CN113484835B - Interference detection and rejection method based on fixed threshold of time domain signal amplitude - Google Patents
Interference detection and rejection method based on fixed threshold of time domain signal amplitude Download PDFInfo
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- CN113484835B CN113484835B CN202110577645.1A CN202110577645A CN113484835B CN 113484835 B CN113484835 B CN 113484835B CN 202110577645 A CN202110577645 A CN 202110577645A CN 113484835 B CN113484835 B CN 113484835B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000005070 sampling Methods 0.000 claims abstract description 33
- 238000012545 processing Methods 0.000 claims abstract description 9
- 230000008030 elimination Effects 0.000 claims description 2
- 238000003379 elimination reaction Methods 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000012795 verification Methods 0.000 abstract description 2
- 238000011161 development Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 3
- 238000013461 design Methods 0.000 description 3
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Classifications
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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
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
Abstract
The invention provides an interference detection and rejection method based on a fixed threshold value of a time domain signal amplitude, which adopts an interference detection and rejection technology based on the fixed threshold value of the time domain signal amplitude to process sampling information of a radar receiver, carries out zero setting processing on sampling signals meeting the threshold value condition by constructing a threshold value condition, and proves that the method can better detect and reject interference sequences in time sequence signals through multiple real-time verification, thereby improving the signal-to-noise ratio of a radar system.
Description
Technical Field
The invention relates to the technical field of radar signal processing, in particular to an interference detection and rejection method based on a fixed threshold value of time domain signal amplitude.
Background
The road safety global status report indicates that the road traffic injury is the eighth cause of death worldwide, 120 tens of thousands of people die from traffic accidents every year, and 2000 tens of thousands to 5000 tens of thousands of people suffer from non-fatal injuries. Traffic accidents are caused by overspeed, unnoticed front state of the driver, inattention of driving, driving offence, etc. From the car accident data, it is shown that: over 80% of accidents are due to untimely response or misjudgment of the driver in the face of an emergency. The studies by the dymler-claiser company show that an additional warning time of 1s for example for the driver can avoid 90% of collision accidents. However, the response time and visual field range of the person are limited, and the accident rate cannot be reduced comprehensively and greatly from the aspect of improving the quality of the driver alone.
Along with the development of the vehicle-mounted radar system, the future vehicle-mounted radar system is a necessary trend of development and technological development of the automobile industry, and is also a necessary requirement of people on driving safety and driving comfort in the future. With rapid development of vehicle radar, vehicle radar systems will be widely used, and considering that 7200 new vehicles are registered each year, 3 (or more) vehicle radar calculation is performed on average for each vehicle, and about 2 hundred million new vehicle radar sensors travel in the street and the roadway each year in the future. However, due to the frequency bands, waveforms, etc. of radar systems, the problem of interference between radar systems is also becoming more prominent. The interference phenomenon can cause the vehicle radar to detect false targets, reduce the signal-to-noise ratio of the radar system, improve the false alarm rate and the omission factor of the radar system, cause erroneous judgment, reduce the sensitivity, and seriously influence the safety of the vehicle radar system due to the interference. Since the nineties of the 20 th century, along with the development of information industry and semiconductor technology, anti-interference technology has been largely studied mainly in terms of signal waveform design, signal coding study and the like. However, the anti-interference technologies such as waveform design, signal coding, null wave beam forming and the like have the advantages of complex implementation process, higher calculation complexity and lower realizability for the vehicle-mounted radar system on chip with limited calculation amount.
Disclosure of Invention
Aiming at the problems, the patent provides an interference detection and rejection method based on a fixed threshold value of the time domain signal amplitude, which comprises the following steps:
s1: acquiring a sampling signal of a vehicle-mounted radar receiver end, and calculating a sampling signal difference value;
s2: constructing a threshold value for detecting broadband interference;
s3: zero setting processing is carried out on the sampling signal based on the difference value condition of the sampling signal difference value;
s4: and carrying out zero setting processing on the sampling signal based on the difference value condition of the sampling signal difference value and the subscript sequence.
