CN113325382A - DDMA MIMO radar speed ambiguity resolution method based on global optimization phase modulation - Google Patents
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Abstract
According to the DDMA MIMO radar speed ambiguity resolution method based on global optimization phase modulation, the initial phase is added to the MIMO radar transmitting array element, the optimal matching result is determined by utilizing matched filtering phase demodulation at the receiving end, echo separation is correctly carried out, the real target position can be determined by combining the position of the focus point, the speed ambiguity range can be expanded to the corresponding range of the system PRF, and the speed ambiguity problem is greatly improved.
Description
Technical Field
The invention relates to the field of MIMO (Multiple Input Multiple Output) radar, in particular to a DDMA (Doppler Division Multiple Access) MIMO radar speed ambiguity resolution method based on global optimization phase modulation.
Background
Multiple Input Multiple Output (MIMO) radars have many performance advantages over conventional radars, such as improved target detection performance, improved angle estimation accuracy, and greater interference rejection, and thus MIMO radars are receiving more and more attention. The MIMO radar transmitting end is composed of a plurality of transmitting array elements, mutually orthogonal waveforms are transmitted among the array elements, and the receiving end performs joint processing on echo signals, so that channel characteristics from the transmitting end to a target and then to the receiving end are obtained, and parameter information of the target is extracted from the channel characteristics. Therefore, the selection of the orthogonal waveform greatly affects the working performance of the MIMO radar.
The DDMA waveform is an orthogonal waveform commonly used for MIMO radar, and linear phases are modulated between a plurality of transmission pulses (slow time dimension) in each transmission subarray, so that the waveforms are orthogonal in a doppler domain, and thus the transmission waveforms can be directly separated in the doppler domain.
In the DDMA waveform, each transmitting array element modulates different linear phases, and the starting phase of the kth (K is more than or equal to 1 and less than or equal to K) pulse of the mth (M is more than or equal to 1 and less than or equal to M) transmitting array element is
Wherein M is the number of transmitting array elements of the radar, K is the number of pulses per frame, and TrIs a Pulse Repetition Interval (α)mThe modulation coefficient of the m-th transmitting array element.
Wherein f isrThe Pulse Repetition Frequency (PRF).
Therefore, the modulation coefficient of the kth pulse of the mth transmitting array element of the DDMA radar is:
from the above principle analysis, it can be known that the DDMA waveform is subjected to doppler domain frequency division to realize waveform orthogonality, and in a DDMA MIMO radar system, in order to effectively extract an echo signal of a transmitted waveform, a doppler bandwidth of a target should be smaller than 1/M of a PRF of the system, otherwise, a velocity ambiguity phenomenon will occur. Therefore, it is necessary to research a DDMA MIMO radar speed ambiguity resolving method.
Disclosure of Invention
The invention provides a DDMA MIMO radar speed ambiguity resolution method based on global optimization phase modulation, which mainly solves the technical problems that: at present, in order to effectively extract the echo signal of the transmitting waveform, the Doppler bandwidth of the target must be less than 1/M of the PRF of the system, otherwise, the velocity ambiguity phenomenon will occur. I.e. the velocity blur range is smaller.
In order to solve the technical problem, the invention provides a DDMA MIMO radar speed ambiguity resolution method based on global optimization phase modulation, which comprises the following steps:
searching an optimal modulation phase of the MIMO radar;
on the basis of DDMA waveform modulation at the transmitting end of the MIMO radar, modulating the optimized optimal modulation phase on each transmitting array element of the MIMO radar;
receiving echo processing at a receiving end, firstly carrying out range dimension focusing, namely range compression on a received single pulse, and not influencing the range focusing in a single transmitted pulse because a DDMA waveform is modulated on a slow time dimension; focusing in the velocity dimension then occurs, which, due to the DDMA modulation principle, results in a single target producing multiple equally spaced focus peaks of the same amplitude in the velocity dimension. Each peak value represents a fuzzy speed, and the method aims to determine a target real speed from a plurality of fuzzy speeds and realize speed ambiguity resolution. The target focusing processing of a single receiving channel of the MIMO radar is completed; and then, carrying out the same distance and speed two-dimensional focusing processing on the rest N-1 receiving channels. At this point, the M N channels of the target site are located. According to the above-mentioned DDMA principle, the DDMA waveform is sequentially subjected to linear phase modulation according to the order of the transmitting array elements, and therefore, the target echoes are also sequentially arranged on the frequency spectrum according to the order of the transmitting array elements, but because the target speed is uncertain, the position of the received echo corresponding to the first transmitting array element cannot be determined, so that the target of the method is converted into echo separation on the transmitting array elements, and the position of the target echo corresponding to the first transmitting array element is located, that is, the corresponding speed is the target true speed.
