N distance channels to obtain a distance channel matrix
R2[(R1,amb-,R1,amb+),(R2,amb-,R2,amb+),...(RN,amb-,RN,amb+)]；
A target distance speed matrix F2Distance value and distance channel R in2Each distance channel in the system is matched, and if the following relational expression is met, the target meets the matching; if not, the data are rejected;
Rm,amb-≤Rn≤Rm,amb+,m∈[1,2,...M],n∈[1,2,...N]
wherein the content of the first and second substances,m is a distance velocity matrix F2N is the distance channel matrix R2Dimension (d);
after matching, a target distance and speed matrix F is obtained3[(R1,v1),(R2,v2),...(RN,vN)]Namely the real target obtained by calculation.
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