CN113805166A - Target tracking and ranging method and system of radar level meter - Google Patents
Target tracking and ranging method and system of radar level meter Download PDFInfo
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
Abstract
The invention discloses a target tracking and ranging method and a target tracking and ranging system of a radar level meter, wherein the method comprises the following steps of S110: receiving an echo vector; s120: multiplying the received echo vector by the transmitted signal vector to perform frequency mixing and first low-pass filtering processing to obtain a difference frequency signal; s130: AD sampling is carried out on the difference frequency signal; s140: drawing a power spectrogram according to the discrete frequency spectrum; s150: finding out the peak position corresponding to the target object, and performing signal frequency shift by taking the peak position as a band selection center of band selection Fourier transform; s160: acquiring a filtering signal vector, and resampling the filtering signal vector; s170: calculating the distance from the radar level meter to a target object by using the abscissa value; s180: and (5) taking the crest abscissa value as the crest position selected next time, and repeating the steps S150 to S170 so as to continuously track the moving and changing target object. The invention realizes real-time tracking and ranging of the target liquid level with lower calculated amount under the condition that the target liquid level continuously changes in small amplitude and random interferent exists.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a target tracking and ranging method and a target tracking and ranging system of a radar level meter.
Background
The radar ranging is a non-contact measurement technology, can stably work in severe environment, is not easily influenced by weather conditions such as rain, snow and the like, and has the capability of penetrating smoke and dust. The radar level meter can be divided into a Frequency Modulation Continuous Wave radar level meter and a pulse Wave radar level meter according to the use of microwaves, and the Frequency Modulation Continuous Wave (FMCW) radar level meter has the advantages of easy realization, relatively simple structure, small size, light weight, low cost and the like, and is widely applied to the civil/military field.
In the working principle of the existing frequency modulation continuous wave radar level gauge, a high-frequency signal which changes according to linearity is applied in the measuring process, the signal of the radar level gauge is sent out from an antenna and reflected on a measured surface, and an echo is received by the antenna. The frequency difference between the emission of the radar level gauge signal and the reception of the echo is further processed such that the frequency difference corresponds to the measured distance. For example, a large frequency difference should be used for a large measurement distance. And converting the frequency difference into a frequency spectrum difference by using Fast Fourier Transform (FFT), and further converting the measured distance. However, under the condition that the working condition of the measured surface is relatively complex, for example, false echoes exist when the measured surface is in a continuous small-amplitude change state, or interferents exist in the measured surface, the tracking measurement data cannot be stably acquired.
Disclosure of Invention
The embodiment of the application provides a target tracking ranging method and a target tracking ranging system for a radar level gauge, solves the technical problem that in the prior art, due to the fact that a target object is in a scene with continuous small-amplitude change, false echoes exist and random interferent exists, stable tracking measurement cannot be achieved, achieves the purpose that the radar level gauge tracks the target object which is continuously changed in small amplitude and has random interference based on the band selection Fourier transform (ZFFT), and stably tracks and measures the distance of the target object with low calculated amount.
In a first aspect, the present application provides a target tracking ranging method for a radar level gauge, where a frequency mixing is performed on echoes received by the radar level gauge, and then a band selection fourier transform is used for performing operation processing, so as to track a target in real time to achieve ranging, where the method includes the following steps:
s110: transmitting a frequency modulation continuous wave signal vector, and receiving an echo vector containing a target object and an interfering object;
s120: multiplying the received echo vector by the transmitted signal vector to perform frequency mixing, and then performing first low-pass filtering processing to obtain a difference frequency signal;
s130: AD sampling is carried out on the difference frequency signal to obtain a discrete signal sequence of the difference frequency signal;
s140: performing fast Fourier transform on the discrete time signal sequence to obtain a discrete frequency spectrum of the discrete time signal sequence, and drawing a power spectrogram according to the discrete frequency spectrum;
s150: finding out a peak position corresponding to the target object according to the shape of the power spectrogram, and performing signal frequency shift by taking the peak position as a band selection center of band selection Fourier transform;
s160: performing second low-pass filtering processing on the discrete time signal sequence after the signal frequency shift to obtain a filtering signal vector, and resampling the filtering signal vector;
s170: performing fast Fourier transform on the re-sampled filter signal, calculating an abscissa value of the peak position on the power spectrum, and calculating the distance from the radar level meter to a target object by using the abscissa value;
s180: and (5) taking the crest abscissa value as the crest position selected next time, and repeating the steps S150 to S170 so as to continuously track the moving and changing target object.