Wherein, the S1 further comprises:
definition of the definitionIs a collection of sampling point differences in a chirp's interference-free scene;
calculating a sampling signal difference value:n is the number of sampling signals, +.>The ADC sample signal to be detected for each chirp of the radar receiver.
Further, the step S2 further includes:
defining a metric quantityAs a threshold condition for detecting wideband interference, the formula is:
；
where h is an adjustable variable.
Further, the step S3 further includes:
ADC sample signal to be detected for each chirp of radar receiverN is the number of sampling points per chirp, and the difference is calculated as +.>And the sum of the following L differences:
；
。
the step S3 further includes: when the conditions are satisfied:in the case where k is an adjustable variable, then the corresponding +.>And performing zero setting treatment.
Wherein the said will correspond toThe zero setting process is as follows: />=0。
Further, the step S4 further includes:
for a pair ofPerforming the up-down flipping operation of the vector to +.>And record +.>Each value corresponds toSubscript sequence->。
Further, calculateThe difference of (2) is: />。
Further, calculate LSum of differences:
。
when the conditions are satisfied:in the case of the sequence +_ according to the subscript sequence>Will correspond +.>And performing zero setting treatment.
In summary, the invention provides an interference detection and rejection method based on a fixed threshold of a time domain signal amplitude, which adopts an interference detection and rejection technology based on a fixed threshold of a time domain signal amplitude to process sampling information of a radar receiver, carries out zero setting processing on sampling signals meeting the threshold condition by constructing a threshold condition, and proves that the method can better detect and reject interference sequences in time sequence signals through multiple real vehicle verification, thereby improving the signal to noise ratio of a radar system.
Drawings
Fig. 1 is a flowchart of an interference detection and rejection method based on a fixed threshold of a time domain signal amplitude according to the present invention.
Fig. 2 is a schematic diagram of a scenario of interference detection according to the present invention.
FIG. 3 is a diagram of 2DMAP with interference in an embodiment.
FIG. 4 is a diagram of 2DMAP after interference cancellation using the method of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
According to the interference detection and rejection method based on the fixed threshold of the time domain signal amplitude, and the test shows that the interference sequence in the time sequence signal can be better detected and rejected, so that the signal-to-noise ratio of the radar system is improved. Specifically, the method comprises the following steps (shown in fig. 1):
s1: and acquiring a sampling signal of the vehicle-mounted radar receiver end, and calculating a sampling signal difference value.
Definition of the definitionIs a collection of sampling point differences in a chirp's interference-free scene;
calculating a sampling signal difference value:n is the number of sampling signals, +.>The ADC sample signal to be detected for each chirp of the radar receiver.
S2: a threshold is constructed for detecting wideband interference.
Defining a metric quantityAs a threshold condition for detecting wideband interference, the formula is:
；
where h is an adjustable variable.
S3: and carrying out zero setting processing on the sampling signal based on the difference value condition of the sampling signal difference value.
For each of the radar receiverschirp's ADC sample signal to be detectedN is the number of sampling points per chirp, and the difference is calculated as +.>And the sum of the following L differences:
；
。
when the conditions are satisfied:
in the case where k is an adjustable variable, then the corresponding +.>And performing zero setting treatment.
Wherein the said will correspond toThe zero setting process is as follows: />。
S4: and carrying out zero setting processing on the sampling signal based on the difference value condition of the sampling signal difference value and the subscript sequence.
For a pair ofPerforming the up-down flipping operation of the vector to +.>And record +.>Each value corresponds toSubscript sequence->。
Calculation ofThe difference of (2) is: />。
Further calculate LSum of differences:
。
when the conditions are satisfied:when it is, it is based on the subscript sequenceWill correspond +.>And performing zero setting treatment.