Aiming at the analysis requirements, firstly, positioning M channels of a target point, arranging echo signals among the channels according to the sequential recursion order of transmitting array elements to form M different arrangement orders, performing initial phase matching demodulation and frequency domain conversion processes, determining the target arrangement order corresponding to the maximum peak amplitude, and completing echo separation; the M is the number of the transmitting array elements, and the N represents the number of receiving channels corresponding to each transmitting array element;
and determining the target speed by combining the speed dimension focus point by taking the target echo position corresponding to the first transmitting array element in the target arrangement sequence as the real target position, thereby realizing speed ambiguity resolution.
Optionally, the finding of the optimal modulation phase of the MIMO radar includes:
setting the initial phase of a first transmitting array element of the MIMO radar as a reference phase 0, and sequentially traversing the phases of the other M-1 transmitting array elements at equal intervals within the range of 0-2 pi to modulate echo data of each channel; when echo data are processed, based on the idea of matched filtering, echo signals are arranged among channels according to the sequence of transmitting array elements which are sequentially recurred to form M different arrangement sequences, then initial phase matching demodulation and frequency domain transformation are respectively carried out on the M different arrangement sequences, the sum of the peak amplitude of the first transmitting channel and the peak amplitude difference of other channels of the MIMO radar under all the M different sequences is used as an optimized cost function, and a group of phases which enable the optimized cost function to be maximum is found and used as the optimal modulation phase.
Optionally, the optimization cost function is:
in the formula, xj(n) is the phase modulated signal in case j, phiH. *F () is the fourier transform, which is the complex conjugate of the phase modulation matrix.
Optionally, the forming M different arrangement orders according to the sequential recursion order of the transmitting array elements includes:
first order of arrangement: 1,2, …, M;
the second arrangement order: 2,3, …, M, 1;
the third arrangement order: 3,4, …, M,1, 2;
……；
m-th order of arrangement: m,1,2, …, M-1.
The invention has the beneficial effects that:
according to the DDMA MIMO radar speed ambiguity resolution method based on global optimization phase modulation provided by the invention, the initial phase is added to the MIMO radar transmitting array element, the optimal matching result is determined by utilizing matched filtering phase demodulation at the receiving end, the echo separation is correctly carried out, the real target position can be determined by combining the position of the focus point, the speed ambiguity range can be expanded to the corresponding range of the system PRF, and the speed ambiguity problem is greatly improved.
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Fig. 1 is a schematic flow chart of a DDMA MIMO radar speed ambiguity resolution method based on global optimal phase modulation according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a phase traversal optimal result and a phase matching demodulation result according to a first embodiment of the present invention;
FIG. 3 is a diagram illustrating a single target Doppler dimension detection result according to a first embodiment of the present invention;
fig. 4 is a schematic diagram of channel estimation results corresponding to different blur speeds according to a first embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following detailed description and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
in order to effectively improve the speed ambiguity problem of the DDMA MIMO radar, the speed ambiguity range of the DDMA radar is effectively expanded by M (the number of transmitting array elements/the number of transmitting channels) times, and the corresponding range of the system PRF is reached.
The invention provides a DDMA MIMO radar speed ambiguity resolution method based on global optimization phase modulation. The method takes matched filtering as a basic idea, adds an initial phase obtained by optimization to a transmitting array element at a transmitting end, performs phase matching demodulation at a receiving end, and correctly performs transmitting signal echo separation, thereby determining the correct position of a DDMA MIMO radar target and completing speed ambiguity resolution.
The idea for realizing the invention is as follows: firstly, in order to find a modulation phase capable of achieving the best matching effect, a computer simulates data of each channel of a real echo target point of a radar by a multipoint time domain signal, 2 pi is equally divided into 100 parts, the phases of M transmitting array elements are traversed at equal intervals within the range of 0-2 pi, and the data of the echo of each channel are modulated; when echo data is processed, based on the idea of matched filtering, echo signals are arranged among channels according to the sequence of transmitting array elements in a sequential recursion manner to form M conditions, then initial phase matching demodulation is respectively carried out on the M conditions, and whether phase matching brings frequency domain amplitude difference, therefore, frequency domain transformation is carried out on the M conditions, and a group of phases enabling an optimized cost function to be maximum is found out to be used as an optimal modulation phase by taking the accumulated sum of the amplitude differences of the peak values of all channels of the MIMO radar as the optimized cost function. And then, adding an initial phase obtained by optimization to the transmitting array element on the basis of the DDMA waveform modulation of the radar transmitting end, namely an optimal modulation phase. When the echo processing of a receiving end is carried out, distance speed two-dimensional focusing is carried out on a target, then the demodulation and frequency domain transformation processes in the initial phase optimization processing are repeated, the maximum peak amplitude corresponding condition is found, therefore, the echo separation can be carried out on the transmitting signals, the DDMA waveform principle is combined, the target echo position corresponding to the first transmitting array element is the real target position, the target speed is determined by combining a focusing point, and therefore speed ambiguity resolution is achieved.
