CN112904293A - Close-range target simulation method for fast-scanning sawtooth wave radar - Google Patents

Close-range target simulation method for fast-scanning sawtooth wave radar Download PDF

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CN112904293A
CN112904293A CN202110141113.3A CN202110141113A CN112904293A CN 112904293 A CN112904293 A CN 112904293A CN 202110141113 A CN202110141113 A CN 202110141113A CN 112904293 A CN112904293 A CN 112904293A
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waveform
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CN112904293B (en
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江海清
徐成发
左臣瑞
刘晓
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Beijing Institute of Technology BIT
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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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • 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
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4056—Means for monitoring or calibrating by simulation of echoes specially adapted to FMCW
    • 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
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Abstract

The invention discloses a close-range target simulation method for a fast-sweeping sawtooth wave waveform radar, which combines the fast-sweeping sawtooth wave waveform measurement principle commonly applied to the current automotive millimeter wave radar and utilizes the inherent delay compensation method of a target echo simulation system to carry out delay compensation on radar signals, breaks through the limitation that the target distance which can be simulated by the target echo simulation system is limited by the inherent delay of the target echo simulation system, and further solves the problem that the target echo simulation system cannot carry out close-range simulation.

Description

Close-range target simulation method for fast-scanning sawtooth wave radar
Technical Field
The invention belongs to the technical field of radar testing, and particularly relates to a close-range target simulation method for a fast-sweeping sawtooth wave radar.
Background
The concept of intelligent driving, unmanned driving and the like of the vehicle is provided, and the requirement on higher safety characteristic of the vehicle is met, so that the rapid development of an Advanced Driving Assistance System (ADAS) is promoted. In ADAS, an adaptive cruise system, a collision avoidance system, an emergency braking system, a blind spot detection system, a lane change assist system, and the like all require the use of a key module, namely an automotive radar. According to different application scenes, different measurement capabilities and different anti-interference requirements, the automotive millimeter wave radar has various emission signal waveforms. The common transmitting signal waveforms include a plurality of waveform forms such as a Linear Frequency Modulated Continuous Wave (LFMCW) waveform, a fast swept sawtooth waveform, a staggered sawtooth waveform, and a multi-group fast swept sawtooth waveform. Like all radar products, the automotive millimeter wave radar has to be subjected to comprehensive function debugging and performance testing in the development and production processes. Therefore, based on the principle of a military radar simulator, a research scholars develops echo signal simulation equipment capable of simulating the working environment of the automobile millimeter wave radar to test the millimeter wave radar, and the echo signal simulation equipment is the automobile millimeter wave radar target simulator and is also called a target echo simulation system.
Because the millimeter wave radar of the automobile needs to perform short-distance detection in the aspects of adaptive cruise control, auxiliary parking and the like, the simulation of a short-distance target is an important index of a target simulator of the millimeter wave radar of the automobile. The current simulation of the nearest distance of the target is limited by the influence of the inherent delay of a radar target simulator, in particular to a target echo simulation system based on the DRFM technology with larger system inherent delay. The DRFM technology mainly utilizes digital processors such as FPGA and the like to realize the simulation of a plurality of target speeds and distances, and has high parameter control precision and good expandability. However, the simulation of near targets remains an unsolved problem with the DRFM technique, which also makes it difficult for the technique to take advantage of other performance advantages.
Disclosure of Invention
In view of this, the invention provides a close-range target simulation method for a fast-scan sawtooth waveform radar, which can realize close-range target simulation of a fast-scan sawtooth waveform automobile millimeter wave radar.
The invention provides a close-range target simulation method for a fast-sweeping sawtooth wave radar, which comprises the following steps of:
step 1, calculating a distance value corresponding to inherent delay of a target echo simulation system; acquiring a time-frequency diagram of a fast-sweeping sawtooth wave sent by a radar to be detected, and judging the K value quantity of the fast-sweeping sawtooth wave according to the time-frequency diagram;
step 2, if the number of the K values is equal to 1, calculating to obtain a difference frequency compensation value f according to the K values and the distance valuesBObtaining the start of the sub-waveformA location; according to the difference frequency compensation value fBGenerating a delay compensation signal; at the initial position of the sub-waveform, carrying out time delay compensation on the fast-sweeping sawtooth wave subjected to down-conversion by adopting the time delay compensation signal to form a compensation radar signal;
if the number of the K values is more than 1, acquiring switching time among different K values and the switched K values; calculating to obtain the difference frequency compensation value f according to the switched K value and the distance valueB(ii) a According to the difference frequency compensation value fBGenerating a delay compensation signal; at the position corresponding to the switching moment, carrying out delay compensation on the fast-sweeping sawtooth wave subjected to down-conversion by adopting the delay compensation signal to form a compensation radar signal; the K value is the frequency modulation slope of the fast-sweeping sawtooth wave;
and 3, sequentially carrying out speed modulation, distance modulation and power modulation on the compensation radar signal, then carrying out frequency conversion on the compensation radar signal, and then sending the compensation radar signal to the radar to be detected, so as to complete the simulation of the short-distance target of the radar to be detected.
