CN113253236A - Rainy-day clutter suppression method based on millimeter-wave radar - Google Patents
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Abstract
The invention discloses a method for suppressing clutter in rainy days based on a millimeter wave radar, which comprises the following steps: the millimeter wave radar carries out CFAR detection on the signals to obtain a point cloud data set; calculating a variance value and a mean value of each frame point cloud set in a background detection area; setting a sliding sign List, calculating the variance value of the echo amplitude of the point cloud within the number of sliding window frames, and if the variance value is greater than the threshold value<K 1Setting a sliding mark as a rainy day; if the variance value is 0, setting a sliding sign as a sunny day; the number of consecutive marks of the sliding sign as rainy days>K 2Then, the method enters a rainy background target detection mode, and the sliding marks are continuously marked as the number of sunny days>K 3And entering a fine day background target detection mode. According to the invention, through automatic identification in rainy days and sunny days, the target detection algorithm is flexibly adjusted, and the accuracy and stability of target detection are improved; the method has the advantages that the cloud point information of the background target point in the rainy day is extracted statistically, the accuracy of identification in the rainy day is effectively improved, the clutter in the rainy day is inhibited, and the false alarm probability in the rainy day is reduced.
Description
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a rainy-day clutter suppression method based on a millimeter-wave radar.
Technical Field
Along with the rapid development of millimeter wave radar, on-vehicle, the wisdom traffic, unmanned aerial vehicle etc. each field is by wide application, the applied environment is also more complicated, especially apply very much in outdoor scene, the factor that influences the target detection that faces is also many, rainy day is exactly one of them comparatively big factor that influences, the millimeter wave radar produces the condition of false retrieval, missed retrieval easily in weather such as torrential rain, this brings serious interference for the target detection, more serious probably causes radar information decay, there is great potential safety hazard. For example, in the use of wisdom traffic field, the radar service environment is comparatively complicated, and extremely strict to the stable detectability requirement of product, and weather such as torrential rain has greatly reduced the detection performance of millimeter wave radar to the target.
Disclosure of Invention
In view of this, the invention provides a method for suppressing clutter in rainy days based on a millimeter wave radar, which comprises the following steps:
the millimeter wave radar extracts echo information reflected after a transmitting signal meets a target to be detected, and the echo information is processed to obtain a range-Doppler heat map;
performing a CFAR detection algorithm on the distance-Doppler heat map to obtain an original point cloud, and performing angle estimation on the original point cloud to obtain a point cloud set Z;
setting a background detection area, and calculating the Z amplitude of a point cloud set of a current frame in the background detection area
Variance value of
WhereiniIn order to number the detection points,jthe frame number of the current frame;
setting a sliding mark List, storing the state mark of each frame in the sliding mark List, calculating the variance value of the point cloud echo amplitude within the sliding window frame number frameNum, if
It is the rainy day that the weather is,whereinK 1 To preset the threshold, a slip flag List is setk]Is a mark in rainy days; if it is not
Setting a slip flag Listk]Is a clear day sign, and a sliding sign List is set under other conditionsk]And k is the frame number;
counting the number of consecutive markers in the sliding List flag as rainy daysNWhen is coming into contact withNGreater than a set thresholdK 2Then, the method enters a rainy background target detection mode, and when the echo amplitude of the target pointP j Greater than a target detection thresholdK 4If the point target is a real target, otherwise, the point target is a clutter point;
counting the number of consecutive marked sunny days in the sliding sign ListN 1When is coming into contact withN 1Greater than a set thresholdK 3And then entering a fine-day background target detection mode from the rainy-day background target detection mode.
Further, the step of processing the echo information to obtain a range-doppler thermal map comprises the steps of:
carrying out frequency mixing processing on the transmitting signal and the echo signal to generate a frequency mixing signal;
performing AD sampling on the mixing signal to generate a time domain sampling signal;
and performing one-dimensional fast Fourier transform on the time domain sampling information to obtain a one-dimensional range profile of the radar, and performing two-dimensional fast Fourier transform processing on the one-dimensional range profile to obtain a range-Doppler thermal map.
