CN113992293A - Radar multichannel transmitting and receiving system self-adaptive synchronization method based on channel correction compensation - Google Patents

Radar multichannel transmitting and receiving system self-adaptive synchronization method based on channel correction compensation Download PDF

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CN113992293A
CN113992293A CN202111213331.XA CN202111213331A CN113992293A CN 113992293 A CN113992293 A CN 113992293A CN 202111213331 A CN202111213331 A CN 202111213331A CN 113992293 A CN113992293 A CN 113992293A
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徐晓
王逍
涂中华
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Wuhan Binhu Electronic Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04J—MULTIPLEX COMMUNICATION
    • H04J3/00—Time-division multiplex systems
    • H04J3/02—Details
    • H04J3/06—Synchronising arrangements
    • H04J3/0635—Clock or time synchronisation in a network
    • H04J3/0682—Clock or time synchronisation in a network by delay compensation, e.g. by compensation of propagation delay or variations thereof, by ranging
    • 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
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Abstract

The invention belongs to the field of synchronization of a receiving and transmitting system, and particularly relates to a radar multichannel receiving and transmitting system self-adaptive time sequence synchronization method based on channel correction compensation. The whole synchronization system comprises five parts, namely a receiving and transmitting channel, a correction network, a correction module, a signal processing subsystem and a data communication network, and self-adaptive time sequence calibration synchronization among the channels is started when the radar is started and initialized every time. The invention has the characteristics of high synchronization precision, high real-time performance, flexible mode and the like.