A DDMA MIMO radar speed ambiguity resolution method based on global optimization phase modulation comprises the following specific processes:
the method comprises the following steps: and constructing signals of M points by N, traversing and modulating phases of M channels in a range of 0-2 pi, carrying out 'echo' processing according to a radar echo signal processing flow, and finding out a group of phases which enable an optimization cost function to be maximum to serve as an optimal phase combination.
101. And constructing time domain signals of M points by N, simulating M points by N virtual receiving channel data of the DDMA MIMO radar, dividing the M points by N points into M groups according to the sequence, and simulating M transmitting array elements and corresponding N receiving channels of the MIMO radar.
102. Setting the initial phase of the first transmitting channel as a reference phase 0, traversing the rest M-1 transmitting array elements in a period of 0-2 pi respectively, and obtaining a group of M transmitting array element modulation phases at each time. And sequentially adding the obtained M phases to receiving channels corresponding to the M transmitting array elements, wherein the adding phases in the receiving channels of the same transmitting array element are the same, and simulating a target echo signal. The phase modulation vector is:
φH＝exp(jθm)
wherein M is not less than 0 and not more than M, thetamThe phase angle of the mth transmitting array element obtained by traversing.
103. According to the DDMA modulation principle, two adjacent transmitting array elements are equally spaced between Doppler domains, so that a single target has a plurality of equally spaced peaks in Doppler dimension, and the amplitudes are equal. Because the modulation phase of the first transmitting array element in the DDMA waveform is 0, the echo signal corresponding to the first transmitting array element is a real target echo signal. Therefore, to find the position of the real target point, the echo signal corresponding to the first transmitting array element must be found. Thus, the data for the M x N channels are arranged in the order of the transmit array elements, i.e., 1,2, …, M; 2,3, …, M, 1; 3,4, …, M,1, 2; … …, respectively; m,1,2, …, M-1;
104. performing initial phase matching demodulation on the M conditions, and then performing frequency domain transformation respectively;
105. respectively traversing the M channels by N, wherein the calculation process of each channel is as follows: for the M cases after the frequency domain transformation, the difference between the maximum peak amplitude (the peak amplitude of the first transmitting channel) and the peak amplitude of each of the other cases is calculated, so that M-1 difference values can be obtained, and then the M difference values are accumulated and summed. Thus, an accumulated sum value can be obtained by processing one channel, in order to obtain a global optimal phase in all directions, then, the M channels are traversed, and the accumulated sum values of each channel are added to obtain the value of the final optimization cost function. The optimization cost function is as follows:
in the formula, xj(n) is the phase modulated signal in case j, phiH. *Being the complex conjugate of the phase modulation matrix, i.e. the phase demodulation matrix, f () is the fourier transform, where the frequency domain amplitude corresponding to the first transmit channel is largest because the constructed signal is known.
106. And continuing to execute the steps of 102-105 (calculating and optimizing cost function values aiming at different phase combinations obtained by traversing), and finding a group of phase arrangements which enable the accumulated sum of the peak amplitude differences of all the channels to be maximum. I.e. the globally optimal phase combination.
Step two: on the basis of DDMA (distributed multiple input multiple output) waveform modulation of the MIMO radar, modulating the obtained optimal initial phase on each transmitting array element of the MIMO radar, repeating the steps 103 and 104 after carrying out range-velocity two-dimensional focusing on an echo, and determining an echo signal corresponding to the transmitting array element by finding out the condition with the maximum peak value so as to determine the real position of a target.
201. And modulating the optimal initial phase obtained in the step one on the DDMA MIMO radar waveform. The DDMA wave antenna array element modulation coefficient is as follows:
wherein alpha ismIs the modulation factor of the mth transmitting array element, frM is the number of transmitting antennas, and is the pulse repetition frequency.
