CN113534092A - Microwave radar power frequency filtering device and method - Google Patents
Microwave radar power frequency filtering device and method Download PDFInfo
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- CN113534092A CN113534092A CN202110829447.XA CN202110829447A CN113534092A CN 113534092 A CN113534092 A CN 113534092A CN 202110829447 A CN202110829447 A CN 202110829447A CN 113534092 A CN113534092 A CN 113534092A
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- 238000001914 filtration Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 238000012545 processing Methods 0.000 claims abstract description 22
- 238000012360 testing method Methods 0.000 claims description 18
- 238000011045 prefiltration Methods 0.000 claims description 16
- 238000005070 sampling Methods 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- G01S7/414—Discriminating targets with respect to background clutter
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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
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Abstract
The application provides a microwave radar power frequency filtering device and method, belong to the technical field of microwave radar filtering, concrete device includes power frequency signal detection module and a plurality of power frequency filter, power frequency detection module detects the frequency of the current interference signal of microwave radar, the power frequency signal of different frequencies of different power frequency filter filtering, and include the frequency of the current interference signal of microwave radar in all frequencies of the power frequency signal of a plurality of power frequency filter filtering, power frequency signal detection module is according to the frequency of the current interference signal of microwave radar, the power frequency filter that control frequency and interference signal's frequency correspond is opened, the power frequency filter of other frequencies is closed. Through the processing scheme of this application, the power frequency signal of different frequencies is filtered in a system self-adaptation, can not filter other effective signals again when practicing thrift the cost.
Description
Technical Field
The application relates to the field of microwave radar filtering, in particular to a microwave radar power frequency filtering device and method.
Background
In the microwave radar illumination field, commercial power is generally used for supplying power, the frequency of commercial power voltage is 50Hz or 60Hz, and the commercial power voltage generates electromagnetic wave radiation which can cause interference to surrounding equipment, namely power frequency interference. In the field of microwave radar illumination, power frequency interference is very common, and power frequency and higher harmonics thereof need to be filtered cleanly through special processing so as to extract really required effective signals for algorithm processing of moving object detection.
The existing methods generally adopt the following methods to filter out interference signals:
scheme 1: the method for filtering 50Hz or 60Hz power frequency by a hardware circuit design method has the advantages of complex circuit design, extra cost and incapability of simultaneously filtering 50Hz and 60Hz power frequency interference signals on one board. The circuit is realized through a hardware circuit, only 50Hz or 60Hz power frequency can be filtered, the circuit design complexity is increased, the extra hardware cost is increased, and the realized product needs to be provided with different filter circuits according to different national regions.
Scheme 2: through a software filtering mode, but the realization mode is usually only to filter 50Hz or only to filter 60Hz power frequency interference signals, and the designed product cannot adapt to the global customer requirements; or directly and roughly filters power frequency interference signals within the range of 50Hz to 60Hz, and the mode can simultaneously filter effective signals in a band, thereby influencing the product performance. The method is realized by software filtering, and only the power frequency of 50Hz or 60Hz is filtered, or the power frequency interference signal within the range of 50Hz to 60Hz is directly and roughly filtered; the product designed by the former cannot adapt to the requirements of multiple regions, and the latter can filter effective signals, so that the detection performance of the microwave radar is reduced.
Disclosure of Invention
In view of this, the present application provides a microwave radar power frequency filtering apparatus and method, which solve the problems in the prior art, and adaptively filter power frequency signals of different frequencies in one system, and at the same time, do not filter other effective signals.
On the one hand, the microwave radar power frequency filtering device provided by the application adopts the following technical scheme:
the utility model provides a microwave radar power frequency filter device, includes power frequency signal detection module and a plurality of power frequency filter, power frequency detection module detects the current interference signal's of microwave radar frequency, it is different the power frequency signal of the different frequencies of power frequency filter filtering, and a plurality of including in all frequencies of the power frequency signal of power frequency filter filtering the current interference signal's of microwave radar frequency, power frequency signal detection module basis the current interference signal's of microwave radar frequency, the power frequency filter that control frequency and interference signal's frequency correspond opens, other frequencies the power frequency filter closes.
Optionally, the system further comprises a radar intermediate frequency signal sampling module, wherein the radar intermediate frequency signal sampling module collects intermediate frequency signals and converts and stores intermediate frequency signal data.
Optionally, the microwave radar monitoring system further comprises a pre-filter, the pre-filter filters signals outside a frequency range corresponding to the microwave radar monitoring target, and the radar intermediate frequency signal module stores signal data filtered by the pre-filter.
Optionally, the microwave radar monitors that the corresponding frequency of the moving target is less than 90 to 150 HZ.
Optionally, the pre-filter is an IIR low-pass filter.