Description

Radar multichannel transmitting and receiving system self-adaptive synchronization method based on channel correction compensation
Technical Field
The invention belongs to the field of synchronization of a receiving and transmitting system, and particularly relates to a radar multichannel receiving and transmitting system self-adaptive time sequence synchronization method based on channel correction compensation.
Background
Modern radars mostly adopt a multi-channel digital array receiving and transmitting system to obtain better target searching, tracking and anti-interference, anti-stealth and clutter suppression performances. The multichannel digital array receiving and transmitting system is very flexible in beam forming, and each transmitting channel can independently generate different working waveforms as required when the radar is in different working modes, so that the radar can simultaneously carry out horizontal scanning and vertical scanning or beam optimization, and then noise signals introduced by a system clock have a coherent removing effect when each receiving and transmitting channel independently works, so that the waveform signals synthesized in the radar space have higher signal-to-noise ratio. However, when a plurality of transceiving channels work independently, due to the fact that delay time sequences of a channel system clock and a transmitting control signal are not consistent, each transmitting channel cannot keep consistent in amplitude and phase when outputting the same waveform, the radar space synthesis effect is seriously affected, and even effective beams cannot be synthesized in space.
In order to ensure the time sequence of a radio frequency channel, namely phase consistency, the traditional radar adopts a hardware channel modular design idea, and the layout and wiring of all channels are completely consistent, so that the unified timing of a system is realized. The equal length of signal transmission paths reaching each channel is ensured through hardware design, and the phase consistency and the assembly process consistency of each component are strictly controlled. The multichannel synchronization precision of the method depends on the control of the birth and production process of the radio frequency channel device, and the synchronization adjustment precision is limited. Modern radars mostly adopt a digital transceiving channel structure and have higher-precision amplitude and phase control capability. The waveform control of the transmitting channel and the DDC processing of the receiving channel both work under the unified control of a system clock and a timing signal so as to achieve the aim of synchronization. Firstly, the radar array surface ensures that the phases of system clocks sent to all digital receiving and sending channels are consistent, and the digital channels are internally designed for all channel clock transmission links in strict equal length. Meanwhile, the timing sequence error introduced by the whole transceiving channel is corrected through the high-precision amplitude and phase correction control capability of the digital transceiving channel, so that the multichannel synchronization of the radar transceiving system is realized. The method needs to synchronously control a plurality of nodes on a receiving and transmitting channel, has a complex implementation process and also only depends on the fixed time sequence synchronous adjustment capability of a digital device. In the practical application process, due to the characteristics of the array radar multi-channel transceiving system, a certain channel may be damaged and needs to be repaired and replaced. Therefore, the time delay error of each channel needs to be retested manually, the time sequence synchronization parameters are revised again, the workload is large, and the applicability and the maintainability are not flexible enough.
Therefore, it is necessary to research a method capable of realizing the self-adaptive timing synchronization of the radar multichannel transceiving system through high-precision amplitude-phase control based on a channel correction compensation mode.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a method for realizing the self-adaptive time sequence synchronization of a radar multichannel receiving and transmitting system through high-precision amplitude-phase control based on a channel correction compensation mode.
The technical scheme of the invention is a radar multichannel receiving and transmitting system self-adaptive time sequence synchronization method based on channel correction compensation, as shown in figure 1, the whole synchronization system comprises five parts of a receiving and transmitting channel ADC + DAC, a correction network, a correction module, a signal processing subsystem and a data communication network, wherein the signal processing subsystem comprises a DSP + FPGA, self-adaptive time sequence calibration synchronization between channels is started when the radar is started and initialized each time, and the whole calibration synchronization process can be divided into two steps: inter-channel delay measurement and inter-channel delay adjustment. The method comprises the following steps:
step one, measuring delay time between channels.
The signal processing subsystem sends broadband waveform codes for calibration through a receiving and transmitting system calibration channel, all channels of broadband calibration linear frequency modulation waveforms of the receiving and transmitting channel are output one by one and are amplified and filtered by respective transmitting channels and then returned to a calibration network, the calibration network sends received signals coupled back by all channels of the receiving and transmitting channel to a calibration module one by one, an AD sampling module in the calibration module carries out broadband digitization on the waveform signals in a radio frequency direct sampling mode, and finally, sampling data are sent to a signal processing system for real-time data comprehensive analysis. And during data analysis, setting one channel phase data as reference channel data, and comparing and analyzing the reference channel data and other channel phase data to calculate the delay difference between each channel and the reference channel.
The transmitting channel outputs the broadband calibration signal as a broadband chirp signal. The instantaneous phase characteristic of the signal is
Figure BDA0003309689390000031
In the formula:
Figure BDA0003309689390000032
-the instantaneous phase of the signal;
f0-a signal initial frequency;
b-signal bandwidth modulation;