Therefore, the modulation phase of the mth transmitting array element of the DDMA MIMO radar with the added phase modulation is:
ψm＝exp(j2παm)exp(jθm)
wherein, thetamThe phase angle of the mth transmitting array element in the optimal group of phases obtained by the method is obtained.
202. And carrying out distance and speed two-dimensional focusing on the received echoes, and positioning M channels and N channels of the target point.
203. Repeating the steps 102 and 103, wherein the correct matching can lead to the highest peak value, so that the echo signal sequence corresponding to the transmitting array element can be determined according to the condition corresponding to the highest peak value; therefore, as can be known from the DDMA principle, the target echo signal corresponding to the first transmitting array element is the real target signal. And determining the target speed by combining with a focus point on the frequency spectrum, namely effectively expanding the speed fuzzy range of the DDMA waveform by M times to the range corresponding to the system PRF.
The following takes 3-transmitter and 4-receiver automotive radars as an example, and further details the invention by combining a single-target echo simulation test.
In the example, firstly, a single-point frequency signal of 3 × 4 points is taken as an example, 12 channels after the MIMO radar is virtualized are simulated, the sum of peak amplitude differences of all the channels is taken as an optimization cost function, and an optimal initial phase is searched in a global range. Then adding optimal initial phase modulation to the DDMA signal, after carrying out target distance and speed two-dimensional focusing on echo data, arranging 12 channels in sequence according to 3 transmitting array elements, namely 3 arrangement modes (123; 231; 312), carrying out phase demodulation according to the transmitting array element modulation sequence, then carrying out channel estimation on 3 conditions, comparing the frequency domain maximum amplitude of the 3 conditions, finding the condition corresponding to the maximum peak value, wherein the echo corresponding to the initial transmitting array element in the arrangement sequence is the echo signal corresponding to the real target, further determining the target speed, and effectively expanding the speed fuzzy range. The processing flow diagram of this example is shown in fig. 1.
The method comprises the following steps: and constructing 12-point single-point frequency time domain signals, carrying out 12-channel simulation, carrying out global traversal phase modulation, then carrying out matching demodulation according to the sequence of the transmitting array elements, and taking the accumulated sum of the peak amplitude differences of all channels as an optimization cost function to enable the phase with the maximum optimization function to be taken as the optimal phase. Here, in order to reduce the amount of calculation, 2 pi is divided into 100 parts equally, and an optimal modulation phase combination is found, and the initial phase optimization result and the phase matching demodulation result are shown in fig. 2. Where M-3 and N-4, the optimal modulation phase combination obtained is 0, pi.
Step two: modulating the obtained phase on a DDMA MIMO radar waveform, and carrying out range-speed two-dimensional focusing on echo data. Selecting 12 channel values of a focused target point, arranging according to the sequence of 3 sequentially arranged transmitting array elements, and performing 0, pi and pi initial phase matching demodulation on 3 conditions (123,231,312) (the 1 st condition: performing 0 initial phase matching demodulation on a channel 1, performing pi initial phase matching demodulation on a channel 2, performing pi initial phase matching demodulation on a channel 3; the 2 nd condition: performing 0 initial phase matching demodulation on a channel 2, performing pi initial phase matching demodulation on a channel 3, performing pi initial phase matching demodulation on a channel 1; the 3 rd condition: performing 0 initial phase matching demodulation on a channel 3, performing pi initial phase matching demodulation on a channel 1, and performing pi initial phase matching demodulation on a channel 2).
Step three: and performing inter-channel frequency transformation on the demodulated 3 conditions, searching the condition corresponding to the highest peak value on a frequency domain, wherein the echo corresponding to the initial transmitting array element is the echo corresponding to the real target, and determining the target speed by combining the position of the focusing point so as to finish speed ambiguity resolution.
Therefore, the DDMA MIMO radar speed ambiguity resolution method based on the global optimization phase modulation is completed.
The invention provides a DDMA MIMO radar speed ambiguity resolution method based on phase modulation, which modulates initial phase obtained by optimization solution on a DDMA transmitting array element, focuses echo data, performs matching phase demodulation on echo signals corresponding to different arrangement orders of the transmitting array element among channels, determines a target echo position corresponding to a first transmitting array element by a maximum peak point after frequency estimation, and combines a target focusing result to obtain a target real speed. The method can effectively expand the DDMA speed fuzzy range by M times to the speed range corresponding to the PRF. The radar target parameter settings are shown in table 1.