Optionally, the power frequency filter is an IIR trap and/or an IIR band-stop filter.
Optionally, the plurality of power frequency filters include a 50HZ power frequency filter and a 60HZ power frequency filter.
On the other hand, the microwave radar power frequency filtering method provided by the application adopts the following technical scheme:
a microwave radar power frequency filtering method comprises the following steps:
collecting radar intermediate frequency signals;
opening all power frequency filters in advance;
closing a power frequency filter for filtering any frequency in a silent state to serve as a test frequency power frequency filter;
judging whether the microwave radar has a trigger signal;
if the trigger signal exists, the test frequency power frequency filter is turned on again, the power frequency filters for filtering other frequencies are turned off, normal moving object detection processing is carried out, and the process is finished;
if no trigger signal exists, all other power frequency filters are sequentially used as test frequency power frequency filters, and the following steps are repeated;
closing the test power frequency filter in a silent state, and judging whether a trigger signal exists;
starting a test frequency power frequency filter until a trigger signal exists, closing a power frequency filter for filtering other frequencies, carrying out normal moving object detection processing, and ending;
and (4) when all the power frequency filters are used as test frequency power frequency filters, no trigger signal is generated, normal moving object detection processing is carried out, and the operation is finished.
Optionally, before the step of opening all power frequency filters, frequencies outside the frequency range corresponding to the moving target monitored by the microwave radar are filtered.
Optionally, the method is performed on the device.
To sum up, the application comprises the following beneficial technical effects:
1. the current interference signal frequency is judged by the power frequency signal detection module, for example, the power frequency is 50Hz or 60Hz, then the corresponding power frequency filtering algorithm is started, and a filter with the corresponding frequency is selected to be started according to the frequency of the interference signal to filter the interference signal, so that the 50Hz or 60Hz power frequency signal can be independently filtered by one set of software without an extra complex algorithm, the cost is saved, and meanwhile, a useful signal cannot be filtered;
2. the pre-filter filtering microwave radar monitors signals of the target except for the corresponding frequency, the radar intermediate frequency signal module stores the signal data after the pre-filter filtering, the frequency except for the detection target frequency is an invalid signal, the frequency except for the detection target frequency is filtered in advance, the signal data processed by the microwave radar is reduced, and the algorithm processing of the microwave radar is facilitated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of a microwave radar power frequency filtering device according to the present application;
FIG. 2 is a block diagram of a microwave radar sensor chip according to the present application;
FIG. 3 is another structural block diagram of the microwave radar power frequency filtering device of the present application;
FIG. 4 is a flowchart of the microwave radar power frequency filtering method of the present application.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the application provides a microwave radar power frequency filtering device.
As shown in fig. 1, a microwave radar power frequency filtering device includes a radar intermediate frequency signal sampling module, a power frequency signal detection module, a plurality of power frequency filters, and a moving object detection module.
The radar intermediate frequency signal sampling module collects intermediate frequency signals, converts the intermediate frequency signals and then stores the intermediate frequency signals. Specifically, a sampling period is set to acquire an intermediate frequency signal, the intermediate frequency signal is converted by an Analog-to-Digital Converter (ADC), and intermediate frequency sampling data after the ADC conversion is stored in a memory for use in a subsequent algorithm.
The signals are filtered to obtain cleaner signals, and whether objects around the radar move or not is judged through algorithm processing.
As shown in fig. 2, the embodiment of the present application is implemented on a microwave radar sensing chip AT5820 platform, and a Cortex-M0+ processor, a microwave transceiver module, a radar intermediate frequency module, a radar signal processing module, and the like are integrated on one chip AT the same time. Microwave signals generated by a Phase Locked Loop (PLL) in a chip are amplified by a Power Amplifier (PA) and then transmitted out through an antenna, the microwave signals are transmitted when encountering an object in the air, when the object is in a motion state, a certain frequency difference exists between a reflection signal and a transmission signal, namely, Doppler effect, the received reflection signal and the transmission signal are mixed to obtain corresponding intermediate frequency signals, the intermediate frequency signals converted by an analog-to-digital converter (ADC) are output to a Micro Control Unit (MCU) end, information such as speed, size, distance and the like of the object can be reversely deduced by performing filtering processing, algorithm analysis and the like on the MCU end, and the microwave radar chip fully utilizes the Doppler effect to realize a sensing function.
In other embodiments, the method can be implemented on the basis of other types of microwave radar chips.
The power frequency detection module detects the frequency of the current interference signal of the microwave radar, different power frequency filters filter the power frequency signals with different frequencies, all frequencies of the power frequency signals filtered by the power frequency filters comprise the frequency of the current interference signal of the microwave radar, the power frequency signal detection module controls the power frequency filters with the frequencies corresponding to the frequencies of the interference signals to be opened and the power frequency filters with other frequencies to be closed according to the frequency of the current interference signal of the microwave radar.