Further, the set background detection area has no point cloud data under the condition of sunny days.
Further, the echo amplitude P is calculated as follows:
wherein,
RCS value, P, representing the targettIs the maximum transmit power, G, of the RF front endRXIs the gain of the receiving antenna, GTXIs the gain of the transmit antenna(s),
denotes the wavelength, TmeasRepresents the total measurement time of all chirp,dthe radial distance is indicated as such,kdenotes the boltzmann constant, T denotes the antenna temperature, and F denotes the noise figure.
Further, echo amplitude of each frame point cloud data set
The mean and variance calculation process of (a) is as follows:
calculating the variance of echo amplitude in the current point cloud data set and the background detection area
WhereiniIs the current frame number, NPThe number of the point clouds in the current point cloud data set,
is the point cloud set Z amplitude.
Further, a target detection thresholdK 4Calculated as follows:
wherein,Nthe number of the marks meeting the rainy day is shown,kthe gain factor is represented by a factor of gain,
indicating the amplitude of the background echo in rainy daysValue of
，
The mean value of the echo amplitudes of each frame of point cloud data set.
Further, detecting a target detection threshold value according to the rainy day background data detectionK 4Adjusting to set different gain coefficients for different rainfallk。
Further, a neural network is used to couple the gain coefficientskAnd (6) adjusting.
Further, the target is identified by adopting a fixed amplitude limit in the fine-day background target detection mode.
Compared with the prior art, the invention has the following beneficial effects:
1) by automatic identification in rainy days and sunny days, the target detection algorithm is flexibly adjusted, and the accuracy and stability of target detection are improved.
2) The variance of the echo amplitude P of the target point cloud is adopted, and the target point cloud information of the rainy day background is statistically extracted through multi-frame data, so that the accuracy of rainy day identification is effectively improved, rainy day clutter is effectively inhibited, and the rainy day false alarm probability is reduced.
Drawings
FIG. 1 is a flowchart of the present invention for clutter suppression in rainy weather;
FIG. 2 is a diagram of the variance of the echo amplitude of the background point cloud in sunny and rainy days;
FIG. 3 is a diagram of echo amplitude variance of the target point cloud in rainy days;
fig. 4 is a diagram of the effect of the invention in rainy weather.
Detailed Description
The invention is further described with reference to the accompanying drawings, but the invention is not limited in any way, and any alterations or substitutions based on the teaching of the invention are within the scope of the invention.
The invention discloses a method for suppressing clutter in rainy days based on a millimeter wave radar, which comprises the following steps:
if radar transmits signalse(t,n) Is shown as
e(t,n)=A0·exp[j2
f 0(t+nT c )+jK 
t 2]
Wherein,f 0in order for the radar to transmit a carrier frequency,tfor fast times starting from each Chirp transmission instant,T c for the modulation period of the Chirp,K=B/T c is the Chirp rate in the Chirp,Bin order to transmit the bandwidth of the signal,
chirp index indicating transmission signal, one frame signal is transmitted in totalNThe number of the Chirp is one of the Chirp,
is a virtual unit.
S1: and extracting echo information reflected after the transmitting signal meets the target to be detected by the millimeter wave radar, and processing the echo information to obtain the range-Doppler heat map. S1 includes steps S10-S14:
s10: millimeter wave radar acquires echo information reflected by target to be detected based on transmitted signals(t,n,m) Can be represented as;
whereinMThe number of targets (scattering points) is,A i is shown asiThe scattering intensity of the millimeter wave by each scattering point,
is as followsiThe two-way time delay of the scattering of each scattering point,
for the radar to receive the virtual array element number, the virtual channel is 8 considering the MIMO array of 2Tx4Rx adopted by the radar.