TABLE 1 Radar target parameter settings
| PRF | 20kHz |
| Target speed | 15m/s |
It can be seen from the parameter settings in the table that the target speed has exceeded the doppler ambiguity range of the DDMA MIMO radar, and fig. 3 shows the detection result of a single target in the DDMA MIMO radar in the doppler dimension, which can show that the DDMA MIMO radar has speed ambiguity problem and cannot distinguish a real target point. Fig. 4 shows the inter-channel frequency estimation results for 3 types of blur velocities. It can be seen that the peak amplitude corresponding to the velocity 2 is the highest, and the peak difference from the other two velocity cases is more than 3dB, and it should be noted here that in this example, the complex sampling is performed on the doppler dimension and the shifting folding is performed, so the frequency greater than the PRF/2 will be folded at the negative frequency. Therefore, comparing FIG. 3, it can be determined that the target speed is 15m/s, which coincides with the actually set target angle. The method solves the problem of fuzzy speed of the DDMA MIMO radar and is simple and effective to realize.
The method of the invention has the following advantages:
1. the processing method based on the global optimal phase modulation effectively improves the speed fuzzy range of the DDMA waveform by M times, and achieves the speed range corresponding to the PRF of the system.
2. The method is based on the fact that the sum of the peak amplitude differences of all channels of the MIMO radar is an optimized cost function, the phase is traversed and optimized, and the best resolution effect after the phase of a receiving end is matched is guaranteed.
It will be apparent to those skilled in the art that the steps of the present invention described above may be implemented in a general purpose computing device, centralized on a single computing device or distributed across a network of computing devices, or alternatively, in program code executable by a computing device, such that the steps shown and described may be performed by a computing device stored on a computer storage medium (ROM/RAM, magnetic or optical disk), and in some cases, performed in a different order than that shown and described herein, or separately fabricated into individual integrated circuit modules, or fabricated into a single integrated circuit module from multiple ones of them. Thus, the present invention is not limited to any specific combination of hardware and software.
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (4)
1. A DDMA MIMO radar speed ambiguity resolution method based on global optimization phase modulation is characterized by comprising the following steps:
searching an optimal modulation phase of the MIMO radar;
on the basis of DDMA waveform modulation at the transmitting end of the MIMO radar, modulating the optimized optimal modulation phase on each transmitting array element of the MIMO radar;
receiving echo processing at a receiving end, carrying out distance and speed two-dimensional focusing on a target, positioning M channels of a target point, arranging echo signals among the channels according to a sequence of sequential recursion of transmitting array elements to form M different arrangement sequences, carrying out initial phase matching demodulation and frequency domain transformation processes, determining a target arrangement sequence corresponding to the maximum peak amplitude, and completing echo separation; the M is the number of the transmitting array elements, and the N represents the number of receiving channels corresponding to each transmitting array element;
and determining the target speed by combining the focusing point by taking the target echo position corresponding to the first transmitting array element in the target arrangement sequence as the real target position, thereby realizing speed ambiguity resolution.
2. The DDMA MIMO radar speed disambiguation method based on globally optimized phase modulation of claim 1 wherein finding the MIMO radar optimal modulation phase comprises:
setting the initial phase of a first transmitting array element of the MIMO radar as a reference phase 0, and sequentially traversing the phases of the other M-1 transmitting array elements at equal intervals within the range of 0-2 pi to modulate echo data of each channel; when echo data are processed, based on the idea of matched filtering, echo signals are arranged among channels according to the sequence of transmitting array elements which are sequentially recurred to form M different arrangement sequences, then initial phase matching demodulation and frequency domain transformation are respectively carried out on the M different arrangement sequences, the sum of the peak amplitude of the first transmitting channel and the peak amplitude difference of other channels of the MIMO radar under all the M different sequences is used as an optimized cost function, and a group of phases which enable the optimized cost function to be maximum is found and used as the optimal modulation phase.
3. The globally optimized phase modulation based DDMA MIMO radar speed deblurring method of claim 2, wherein the optimization cost function is:
in the formula, xj(n) is the phase modulated signal in case j, phiH. *F () is the fourier transform, which is the complex conjugate of the phase modulation matrix.
4. The DDMA MIMO radar speed ambiguity resolution method based on globally optimized phase modulation of claim 1, wherein the forming of M different permutation orders by permutation of the transmit array elements in sequential recursion order comprises:
first order of arrangement: 1,2, …, M;
the second arrangement order: 2,3, …, M, 1;
the third arrangement order: 3,4, …, M,1, 2;
……；
m-th order of arrangement: m,1,2, …, M-1.
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