Further, the calculating a distance value corresponding to the inherent delay of the target echo simulation system in step 1 includes the following steps:
step 2.1, setting a target to be simulated with a fixed distance;
step 2.2, roughly adjusting a distance value corresponding to the inherent delay of the target echo simulation system, so that the measured distance of the target to be simulated, which is obtained by the radar to be tested, is the same as the fixed distance; the adjustment precision of the coarse adjustment is meter level;
step 2.3, finely adjusting a distance value corresponding to the inherent delay of the target echo simulation system to ensure that the measured distance is the same as the fixed distance, and the speed of the target to be simulated, which is obtained by the radar to be tested, is zero; the fine adjustment has an adjustment precision of 0.01 m or more.
Further, the difference frequency compensation value f is calculated according to the K value and the distance valueBAnd calculating the difference frequency compensation value f according to the switched K value and the distance valueBAll the following formulas are adopted for calculation:
Figure BDA0002927159930000031
wherein R is0And C is the distance value corresponding to the inherent delay of the target echo simulation system, C is the light speed, B is the bandwidth of the fast-sweeping sawtooth wave, T is the waveform period of the fast-sweeping sawtooth wave, and K is the frequency modulation slope of the fast-sweeping sawtooth wave.
Further, in the step 2, the manner of performing delay compensation on the down-converted fast-sweeping sawtooth wave by using the delay compensation signal to form a compensation radar signal is as follows: and carrying out complex multiplication operation on the fast-sweeping sawtooth wave and the delay compensation signal.
Further, the fast-sweeping sawtooth wave is any one of a group of continuous fast-sweeping sawtooth waves, a group of intermittent fast-sweeping sawtooth waves, two groups of intermittent fast-sweeping sawtooth waves or a combined fast-sweeping sawtooth wave.
Further, the manner of obtaining the time-frequency diagram of the fast-sweeping sawtooth wave sent by the radar to be detected in step 1 is as follows: and a channelized frequency measurement mode is adopted.
Further, the manner of acquiring the start position of the sub-waveform and acquiring the switching time between different K values in step 2 is as follows: and acquiring by adopting a waveform starting point detection method.
8. The method of claim 7, wherein the waveform start point detection method comprises detection of a set of continuous fast sweeping sawtooth waves, comprising the steps of:
and intercepting the time-frequency graph of the group of continuous fast-scan sawtooth waves by using a frequency maximum value threshold or a frequency minimum value threshold, and determining the position of the maximum value or the minimum value of the frequency of the group of continuous fast-scan sawtooth waves, wherein the position is the initial position of the sub-waveform.
Further, the method for detecting the waveform starting point comprises the detection of two groups of intermittent fast-sweeping sawtooth waves, and comprises the following steps:
intercepting the time-frequency graphs of the two groups of intermittent fast-sweeping sawtooth waves by using a frequency maximum value threshold or a frequency minimum value threshold to obtainThe frequency of the two groups of intermittent fast-scanning sawtooth waves is marked; obtaining waveform existence marks of the two groups of intermittent fast-sweeping sawtooth waves according to the frequency existence marks and the signal amplitude detection marks; when the number of invalid moments in the waveform existence mark is larger than the known minimum waveform stop time, the K value of the next sub-waveform is K1Otherwise, the K value of the next sub-waveform is K2(ii) a And the positions of the waveform existence marks from the nonexistence to the existence are the starting positions of the sub-waveforms.