For the convenience of understanding of those skilled in the art, the implementation effect of the present invention will be further described in detail, as shown in fig. 2, wherein the 1-host vehicle, the 2-target vehicle and the 3-interfering vehicle. As shown in fig. 3, the 2DMAP diagram with interference is that the interference signal causes the 2DMAP to form a ripple-shaped lifting of the background noise, which reduces the signal-to-noise ratio of the target, and the weak target is difficult to detect, so that only 1 adjacent target is detected, and other weak target detection within a certain distance range is missing, thus easily affecting the grasp of the driver on road conditions, and increasing the risk of traffic accidents. By adopting the interference detection and elimination method based on the fixed threshold value of the time domain signal amplitude, ripple-shaped background noise can be removed, and more weak targets can be detected. As shown in fig. 4, after the anti-interference treatment by the method of the present invention, it can be seen that the structure detected by the method is more accurate than that by the above method, and other vehicles around more vehicles can be detected. Obviously, by the design implementation method of the scheme of the invention, the interference sequence in the time sequence signal can be better detected and removed, and the signal-to-noise ratio of the radar system is improved.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. The interference detection and rejection method based on the fixed threshold of the time domain signal amplitude is characterized by comprising the following steps:
s1: acquiring a sampling signal of a vehicle-mounted radar receiver end in a non-interference scene, and calculating a sampling signal difference value;
s2: constructing a threshold value for detecting broadband interference;
s3: zero setting processing is carried out on the sampling signal to be detected based on the difference condition of the sampling signal difference to be detected;
s4: zero setting processing is carried out on the sampling signal to be detected based on a difference value condition and a subscript sequence of the sampling signal difference value to be detected;
the step S4 is as follows: pair D dut (n) performing vector flip operation to obtain D dut (m') and recording D dut (m') each valueCorresponding to D dut The subscript sequence Index of (n), wherein D dut (n) an ADC sample signal to be detected for n sample points per chirp of the radar receiver;
calculation D dut The difference in (m') is: d (D) dut (m)＝D dut (m’)-D dut (m′-1)；
Calculate L D dut (m) sum of differences:
D sum (m)＝D dut (m)+D dut (m+1)+D dut (m+2)+…+D dut (m+L)；
when the conditions are satisfied: d (D) dut (m)＞D sd The method comprises the steps of carrying out a first treatment on the surface of the And D is sum (m)＞k*L*D sd When the corresponding S is carried out according to the Index sequence Index dut (n) zero-setting, wherein D sd Is a metric and k is an adjustable variable.
2. The method for interference detection and rejection based on a fixed threshold of time domain signal amplitude according to claim 1, wherein S1 further comprises:
definition D wo (n) is a set of sample point differences in a chirp's non-interfering scene;
calculating a sampling signal difference value: d (D) wo (n)＝S wo (n)-S wo (n-1), n is the number of sampling signals, S wo (n) an ADC sample signal to be detected for each chirp of the radar receiver.
3. The method for interference detection and rejection based on a fixed threshold of time domain signal amplitude according to claim 1, wherein S2 further comprises:
definition D sd As a threshold condition for detecting wideband interference, the formula is:
D sd ＝mean(D wo (n))+h*std(D wo (n))；
where h is an adjustable variable.
4. The method for interference detection and rejection based on a fixed threshold of time domain signal amplitude according to claim 1, wherein S3 further comprises:
ADC sample signal S to be detected for each chirp of the radar receiver dut (N), where n=1, 2,3 … N, N is the number of sampling points per chirp, and the difference is calculated as D dut (n) and the sum of the following L differences:
D dut (n)＝S dut (n)-S dut (n-1)；
D sum (n)＝D dut (n)+D dut (n+1)+D dut (n+2)+…+D dut (n+L)。
5. the method for interference detection and rejection based on a fixed threshold of time domain signal amplitude according to claim 4, wherein S3 further comprises: when the conditions are satisfied: d (D) dut (n)＞D sd The method comprises the steps of carrying out a first treatment on the surface of the And D is sum (n)＞k*L*D sd When it is, the corresponding S dut And (n) performing zero setting treatment.
6. The method for interference detection and elimination based on fixed threshold of time domain signal amplitude according to claim 5 wherein said step of comparing the corresponding S dut (n) performing zero setting treatment: s is S dut (n)＝0。
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