Further, in step S110, the transmitted frequency modulated continuous wave signal vector is a high-frequency electromagnetic wave whose transmission frequency changes continuously; in step S120, the received echo vector and the transmitted signal vector are multiplied to perform frequency mixing, and then the first low-pass filtering processing method is analog signal filtering, so as to obtain a difference frequency signal.
Further, after performing the fast fourier transform on the discrete-time signal sequence, calculating a frequency of the discrete-time signal sequence, wherein the frequency is proportional to a distance of the radar level gauge from the target.
Further, in step S160, when performing the second low-pass filtering process on the discrete-time signal sequence after the signal frequency shift, an anti-aliasing filtering processing technique is adopted.
In a second aspect, the present application provides a target tracking ranging system of a radar level gauge, employing the method of any one of the first aspect, comprising: the system comprises a signal transceiving module, a signal acquisition module, a signal sampling module, a power spectrum drawing module, a signal frequency shift module, a filtering sampling module, a distance calculation module and a target tracking module;
the signal transceiver module is configured to transmit frequency modulation continuous wave signal vectors and receive echo vectors containing a target object and an interfering object;
the signal acquisition module is configured to multiply the received echo vector and the transmitted signal vector for frequency mixing, and then perform first low-pass filtering processing to obtain a difference frequency signal;
the signal sampling module is configured to perform AD sampling on the difference frequency signal to obtain a discrete time signal sequence of the difference frequency signal;
the power spectrum drawing module is configured to perform fast Fourier transform on the discrete time signal sequence to obtain a discrete frequency spectrum of the difference frequency signal, and draw a power spectrum according to the discrete frequency spectrum;
the signal frequency shift module is configured to find a peak position corresponding to the target object according to the shape of the power spectrogram, and perform signal frequency shift by taking the peak position as a band selection center of band selection Fourier transform;
the filtering and sampling module is configured to perform second low-pass filtering processing on the discrete time signal sequence after the signal frequency shift to obtain a filtering signal vector, and resampling the filtering signal vector;
the distance calculation module is configured to perform fast Fourier transform on the re-sampled filter signal, calculate an abscissa value of a peak position on a power spectrum, and calculate a distance from the radar level gauge to a target object by using the abscissa value;
the target tracking module is configured to take the crest abscissa value as the crest position selected next time, and repeatedly operate the signal frequency shift module, the filtering sampling module and the distance calculation module in sequence, so as to continuously track the moving and changing target object.
In a third aspect, the present application provides a computer storage medium having computer program code stored thereon, which, when run on a computing device, causes the computing device to perform the method of target tracking ranging of a radar level gauge according to any of the first aspect.
In a fourth aspect, the present application provides a computing device comprising:
a processor;
a memory storing computer program code;
the computer program code, when executed by the processor, causes the computing apparatus to perform a target tracking ranging method of the radar level gauge of any one of the first aspect.
The technical scheme provided in the embodiment of the application has at least the following technical effects:
for the liquid level scene with continuous small amplitude change in the FMCW radar level meter and under the condition of random interferers, the method reduces the calculated amount in the fast Fourier transform by using the band-selection Fourier transform ZFFT, improves the calculation resolution after thinning the frequency spectrum, and tracks the distance of the target object to be calculated in real time.
Drawings
FIG. 1 is a schematic flow chart illustrating a target tracking and ranging method of a radar level gauge according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating a trend of power spectrum shapes in different states according to a first embodiment of the present application;
FIG. 3 is a block diagram of a target tracking ranging system of the radar level gauge according to the second embodiment of the present application.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Example one
Referring to fig. 1, an embodiment of the present application provides a target tracking and ranging method for a radar level gauge, in which echoes received by the radar level gauge are mixed and then processed by band-selection fourier transform to track a target object in real time, so as to achieve the purpose of ranging. The method comprises the following steps:
step S110: and transmitting a frequency modulation continuous wave signal vector, and receiving an echo vector containing a target object and an interfering object.
Step S120: and multiplying the received echo vector by the transmitted signal vector to carry out frequency mixing, and then carrying out first low-pass filtering processing to obtain a difference frequency signal.
In this embodiment, in step S110, the transmitted frequency modulated continuous wave signal vector is a high-frequency electromagnetic wave whose transmission frequency changes continuously; in step S120, the acquired echo vector is multiplied by the transmitted signal vector to perform frequency mixing, and then the first low-pass filtering processing mode is analog signal filtering, so as to obtain a difference frequency signal. The difference frequency signal is obtained by obtaining the echo vector with the difference frequency signal after frequency mixing, and the signals such as the echo vector, the difference frequency signal and the like are analog signals after first low-pass filtering processing.