Further, the method for detecting the waveform starting point comprises the step of detecting the combined type fast-sweeping sawtooth wave, and comprises the following steps:
step 10.1, taking the down-regulated frequency band of any sub-waveform in the combined fast-sweeping sawtooth wave as the minimum waveform stop-send duration; intercepting a time-frequency graph of the combined fast-sweeping sawtooth wave by adopting a frequency maximum threshold;
step 10.2, clearing the timer at the moment when the frequency maximum value occurs and starting timing;
when the counting value of the timer is larger than or equal to the gap duration between the sub-waveforms of the combined fast-sweeping sawtooth wave, the current sub-waveform is the starting point of the next sub-waveform during waveform switching, and the K value of the sub-waveform is switched to K1(ii) a The timer continues counting, and step 10.2 is executed;
when the count value of the timer is greater than or equal to the minimum waveform stop duration, switching the K value of the sub-waveform to K2Executing the step 10.3;
all the frequency maximum value points appearing in the step 10.3 and the step 10.2 are the starting points of the sub-waveforms.
Has the advantages that:
the method combines the fast-sweeping sawtooth wave waveform measuring principle generally applied to the current automobile millimeter wave radar, utilizes the inherent delay compensation method of the target echo simulation system to perform delay compensation on radar signals, breaks through the limitation that the target distance which can be simulated by the target echo simulation system is limited by the inherent delay of the target echo simulation system, and further solves the problem that the target echo simulation system cannot perform close-range simulation.
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Fig. 1 is a flowchart of a close-range target simulation method for a fast-scan sawtooth waveform radar according to the present invention.
Fig. 2(a) is a schematic diagram of a minimum threshold of a group of fast-scan sawtooth waveform starting point detection methods for a short-distance target simulation method for a fast-scan sawtooth waveform radar provided by the present invention.
Fig. 2(b) is a maximum threshold diagram of a group of fast-scan sawtooth waveform starting point detection methods for a short-distance target simulation method for a fast-scan sawtooth waveform radar provided by the present invention.
Fig. 3 is a schematic diagram of two groups of intermittent fast-sweeping sawtooth waveform starting point detection methods for a short-distance target simulation method of a fast-sweeping sawtooth waveform radar according to the present invention.
Fig. 4 is a schematic diagram of a combined fast-scan sawtooth waveform starting point detection method for a short-distance target simulation method of a fast-scan sawtooth waveform radar according to the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a close-range target simulation method for a fast-scanning sawtooth wave radar, which has the basic idea that: based on the existing DRFM simulator technology, according to the characteristics of the radar to be tested, the delay compensation method inherent in the target echo simulation system is utilized to carry out delay compensation on the radar signal, so that the simulation of the short-distance target of the radar to be tested is realized.
The invention provides a close-range target simulation method for a fast-scanning sawtooth wave waveform radar, which has the flow shown in figure 1 and specifically comprises the following steps:
step 1, using a reference radar for assistance to obtain a distance value corresponding to the inherent delay of a target echo simulation system.
Specifically, a reference radar auxiliary target echo simulation system is used for simulation test, and delay compensation is not performed at the moment, so that a distance value corresponding to the inherent delay of the system can be obtained at the radar end to be tested. Here, a difference obtained by subtracting the distance between the radar to be measured and the target echo simulation system from the distance corresponding to the system inherent delay may be used as a reference value of the processing delay of the target echo simulation system.
The process for testing the distance value corresponding to the inherent delay of the target echo simulation system comprises the following steps:
setting a simulation target with fixed distance and zero speed, measuring the distance between the radar and the radar target echo simulation system, adding the distance value to a reference value of processing delay of the target echo simulation system to be used as a new distance value corresponding to the inherent delay of the system until the distance of the simulation target measured by the radar is consistent with the set distance of the simulation target; and on the distance value corresponding to the inherent delay of the system obtained after coarse adjustment in the steps, the positive and negative fine adjustment of the low-order numerical value of the distance value corresponding to the inherent delay of the system is carried out until the difference value between the currently measured target distance value and the set target distance value of the radar is within the range of the ranging error of the radar, and meanwhile, the currently measured target speed value of the radar is zero.
In the invention, the distance value corresponding to the inherent delay of the target echo simulation system is the sum of the distance value converted by the processing delay of the target echo simulation system and the distance value between the radar to be measured and the target echo simulation system.
And 2, processing the fast-sweeping sawtooth wave sent by the radar to be detected by adopting a channelized frequency measurement method to obtain a time-frequency diagram of the fast-sweeping sawtooth wave, judging the number of different K values of the fast-sweeping sawtooth wave waveform according to the time-frequency diagram, and performing waveform synchronization by using a waveform starting point detection method. The value of K is the chirp rate of the fast-sweeping sawtooth wave.