Assuming that the initial distance of the slow-speed moving target from the radar is as follows under the observation coordinate system with the radar as the originR i Initial radial velocity ofv i Normal angle to the radar antenna is
Then is atMT c Within a very short frame time, a slow moving object may be considered to be moving at a constant velocity relative to the radar, theniThe time delay of each target can be expressed as
Here, ,
representing the distance between the virtual array elements,cindicating the speed of light.
S11: echo signals(t,n,m) And transmit signalse(t,n) Mixing deskew to generate intermediate frequency signals (neglecting higher order terms of τ i)
It can be seen that the intermediate frequency signal is a continuous time single frequency signal on each receive channel and each Chirp.
S12: AD sampling is carried out on the intermediate frequency signal to obtain a time domain sampling signal
Wherein
Which represents a time-domain sampling factor,w(k) Representing a thermal noise sequence, substituting a virtual array element interval in the above formula
。
S13: sampling a time domain signalx[k,n,m]One-dimensional fast Fourier transform (range FFT) is carried out to obtain a one-dimensional range profile sequence of the radar as
Wherein N isFFT1The number of points representing the FFT in the distance dimension,
is the distance unit index, and it is easy to know that the Sinc envelope width of the distance image after one-dimensional FFT is the distance unit width, i.e. the distance unit width is
。
S14: the millimeter wave radar carries out two-dimensional fast Fourier transform processing on the one-dimensional Fourier transform processing result to obtain a range-Doppler heat map
Is shown as
Here, the
For a two-dimensional matrix of distance and Doppler indices, the momentThe array carries out non-coherent accumulation processing on 8 virtual array element signals, and mainly aims to further increase the signal-to-noise ratio by channel signal accumulation.
Indicates the Doppler cell index and the Doppler resolution cell width is
。
S2: two-dimensional cell average constant false alarm detection (CA-CFAR) is performed on the range-Doppler image to obtain an original point cloud (range index)
And Doppler element index
）。
Carrying out angle estimation processing (angle FFT) on the original point cloud by using 8 virtual channel signals to obtain point cloud angle observation
At angle spectrum
The upper search peak point has the corresponding index value as the azimuth angle
If the peak point corresponds to the subscript
Then it is currently aboutiThe detected point cloud information is
And target position information can be obtained according to the index
Generally, the polar coordinate is converted into the rectangular coordinate, and then
Thus point cloud collection
Namely the target point cloud set.
S3: setting a background detection area, wherein the detection area takes a radar as an origin, the right front of the radar is a longitudinal axis Y, the left direction and the right direction are a transverse axis X in a horizontal direction, and meanwhile, the background detection area needs to be ensured to be clean, namely no point cloud data exists in a non-rainy day, so that the point cloud data variance of the background detection area is 0 in a sunny day;
s4: calculating the current frame (frame number isj) Echo amplitude of point cloud set Z
Variance value
And a mean value;
the calculation process of the mean value and the variance of the echo amplitude of each frame of point cloud data set is as follows:
calculating the variance of echo amplitude in the current point cloud data set and the background detection area
S5: setting a sliding mark List, storing the state mark of each frame in the sliding mark List, calculating the variance value of the point cloud echo amplitude within the sliding window frame number frameNum, if
It is rainy day, whereinK 1 To preset the threshold, a slip flag List is setk]Is a mark in rainy days; if it is not
Setting a slip flag Listk]Is a clear day sign, and a sliding sign List is set under other conditionsk]And k is the frame number, among others.
S6: by counting the number of frames satisfying the rainy day mark in the sliding mark ListNWhen is coming into contact withNGreater than a set thresholdK 2Then, the method enters a rainy background target detection mode, and calculates the average value of the echo amplitude meeting the rainy background frame number as a target detection threshold valueK 4(ii) a By counting the number of frames of the satisfied condition flags in the sliding flag ListN 1When is coming into contact withN 1Greater than a set thresholdK 3Entering a fine-day background target detection mode from a rainy-day background target detection mode;
in the rainy background detection mode, the echo amplitude of the target pointP j >K 4The point target is a real target, otherwise, the point target is a clutter point.