The present application takes the interference power frequency of two frequencies, 50HZ and 60HZ, of the mains voltage as an example for detailed description, and in other embodiments, the present application may be applicable to interference signals of other frequencies, or may be applicable to interference signals having three or more different frequencies.
Specifically, the microwave radar power frequency filtering device comprises a power frequency signal detection module, a 50HZ power frequency filter and a 60HZ power frequency filter. The power frequency signal detection module detects the frequency of the current interference signal, and if the frequency of the interference signal is 50HZ, the 50HZ power frequency filter is controlled to be opened, and the 60HZ power frequency filter is controlled to be closed; and if the frequency of the interference signal is 60HZ, controlling the 60HZ power frequency filter to be opened, and controlling the 50HZ power frequency filter to be closed.
This application embodiment, judge whether present is 50Hz or 60Hz power frequency signal through power frequency signal detection module, open corresponding power frequency filter again and carry out algorithm processing, according to interference signal's frequency, select to open the filter that corresponds the frequency, filter interference signal, do not need extra complex algorithm can realize that one set of software realizes filtering 50Hz or 60Hz power frequency signal alone, can not filter useful signal again simultaneously.
As shown in FIG. 3, the microwave radar power frequency filtering device further comprises a pre-filter, wherein the pre-filter filters signals outside a frequency range corresponding to a microwave radar monitoring target, and a radar intermediate frequency signal module stores signal data filtered by the pre-filter. And frequencies except the detection target frequency are invalid signals, and the frequencies except the detection target frequency are filtered in advance, so that the signal data volume processed by the microwave radar is reduced, and the algorithm processing of the microwave radar is facilitated.
And monitoring that the corresponding frequency of the moving target is less than 90-150HZ by the microwave radar. The microwave radar sensor is mainly used for detecting human motion and low-speed moving targets, generally, the human motion speed is 1-10 kilometers per hour, the main frequency component is within 100Hz, and a pre-filter of the microwave radar in the embodiment of the application filters signals above 100 HZ. In other embodiments, the signal filtered by the pre-filter is selected according to the frequency of the microwave radar detecting the moving object, and is not limited to be above 100 HZ.
The prefilter is a recursive filter (IIR filter for short), specifically an IIR low-pass filter. In other embodiments, other types of filters are possible.
The power frequency filter is an IIR wave trap and/or an IIR band rejection filter. All power frequency filters can be IIR wave traps, also can be IIR band-stop filters, also can be part is IIR wave traps, and a part is IIR band-stop filters. In other embodiments, other filters are possible.
The embodiment of the application also discloses a microwave radar power frequency filtering method.
As shown in fig. 4, a microwave radar power frequency filtering method includes the following steps:
collecting radar intermediate frequency signals;
opening all power frequency filters in advance;
closing a power frequency filter for filtering any frequency in a silent state to serve as a test frequency power frequency filter;
judging whether the microwave radar has a trigger signal;
if the trigger signal exists, the test frequency power frequency filter is turned on again, the power frequency filters for filtering other frequencies are turned off, normal moving object detection processing is carried out, and the process is finished;
if no trigger signal exists, all other power frequency filters are sequentially used as test frequency power frequency filters, and the following steps are repeated;
closing the test power frequency filter in a silent state, and judging whether a trigger signal exists;
starting a test frequency power frequency filter until a trigger signal exists, closing a power frequency filter for filtering other frequencies, carrying out normal moving object detection processing, and ending;
or, when all the power frequency filters are used as test frequency power frequency filters, no trigger signal is sent, normal moving object detection processing is carried out, and the process is finished.
Specifically, the method of the embodiment of the present application will be described in detail by taking an example of the interfering power frequency of the mains voltage at two frequencies, namely 50HZ and 60 HZ. In other embodiments, the method of the present application may be applied to interference signals of other frequencies, or may be applied to interference signals with three or more different frequencies.
The radar intermediate frequency signal is collected by the AT5820 internal ADC and stored in the internal SRAM.
Designing a 50Hz power frequency filter and a 60Hz power frequency filter, designing an IIR trap or a band elimination filter through MATLAB software, simulating and verifying the effect, filtering 50Hz and 60Hz power frequency interference signals on an AT5820 platform by using C language, and opening both the 50Hz and 60Hz power frequency filters by default.
And (3) in a silent state, namely, the current microwave radar is detected to be in a state without object motion, closing the 50Hz power frequency filter, judging whether the current state is in a state of triggering a signal, if the trigger signal exists, indicating that a 50Hz interference signal exists, and if only one power frequency exists in one area, indicating that the current mains frequency is 50Hz, re-opening the 50Hz power frequency filter and closing the 60HZ power frequency filter. If the trigger signal does not exist, the fact that the 50Hz interference signal does not exist currently is indicated, the 50Hz power frequency filter does not need to be opened again, and the next step of processing is continued.