Furthermore, the radar level gauge transmits a frequency modulated continuous wave FMCW through the transmitting antenna, and the frequency modulated continuous wave FMCW is a high frequency electromagnetic wave with continuously changing frequency, and the frequency modulation mode includes but is not limited to triangular wave, sawtooth wave, coded modulation or noise frequency modulation. In this embodiment, the radar level gauge continuously transmits high-frequency electromagnetic waves with constantly changing radio frequency within a sweep period, so that a certain frequency difference exists between an echo vector reflected by a target object or an interfering object and a transmission signal vector, and distance information between the target object and the radar level gauge can be generally obtained through the frequency difference.
Step S130: and AD sampling is carried out on the difference frequency signal to obtain a discrete time signal sequence of the difference frequency signal.
Step S140: and performing fast Fourier transform on the discrete time signal sequence to obtain a discrete frequency spectrum of the discrete time signal sequence, and drawing a power spectrogram according to the discrete frequency spectrum.
The discrete spectrum expression of the discrete fourier transform obtained in this embodiment is:
Where k is a continuous signal of the output time domain after frequency mixing, x0(n) obtaining a time-domain discrete signal sequence for AD sampling, X0(k) Is a discrete spectrum of a discrete fourier transform.
In the step, after the time domain discrete signal sequence is subjected to fast Fourier transform, the frequency of the time domain discrete signal sequence is calculated, and the frequency is in direct proportion to the distance between the radar level gauge and the target object.
Step S150: and finding out the peak position corresponding to the target object according to the shape of the power spectrogram, and performing signal frequency shift by taking the peak position as a band selection center of band selection Fourier transform.
In this embodiment, for x0(n) is selected from
Complex modulation (frequency shift) is carried out, and the sequence after the frequency shift of the obtained signal is as follows:
in the principle of frequency shifting according to the discrete Fourier transform, in the sequence x (n)Discrete spectra X (k), and x0(n) is in the relationship X (k) ═ X0(k+N0)。
Step S160: and performing second low-pass filtering processing on the discrete time signal sequence after the signal frequency shift to obtain a filtering signal vector, and resampling the filtering signal vector.
In step S160, the discrete-time signal sequence after signal frequency shift is subjected to a second low-pass filtering process, and an anti-aliasing filtering process technique is adopted.
In this embodiment, an anti-aliasing filtering technique is used to filter out the frequency band signal to be analyzed. And the second low-pass filtering process is used to filter a discrete-time signal sequence of the digital signal. Assuming a magnification of D, the second low-pass filtered normalized cutoff frequency is 1/2D, and the filtered output is y (k) ═ x (k) h (k) ═ 0,1,2,. N-1, where when h (k) is the frequency response of the ideal low-pass filtering, the filtered output is
In this step, after frequency shift and second low-pass filtering, the signal frequency band is narrowed, in this embodiment, selective sampling and resampling are performed, the received difference frequency signal is sampled once again every D points, and the sequence expression after resampling is as follows:
step S170: and performing fast Fourier transform on the re-sampled filter signal, calculating an abscissa value of the peak position on the power spectrum, and calculating the distance from the radar level meter to a target object by using the abscissa value.
In this step, fast fourier transform is performed again on the resampled N-point complex sequence to obtain N spectral lines, so that the resolution is increased by D times, and the spectral function of r (m) is:
the amplified spectral line is mapped back to the original actual spectral line position
S180: and (5) taking the crest abscissa value as the crest position selected next time, and repeating the steps S150 to S170 so as to continuously track the moving and changing target object.
Further, the abscissa value of the peak is multiplied by the coefficient representing the distance of the target object, and the obtained abscissa value of the peak is used as the peak position selected next time in this embodiment, so as to achieve the purpose of target tracking and ranging.
In the embodiment, the frequency spectrum is thinned, the calculation resolution is improved, and the target object is tracked by selecting and selecting the characteristic of amplifying a part of the frequency spectrum.
Referring to fig. 2, a schematic diagram of the structure of various power spectra is shown.
Referring to FIG. 2(a), the power spectrum trend line shape of the echo received by the radar level gauge is shown without disturbance and without target.
Referring to FIG. 2(b), the power spectrum trend line shape of the echo received by the radar level gauge in the absence of disturbance, in the presence of a target object.
Referring to FIG. 2(c), after a band-selection Fourier transform, the power spectrum trend line shape of the echo received by the radar level gauge. The local amplification of the power spectrum can more accurately find the peak position and obtain the abscissa value, so that the calculation resolution is improved, and the position of band selection amplification can be easily determined by only one peak under the condition of no interference.