In a clear background target detection mode, a fixed amplitude limiting method is used for amplitude limiting and identifying a target (when the amplitude of a target echo exceeds a set threshold value, the threshold value cannot be adjusted in a self-adaptive mode, and a fixed threshold value is used).
Under the rainy background detection mode, the detection can be carried out in real time according to the rainy background dataK 4Adjusting to different rainfall amounts by adopting different rainfall amountsK 4A threshold value;
target detection thresholdValue ofK 4The calculation is as follows:
average value of amplitude of background echo in rainy day
In the formula:Nindicating that the number of the marks meeting the rainy day is met;
target detection threshold
The invention adopts a neural network pair gain coefficientkAnd adjusting to improve the accuracy of target identification under different rainfall. For different storm levels: blue early warning, yellow early warning, orange early warning and red early warning are respectively set with different gain coefficientsk. The embodiment uses a feedforward neural network to gain coefficientskTraining is performed, including an input layer, two hidden layers and an output layer. The input is the target echo amplitude mean value in rainy days, and the output is 4 gain coefficient levelsk1，k2，k3，kAnd 4, the gain coefficients respectively correspond to the blue early warning, the yellow early warning, the orange early warning and the red early warning in rainy days.
The feedforward neural network is transmitted forwards through the processing of excitation, weight and bias of each layer to finally obtain an expected value, a residual value is obtained through a label value and the expected value, the magnitude of the residual value reflects the deviation degree of the expected value and the residual value, a reverse propagation algorithm is used for carrying out gradient solution on the forward formula of the previous layer, and then the forward formula is substituted into each variablexTo obtain each variablexWeight corresponding to current layerw' then successively making backward propagation to upper layer, finally making it reach input layer to obtain weight value corresponding to each layerwThen setting a learning rate to set the updating size of the parameters to achieve the updating of the parameters, and then adjusting the parameters through 4 iterationswAnd b is a parameter. In this embodiment, the learning rate is 0.001, and b is a fixed value. The activation function is a sigmoid function:
fig. 2 is a diagram of echo amplitude variance of a background point cloud in a sunny and rainy day, in which the echo amplitude variance of the background point cloud in the sunny day is 0, and the echo amplitude variance of the background point cloud in the rainy day is greater than 0 and fluctuates within a certain amplitude range. FIG. 3 is a graph of echo amplitude variance in the presence of a target point in a rainy day when the echo amplitude variance of the target point cloud is greater than a thresholdK 1The hour mark is a mark in rainy days, when there is aK 2（K 2A preset threshold) of the plurality of rainy day marks, entering a rainy day background target detection mode. FIG. 4 is a diagram of the detection effect of target detection in rainy days, after entering the background target detection mode in rainy days, the variance of the echo amplitude of the target point cloud is greater than the threshold valueK 4Then, identifying the target, if the echo amplitude variance of the target point cloud is less than the threshold valueK 4It is regarded as noise filtering. The invention can effectively inhibit the clutter in the rainy day and reduce the false alarm probability in the rainy day.
The invention has the following beneficial effects:
by automatic identification in rainy days and sunny days, the target detection algorithm is flexibly adjusted, and the accuracy and stability of target detection are improved.
The variance of the echo amplitude Z of the target point cloud is adopted, and the target point cloud information of the rainy day background is statistically extracted through multi-frame data, so that the accuracy of rainy day identification is effectively improved, rainy day clutter is effectively inhibited, and the rainy day false alarm probability is reduced.
The above embodiment is an embodiment of the present invention, but the embodiment of the present invention is not limited by the above embodiment, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be regarded as equivalent replacements within the protection scope of the present invention.