If the number of the K values is equal to 1, calculating to obtain a difference frequency compensation value f according to the K values and the distance valuesBAcquiring the initial position of the sub-waveform; according to the difference frequency compensation value fBGenerating a delay compensation signal; at the initial position of the sub waveform, carrying out delay compensation on the fast-sweeping sawtooth wave subjected to down-conversion by adopting a delay compensation signal to form a compensation radar signal; if the number of the K values is larger than 1, acquiring switching time among different K values and the switched K values; according to the switched K value and the distance valueCalculating to obtain a difference frequency compensation value fB(ii) a According to the difference frequency compensation value fBGenerating a delay compensation signal; and at the position corresponding to the switching moment, carrying out delay compensation on the fast-sweeping sawtooth wave subjected to down-conversion by adopting a delay compensation signal to form a compensation radar signal.
The step of waveform synchronization comprises: and when the K value is single, determining the initial position of the identified first sub-waveform by directly utilizing a waveform initial point detection method, and after generating a difference frequency compensation signal, performing complex multiplication with a radar signal at the position to perform waveform synchronization once. When a plurality of K values exist, real-time frequency values obtained by channelizing frequency measurement are detected by using a waveform starting point detection method, so that K value starting moments of different sub-waveforms are distinguished, a difference frequency compensation signal is generated, then a sub-waveform starting position is determined, and the difference frequency compensation signal and a radar signal are multiplied at the position to realize waveform synchronization of the sub-waveforms with different K values. Meanwhile, at the position of a frequency mutation point of each sub-waveform (the frequency is mutated from the maximum frequency to the minimum frequency or from the minimum frequency to the maximum frequency), zero clearing processing is carried out on the initial phase of the DDS module generating the difference frequency compensation signal.
The method for detecting the waveform starting point comprises a characteristic detection method aiming at waveforms such as a group of continuous quick-scanning sawtooth waves, a group of intermittent quick-scanning sawtooth waves, two groups of intermittent quick-scanning sawtooth waves and a combined quick-scanning sawtooth wave.
Wherein, the difference frequency compensation value fBCalculated according to the following formula:
Figure BDA0002927159930000071
wherein R is0The method is characterized in that the distance value corresponding to the inherent delay of a target echo simulation system is represented by C, C is the light speed, B is the bandwidth of a fast-sweeping sawtooth waveform, T is one waveform period of the fast-sweeping sawtooth waveform, and K is the frequency modulation slope of the fast-sweeping sawtooth waveform.
The K value of the fast-sweeping sawtooth wave waveform is obtained by a channelized frequency measurement module, specifically, the real-time frequency of a radar signal is obtained by the frequency measurement module, and characteristic parameters of the fast-sweeping sawtooth wave waveform are measured through a time-frequency diagram, wherein the parameters comprise B and T. Likewise, the parameter can also be obtained directly by the radar side to be measured.
The mode that adopts the time delay compensation signal to carry out the time delay compensation to the fast sweeping sawtooth wave through the frequency down-conversion and form the compensation radar signal is: and carrying out complex multiplication operation on the fast-sweeping sawtooth wave and the delay compensation signal.
The method for detecting the starting point of the waveform is used for waveform synchronization, and comprises the following conditions:
fig. 2(a) and 2(b) show schematic diagrams of a method for detecting a waveform starting point of a group of fast-sweeping sawtooth waves, and the method comprises the following steps: and intercepting the real-time frequency value obtained by channelizing frequency measurement by using a frequency maximum value threshold or a frequency minimum value threshold so as to determine the position of the frequency maximum value or the position of the frequency minimum value, wherein the position is the initial position of each sub-waveform.
The schematic diagram of the method for detecting the waveform starting point of two groups of intermittent fast-sweeping sawtooth waves is shown in fig. 3, and the related steps comprise: intercepting a real-time frequency value obtained by channelizing frequency measurement by using a frequency minimum threshold so as to obtain a frequency existence mark; combining the signal amplitude detection mark to obtain a fast-sweeping sawtooth waveform existence mark; counting the invalid time of the mark of the fast sweeping sawtooth wave shape and comparing with the known minimum wave shape stop time (IDLE1), if the number is larger than IDLE1, the K value of the next sub-wave shape is K1Otherwise, the K value of the next sub-waveform is K2This step is repeated continuously. The position of the frequency existence mark from the nonexistence is the starting point corresponding to each sub-waveform.
Wherein the signal amplitude detection mark is obtained by channelized amplitude measurement.