And (3) continuously judging the power frequency of 60 Hz: and (3) in a silent state, namely, the current microwave radar is detected to be in a no-object motion state, closing the 60Hz power frequency filter, judging whether the current state of the signal is triggered, if the trigger signal exists, indicating that a 60Hz interference signal exists, if the current commercial power frequency is 60Hz, the 60Hz filter needs to be opened again, closing the 50Hz power frequency filter, and if the trigger signal does not exist, indicating that the 60Hz power frequency signal does not exist currently, and not needing to be opened again.
And (5) normal moving object detection processing.
When the 50HZ power frequency filter and the 60HZ power frequency filter are respectively closed, no trigger signal exists, and therefore the 50HZ interference signal and the 60HZ interference signal do not exist; normal moving object detection processing can be performed.
And before the step of opening all the power frequency filters, filtering frequencies outside the frequency range corresponding to the moving target monitored by the microwave radar. In the embodiment of the application, an IIR low-pass filter is designed to filter out high-frequency signals above 100 Hz. The microwave radar sensor is mainly used for detecting human motion and low-speed moving targets, generally, the human motion speed is 1-10 kilometers per hour, the main frequency components are within 100Hz, and in order to filter invalid signals and facilitate other algorithm processing, signals above 100Hz are filtered out by designing an IIR low-pass filter, so that subsequent algorithm analysis at an MCU end is facilitated. In other embodiments, the frequency of the microwave radar detecting the moving object is selected according to, but not limited to, 100HZ or more.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a microwave radar power frequency filter device, its characterized in that, includes power frequency signal detection module and a plurality of power frequency filter, power frequency detection module detects the current interference signal's of microwave radar frequency, it is different the power frequency signal of different frequencies of power frequency filter filtering, and it is a plurality of including in all frequencies of the power frequency signal of power frequency filter filtering the current interference signal's of microwave radar frequency, power frequency signal detection module basis the current interference signal's of microwave radar frequency, the power frequency filter that control frequency and interference signal's frequency correspond opens, other frequencies the power frequency filter closes.
2. The microwave radar power frequency filtering device according to claim 1, further comprising a radar intermediate frequency signal sampling module, wherein the radar intermediate frequency signal sampling module collects intermediate frequency signals and converts and stores the intermediate frequency signal data.
3. The microwave radar power frequency filtering device according to claim 2, further comprising a pre-filter, wherein the pre-filter filters signals outside a frequency range corresponding to the microwave radar monitoring target, and the radar intermediate frequency signal module stores the signal data filtered by the pre-filter.
4. The microwave radar power frequency filtering device according to claim 3, wherein the microwave radar monitoring moving target corresponding frequency is less than 90-150 HZ.
5. The microwave radar power frequency filtering device according to claim 3, wherein the pre-filter is an IIR low-pass filter.
6. The microwave radar power frequency filtering device according to claim 1, wherein the power frequency filter is an IIR trap and/or an IIR band-stop filter.
7. The microwave radar power frequency filtering apparatus according to claim 1, wherein the plurality of power frequency filters include a 50HZ power frequency filter and a 60HZ power frequency filter.
8. A microwave radar power frequency filtering method is characterized in that: the method comprises the following steps:
collecting radar intermediate frequency signals;
opening all power frequency filters in advance;
closing a power frequency filter for filtering any frequency in a silent state to serve as a test frequency power frequency filter;
judging whether the microwave radar has a trigger signal;
if the trigger signal exists, the test frequency power frequency filter is turned on again, the power frequency filters for filtering other frequencies are turned off, normal moving object detection processing is carried out, and the process is finished;
if no trigger signal exists, all other power frequency filters are sequentially used as test frequency power frequency filters, and the test power frequency filters are repeatedly closed in a silent state to judge whether the trigger signal exists;
starting a test frequency power frequency filter until a trigger signal exists, closing a power frequency filter for filtering other frequencies, carrying out normal moving object detection processing, and ending;
and (4) after no trigger signal exists when all the power frequency filters are used as test frequency power frequency filters, carrying out normal moving object detection processing, and ending.
9. The microwave radar power frequency filtering method according to claim 8, wherein before the step of turning on all the power frequency filters, frequencies outside a frequency range corresponding to a moving target monitored by the microwave radar are filtered.
10. The microwave radar power frequency filtering method according to claim 8 or 9, wherein the method is performed on the device according to any one of claims 1 to 7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116148779A (en) * | 2023-04-19 | 2023-05-23 | 隔空（上海）智能科技有限公司 | Power frequency filtering method, system, storage medium and electronic equipment |
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