Referring to fig. 2(d), the shape of the trend line of the power spectrum after band selection amplification is shown.
Referring to FIG. 2(e), the power spectrum trend line shape of the echo received by the radar level gauge in the presence of a disturbance and a target object. In the schematic diagram of the shape of the trend line of the power spectrum of the radar level meter, the broken line part is interference, and the interference part may exist or may not exist, so that the amplification area cannot be determined due to interference information, and the position of the peak cannot be obtained, and the position of the first peak to be amplified can be judged by drawing the power spectrum.
Referring to FIG. 2(f), a schematic diagram of the power spectrum trend line shape of the echo received by the radar level gauge in case of a moving liquid level. The liquid level will move, but not much, and the liquid level peak after moving is still within the band selection by taking the last band selection as the center.
Referring to fig. 2(g), the shape of the trend line of the power spectrum is shown after the liquid level is shifted and the band selection is amplified. And calculating the position of the wave peak after frequency shift, and selecting the band by taking the position of the wave peak after frequency shift as the center in the next band selection, wherein the wave peak after actual frequency shift is close to the wave peak after frequency shift and still must be in the band selection, and the band selection is continuously and circularly performed, so that the change of the target can be continuously tracked by taking the position of the wave peak at the last time as the center. Once band selection is started, original data can be directly subjected to frequency shift and band selection without calculating an original power spectrum, and the calculation amount required by the first fast Fourier transform step in band selection Fourier transform is reduced.
Of course, the situation is that the interfering object and the target object are relatively far away, and in addition, when the peaks of the target object and the interfering object are close to each other, because the liquid level is continuous and stable, and the interfering object does not appear sometimes, the two peaks are close to each other, so that the error caused by the two peaks is not large, and the two peaks are within an acceptable range in a long-term view.
Example two
The present application provides a target tracking and ranging system of a radar level gauge, which employs the method according to any one of the embodiments, including: the system comprises a signal transceiver module 100, a signal acquisition module 200, a signal sampling module 300, a power spectrum drawing module 400, a signal frequency shift module 500, a filtering sampling module 600, a distance calculation module 700 and a target tracking module 800.
The signal transceiver module 100 is configured to transmit a frequency modulated continuous wave signal vector and receive an echo vector containing a target object and an interfering object.
The signal obtaining module 200 is configured to multiply the received echo vector and the transmitted signal vector for frequency mixing, and then perform a first low-pass filtering process to obtain a difference frequency signal.
The signal sampling module 300 is configured to perform AD sampling on the difference frequency signal to obtain a discrete-time signal sequence of the difference frequency signal.
The power spectrum drawing module 400 is configured to perform fast fourier transform on the discrete time signal sequence to obtain a discrete frequency spectrum of the difference frequency signal, and draw a power spectrum according to the discrete frequency spectrum.
The signal frequency shift module 500 is configured to find a peak position corresponding to the target object according to the shape of the power spectrogram, and perform signal frequency shift by using the peak position as a band selection center of band selection fourier transform.
The filtering and sampling module 600 is configured to perform a second low-pass filtering process on the discrete-time signal sequence after the signal frequency shift, obtain a filtering signal vector, and perform resampling on the filtering signal vector.
The distance calculation module 700 is configured to perform fast fourier transform on the re-sampled filtered signal, calculate an abscissa value of a peak position on the power spectrum, and calculate a distance from the radar level gauge to the target object by using the abscissa value.
The target tracking module 800 is configured to take the peak abscissa value as the peak position selected next time, and repeatedly operate the signal frequency shift module, the filtering sampling module, and the distance calculation module in sequence, so as to continuously track the moving and changing target object.
EXAMPLE III
An embodiment of the present application provides a computer storage medium having stored thereon computer program code which, when run on a computing device, causes the computing device to perform a method of target tracking ranging of a radar level gauge according to any one of the embodiments.