The method for detecting the waveform starting point of the combined type fast-sweeping sawtooth wave comprises the following steps: as shown in fig. 4, the down-regulated frequency band of the second sub-waveform is used as IDLE1, a real-time frequency value obtained by channelizing and frequency measuring is intercepted by using a frequency maximum threshold, and a timer is cleared and starts to time at the time of the maximum; when the count value of the timer is greater than or equal to the waveform IDLE2, the starting point of the next group of waveforms is found, and the value K is switched to be K1(ii) a The timer continues to count until the next maximum point arrivesThe arrival of a new frequency maximum value point; after the new frequency maximum value comes, the timer is cleared and counts again until the value is more than or equal to IDLE1, the K value is switched to K2. In the method, the waveform starting point is detected by comparing the time length between adjacent maximum value points with the size relation of a waveform IDLE, and the frequency maximum value point is the sub-waveform starting point.
And 3, sequentially carrying out speed modulation, distance modulation and power modulation on the compensation radar signal, then carrying out frequency conversion on the compensation radar signal, and then sending the compensation radar signal to the radar to be detected, so as to complete the simulation of the short-distance target of the radar to be detected.
Setting a simulation target with a fixed distance, and roughly adjusting the distance value corresponding to the inherent delay of the system until the distance of the simulation target measured by the radar is consistent with the set distance of the simulation target; and the inherent delay of the fine adjustment system corresponds to the distance value until the distance of the simulated target measured by the radar is consistent with the set distance of the simulated target and the speed of the simulated target measured by the radar is zero.
The feasibility analysis of the close-range target simulation method for the fast-scan sawtooth wave radar provided by the invention is as follows:
the radar suitable for the invention is the radar which adopts the fast-sweeping sawtooth wave waveform to measure the distance and the speed. Compensating the difference frequency f caused by the inherent delay of the system at the radar endB_radarSum-difference frequency compensation value fBThe numerical values are the same and the signs are opposite. The waveform starting point detection method adopted by the invention can match different fast-scan sawtooth waveform characteristics, and can be suitable for most fast-scan sawtooth waveform radars.
After the distance value corresponding to the inherent delay of the system is roughly adjusted, the distance value corresponding to the inherent delay of the system is basically compensated, the set simulated target distance value is basically consistent with the radar distance detection value, but the target speed detected by the radar is not zero due to the difference frequency deviation. Because the sub-waveform synchronization position has deviation, after the target distance value is adjusted correctly through the distance value corresponding to the inherent delay of the coarse adjustment system, the distance value corresponding to the inherent delay of the fine adjustment system is adjusted until the target speed detected by the radar is zero.
The distance value corresponding to the inherent delay of the system is coarsely adjusted and finely adjusted, and the inherent delay of the system is compensated, so that the limitation of the inherent delay of the system on the nearest distance of a simulated close-range target can be eliminated, and a target of zero meter can be simulated.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A close-range target simulation method for a fast-sweeping sawtooth waveform radar is characterized by comprising the following steps:
step 1, calculating a distance value corresponding to inherent delay of a target echo simulation system; acquiring a time-frequency diagram of a fast-sweeping sawtooth wave sent by a radar to be detected, and judging the K value quantity of the fast-sweeping sawtooth wave according to the time-frequency diagram;
step 2, if the number of the K values is equal to 1, calculating to obtain a difference frequency compensation value f according to the K values and the distance valuesBAcquiring the initial position of the sub-waveform; according to the difference frequency compensation value fBGenerating a delay compensation signal; at the initial position of the sub-waveform, carrying out time delay compensation on the fast-sweeping sawtooth wave subjected to down-conversion by adopting the time delay compensation signal to form a compensation radar signal;
if the number of the K values is more than 1, acquiring switching time among different K values and the switched K values; calculating to obtain the difference frequency compensation value f according to the switched K value and the distance valueB(ii) a According to the difference frequency compensation value fBGenerating a delay compensation signal; at the position corresponding to the switching moment, carrying out delay compensation on the fast-sweeping sawtooth wave subjected to down-conversion by adopting the delay compensation signal to form a compensation radar signal; the K value is the frequency modulation slope of the fast-sweeping sawtooth wave;
and 3, sequentially carrying out speed modulation, distance modulation and power modulation on the compensation radar signal, then carrying out frequency conversion on the compensation radar signal, and then sending the compensation radar signal to the radar to be detected, so as to complete the simulation of the short-distance target of the radar to be detected.