Claims (9)
1. A method for suppressing clutter in rainy days based on a millimeter wave radar is characterized by comprising the following steps:
the millimeter wave radar extracts echo information reflected after a transmitting signal meets a target to be detected, and the echo information is processed to obtain a range-Doppler heat map;
performing a CFAR detection algorithm on the distance-Doppler heat map to obtain an original point cloud, and performing angle estimation on the original point cloud to obtain a point cloud set Z;
setting a background detection area, and calculating the Z amplitude of a point cloud set of a current frame in the background detection area
Variance value of
WhereiniIn order to number the detection points,jthe frame number of the current frame;
setting a sliding mark List, storing the state mark of each frame in the sliding mark List, calculating the variance value of the point cloud echo amplitude within the sliding window frame number frameNum, if
It is rainy day, whereinK 1 To preset the threshold, a slip flag List is setk]Is a mark in rainy days; if it is not
Setting a slip flag Listk]Is a clear day sign, and a sliding sign List is set under other conditionsk]And k is the frame number;
counting the number of consecutive markers in the sliding List flag as rainy daysNWhen is coming into contact withNGreater than a set thresholdK 2Then, the method enters a rainy background target detection mode, and when the echo amplitude of the target pointP j Greater than a target detection thresholdK 4If the point target is a real target, otherwise, the point target is a clutter point;
counting the number of consecutive marked sunny days in the sliding sign ListN 1When is coming into contact withN 1Greater than a set thresholdKAnd 3, entering a fine-day background target detection mode from the rainy background target detection mode.
2. The millimeter wave radar-based method for suppressing clutter in a rainy day according to claim 1, wherein the step of processing the echo information to obtain a range-doppler heat map comprises the steps of:
carrying out frequency mixing processing on the transmitting signal and the echo signal to generate a frequency mixing signal;
performing AD sampling on the mixing signal to generate a time domain sampling signal;
and performing one-dimensional fast Fourier transform on the time domain sampling information to obtain a one-dimensional range profile of the radar, and performing two-dimensional fast Fourier transform processing on the one-dimensional range profile to obtain a range-Doppler thermal map.
3. The method for suppressing the clutter in the rainy day based on the millimeter wave radar of claim 1, wherein the background detection area is set without point cloud data in a sunny day.
4. The method for suppressing the clutter in the rainy day based on the millimeter wave radar of claim 1, wherein the echo amplitude P is calculated as follows:
wherein,
RCS value, P, representing the targettIs the maximum transmit power, G, of the RF front endRXIs the gain of the receiving antenna, GTXIs the gain of the transmit antenna(s),
denotes the wavelength, TmeasRepresents the total measurement time of all chirp,dthe radial distance is indicated as such,kdenotes the boltzmann constant, T denotes the antenna temperature, and F denotes the noise figure.
5. The method for suppressing the clutter in the rainy days based on the millimeter wave radar of claim 1, wherein the calculation process of the mean and the variance of the echo amplitude Z of each frame of point cloud data set is as follows:
calculating the variance of echo amplitude in the current point cloud data set and the background detection area
WhereiniIs the current frame number, NPThe number of the point clouds in the current point cloud data set,
is the point cloud set Z amplitude.
6. The millimeter wave radar-based method for suppressing clutter in a rainy day according to claim 1, wherein the target detection threshold is set to be the target detection thresholdK 4Calculated as follows:
wherein,Nthe number of the marks meeting the rainy day is shown,kthe gain factor is represented by a factor of gain,
mean value of amplitude of background echo representing rainy day
，μjThe mean value of the echo amplitudes of each frame of point cloud data set.
7. The method for suppressing clutter in rainy days based on millimeter wave radar according to any of claims 1 or 4, wherein a threshold value is detected for the target based on the detection of background data in rainy daysK 4Adjusting to set different gain coefficients for different rainfallk。
8. The method of claim 7 wherein a neural network is used to apply the gain factor to the radar signalkAdjusting and training the gain coefficientkAnd the gain coefficients respectively correspond to the blue early warning, the yellow early warning, the orange early warning and the red early warning in rainy days.
9. The method for suppressing clutter in a rainy day based on millimeter wave radar of claim 1, wherein the target is identified by a fixed clipping method in the sunny background target detection mode.
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