An embodiment of the present application provides a computing device, including: a processor; a memory storing computer program code; the computer program code, when executed by the processor, causes the computing device to perform a target tracking ranging method of the radar level gauge according to any one of the embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. A target tracking ranging method of a radar level meter is characterized in that the radar level meter receives echoes, extracts difference frequency signals and then carries out operation processing by using band selection Fourier transform, and the method for realizing ranging by tracking a target in real time comprises the following steps:
s110: transmitting a frequency modulation continuous wave signal vector, and receiving an echo vector containing a target object and an interfering object;
s120: multiplying the received echo vector by the transmitted signal vector to perform frequency mixing, and then performing first low-pass filtering processing to obtain a difference frequency signal;
s130: AD sampling is carried out on the difference frequency signal to obtain a discrete time signal sequence of the difference frequency signal;
s140: performing fast Fourier transform on the discrete time signal sequence to obtain a discrete frequency spectrum of the discrete time signal sequence, and drawing a power spectrogram according to the discrete frequency spectrum;
s150: finding out a peak position corresponding to the target object according to the shape of the power spectrogram, and performing signal frequency shift by taking the peak position as a band selection center of band selection Fourier transform;
s160: performing second low-pass filtering processing on the discrete time signal sequence after the signal frequency shift to obtain a filtering signal vector, and resampling the filtering signal vector;
s170: performing fast Fourier transform on the re-sampled filter signal, calculating an abscissa value of the peak position on the power spectrum, and calculating the distance from the radar level meter to a target object by using the abscissa value;
s180: and (5) taking the crest abscissa value as the crest position selected next time, and repeating the steps S150 to S170 so as to continuously track the moving and changing target object.
2. The target tracking ranging method of a radar level gauge according to claim 1, wherein in step S110, the transmitted frequency modulated continuous wave signal vector is a high frequency electromagnetic wave whose transmission frequency is continuously varied; in step S120, the received echo vector and the transmitted signal vector are multiplied to perform frequency mixing, and then the first low-pass filtering processing method is analog signal filtering, so as to obtain a difference frequency signal.
3. The method of target tracking ranging of a radar level gauge according to claim 1, wherein after performing a fast Fourier transform on the sequence of discrete time signals in step S140, further comprising calculating a frequency of the sequence of discrete time signals, wherein the frequency is proportional to a distance of the radar level gauge from the target object.
4. The method of target tracking ranging of a radar level gauge according to claim 2, wherein in step S130, an anti-aliasing filtering technique is used when the second low-pass filtering is performed on the frequency-shifted discrete-time signal sequence in step S160.
5. A target tracking ranging system of a radar level gauge, characterized in that the method of any one of claims 1-4 is used, comprising: the system comprises a signal transceiving module, a signal acquisition module, a signal sampling module, a power spectrum drawing module, a signal frequency shift module, a filtering sampling module, a distance calculation module and a target tracking module;
the signal transceiver module is configured to transmit frequency modulation continuous wave signal vectors and receive echo vectors containing a target object and an interfering object;
the signal acquisition module is configured to multiply the received echo vector and the transmitted signal vector for frequency mixing, and then perform first low-pass filtering processing to obtain a difference frequency signal;
the signal sampling module is configured to perform AD sampling on the difference frequency signal to obtain a discrete time signal sequence of the difference frequency signal;
the power spectrum drawing module is configured to perform fast Fourier transform on the discrete time signal sequence to obtain a discrete frequency spectrum of the difference frequency signal, and draw a power spectrum according to the discrete frequency spectrum;
the signal frequency shift module is configured to find a peak position corresponding to the target object according to the shape of the power spectrogram, and perform signal frequency shift by taking the peak position as a band selection center of band selection Fourier transform;
the filtering and sampling module is configured to perform second low-pass filtering processing on the discrete time signal sequence after the frequency shift of the signal to obtain a filtering signal vector, and resampling the filtering signal vector;
the distance calculation module is configured to perform fast Fourier transform on the re-sampled filter signal, calculate an abscissa value of a peak position on a power spectrum, and calculate a distance from the radar level gauge to a target object by using the abscissa value;
the target tracking module is configured to take the crest abscissa value as the crest position selected next time, and repeatedly operate the signal frequency shift module, the filtering sampling module and the distance calculation module in sequence, so as to continuously track the moving and changing target object.
6. A computer storage medium having computer program code stored thereon, which, when run on a computing device, causes the computing device to perform the method of target tracking ranging of a radar level gauge according to any one of claims 1-4.
7. A computing device, comprising:
a processor;
a memory storing computer program code;
the computer program code, when executed by the processor, causes the computing device to perform the method of target tracking ranging of a radar level gauge according to any one of claims 1-4.
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| CN114466494A (en) * | 2022-01-20 | 2022-05-10 | 南京矽典微系统有限公司 | Intelligent sensing lamp control method, device and equipment |
| CN116087908A (en) * | 2023-04-07 | 2023-05-09 | 烟台港股份有限公司联合通用码头分公司 | Radar high-precision level meter measuring method based on cooperative operation |
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