2. The method for close-range target simulation according to claim 1, wherein the step 1 of calculating the distance value corresponding to the inherent delay of the target echo simulation system comprises the following steps:
step 2.1, setting a target to be simulated with a fixed distance;
step 2.2, roughly adjusting a distance value corresponding to the inherent delay of the target echo simulation system, so that the measured distance of the target to be simulated, which is obtained by the radar to be tested, is the same as the fixed distance; the adjustment precision of the coarse adjustment is meter level;
step 2.3, finely adjusting a distance value corresponding to the inherent delay of the target echo simulation system to ensure that the measured distance is the same as the fixed distance, and the speed of the target to be simulated, which is obtained by the radar to be tested, is zero; the fine adjustment has an adjustment precision of 0.01 m or more.
3. The method of claim 1, wherein the difference frequency compensation value f is calculated according to the K value and the distance valueBAnd calculating the difference frequency compensation value f according to the switched K value and the distance valueBAll the following formulas are adopted for calculation:
Figure FDA0002927159920000021
wherein R is0And C is the distance value corresponding to the inherent delay of the target echo simulation system, C is the light speed, B is the bandwidth of the fast-sweeping sawtooth wave, T is the waveform period of the fast-sweeping sawtooth wave, and K is the frequency modulation slope of the fast-sweeping sawtooth wave.
4. The method according to claim 1, wherein the step 2 of performing the delay compensation on the down-converted fast-sweeping sawtooth wave by using the delay compensation signal to form a compensated radar signal comprises: and carrying out complex multiplication operation on the fast-sweeping sawtooth wave and the delay compensation signal.
5. The method of claim 1, wherein the fast sweeping sawtooth is any one of a set of continuous fast sweeping sawtooth, a set of intermittent fast sweeping sawtooth, two sets of intermittent fast sweeping sawtooth, or a combined fast sweeping sawtooth.
6. The method according to claim 1, wherein the manner of obtaining the time-frequency diagram of the fast-sweeping sawtooth wave transmitted by the radar to be tested in step 1 is as follows: and a channelized frequency measurement mode is adopted.
7. The method according to claim 1, wherein the starting position of the sub-waveform and the switching time between the different K values are obtained in step 2 by: and acquiring by adopting a waveform starting point detection method.
8. The method of claim 7, wherein the waveform start point detection method comprises detection of a set of continuous fast sweeping sawtooth waves, comprising the steps of:
and intercepting the time-frequency graph of the group of continuous fast-scan sawtooth waves by using a frequency maximum value threshold or a frequency minimum value threshold, and determining the position of the maximum value or the minimum value of the frequency of the group of continuous fast-scan sawtooth waves, wherein the position is the initial position of the sub-waveform.
9. The method of claim 7, wherein the waveform initiation point detection method comprises detection of two sets of intermittent fast sweeping sawtooth waves, comprising the steps of:
intercepting the time-frequency graphs of the two groups of intermittent fast-scanning sawtooth waves by utilizing a frequency maximum value threshold or a frequency minimum value threshold to obtain frequency existence marks of the two groups of intermittent fast-scanning sawtooth waves; obtaining waveform existence marks of the two groups of intermittent fast-sweeping sawtooth waves according to the frequency existence marks and the signal amplitude detection marks; when the number of invalid times in the waveform existence flag is larger than the known numberWhen the minimum waveform of the sub-waveform is stopped, the K value of the next sub-waveform is K1Otherwise, the K value of the next sub-waveform is K2(ii) a And the positions of the waveform existence marks from the nonexistence to the existence are the starting positions of the sub-waveforms.
10. The method of claim 7, wherein the waveform initiation point detection method comprises detection of a combined fast-sweeping sawtooth wave, comprising the steps of:
step 10.1, taking the down-regulated frequency band of any sub-waveform in the combined fast-sweeping sawtooth wave as the minimum waveform stop-send duration; intercepting a time-frequency graph of the combined fast-sweeping sawtooth wave by adopting a frequency maximum threshold;
step 10.2, clearing the timer at the moment when the frequency maximum value occurs and starting timing;
when the counting value of the timer is larger than or equal to the gap duration between the sub-waveforms of the combined fast-sweeping sawtooth wave, the current sub-waveform is the starting point of the next sub-waveform during waveform switching, and the K value of the sub-waveform is switched to K1(ii) a The timer continues counting, and step 10.2 is executed;
when the count value of the timer is greater than or equal to the minimum waveform stop duration, switching the K value of the sub-waveform to K2Executing the step 10.3;
all the frequency maximum value points appearing in the step 10.3 and the step 10.2 are the starting points of the sub-waveforms.
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