t is signal frequency modulation pulse width;
t is the frequency modulation signal time, and the value range is [ -T/2, T/2 ].
The method comprises the following steps of comparing and analyzing phase data of a reference channel with phase data of other channels, and calculating a delay difference value between each channel and the reference channel, wherein the method comprises the following specific steps:
firstly, taking any channel t1、t2Time of day phase data
Figure BDA0003309689390000033
Get reference channel t1、t2Time of day phase data
Figure BDA0003309689390000034
Figure BDA0003309689390000035
Secondly, taking the difference value of the phase difference between the arbitrary channel and the reference channel,
Figure BDA0003309689390000036
thirdly, according to the phase difference
Figure BDA0003309689390000037
And a value taking time t1、t2Calculating the delay difference value delta t between any channel and a reference channel, wherein the calculation formula is
Figure BDA0003309689390000038
In the formula:
Figure BDA0003309689390000039
-the phase difference calculated in the second step;
b-signal bandwidth modulation;
t is signal frequency modulation pulse width;
Δ t — the inter-channel time difference;
fourthly, repeating the first step to the third step until the delay difference value delta t between each channel and the reference channel is obtained1、Δt2、Δt3……ΔtnWherein the delay difference of the reference channel is 0.
And step two, calibrating and synchronizing delay among channels.
According to the delay difference Delta t between the channelsnAnd carrying out accurate time sequence phase adjustment to realize the calibration synchronization of the delay between the arbitrary channel n and the reference channel. In order to reduce the time difference of the transmitting waveform envelopes among the channels as much as possible, the delay calibration is divided into two steps of coarse delay calibration and fine calibration synchronization.
Firstly, the coarse adjustment of the inter-channel delay is carried out in the process of generating waveform I/Q data in an FPGA and then sending the waveform I/Q data to a GTX interface module, and the principle is that a multi-stage trigger link is added in a data channel, the number of triggers connected in the link is adjusted by enabling or bypassing a corresponding number of triggers through a switch, and therefore the time delay synchronization of the waveform I/Q data is carried out by taking the period corresponding to the working clock frequency of the FPGA as a step. For example, the working clock of FPGA is fsTherefore, this mode can be as 1/fsThe step of (2) performs time forward and backward adjustment on the waveform I/Q data, and because the time adjustment of each channel is bidirectional, namely, the channel can move forward or backward in time, finally, any channel waveform can be delayed by an integer M times of clock period through coarse adjustment, and the time difference between the waveform data and the reference channel is adjusted to be +/-1/2 fsWithin, i.e. to be larger delay error
Figure BDA0003309689390000041
Adjusted to DeltaTn1/2f or lesss，ΔTnIs a smaller error requiring fine tuning.
Secondly, the accurate calibration of the inter-channel delay is realized by adjusting the initial phase and the starting frequency of the channel waveform frequency modulation signal, and the chirp waveform transmitted by the transceiving channel is as follows.
A×exp(j×(2πf0t+πKt2))·····················(2-1)
Wherein A is a waveform amplitude coefficient, f0The center frequency of the waveform, K the slope of the chirp waveform, and equation (2-2) shows the fine tuning delay Δ T of the chirp waveform shown in equation (2-1).
A×exp(j×(2πf0(t+ΔT)+πK(t+T)2))················(2-2)
That is, due to the inter-channel delay error Δ T, the initial frequency error Δ f ═ K · Δ T and the initial phase error of the signal are generated
Figure BDA0003309689390000042
And because the value of delta T is extremely small and is in the order of nanoseconds, the value can be obtained
Figure BDA0003309689390000043
Adjusting the initial phase of each path of waveform frequency modulation signal according to the calculation result
Figure BDA0003309689390000044
And the initial frequency delta f can compensate and adjust the delay difference between the channels, so that the phase of the delay waveform is aligned with the phase of the reference waveform, namely the time sequence of the transmitted signal is synchronous. As shown in FIG. 2, the time delay of the N-th wave form of the radar and the signal transmitted by the reference channel is TnWhen waveform 1 is selected as a reference, the delay time difference between waveform 2 and waveform 1 is Δ T2The delay time difference between the waveform N and the waveform 1 is Δ Tn. Therefore, when the waveform N needs to be adjusted to be aligned with the waveform 1, the signal processing calculates the Δ T of the waveform 1 after the start time of the waveformnInstantaneous phase of time of day
Figure BDA0003309689390000051
And instantaneous frequency Δ fnThen setting the initial phase of the waveform N to
Figure BDA0003309689390000052
Initial frequency set to Δ fnWaveform N may be aligned with waveform 1.
The method has the following beneficial effects: the method can calculate the time delay difference among channels through real-time acquired data by signal processing based on a channel correction compensation mode, and realizes the self-adaptive time sequence synchronization of the radar multichannel receiving and transmitting system through high-precision amplitude-phase control. The method overcomes the defect that the traditional method for synchronizing the multiple channels of the radar transmitting and receiving system only depends on the inherent design and manufacturing synchronization capacity of hardware equipment for controlling the transmitting and receiving channels to realize the synchronization of the multiple channels of the system in a single control mode. Meanwhile, compared with a high-precision time sequence control method in a modern digital transceiving channel synchronization mode, the method increases the system self-adaptive real-time calculation system delay error and adjusts the signal frequency and the phase in real time. Therefore, the self-adaptive synchronization function of the time sequence of the radar multichannel transceiving system is realized under the condition of not increasing hardware resources, the synchronization precision is high, the real-time performance is high, the mode is flexible, and the self-adaptive synchronization function of the time sequence of the radar multichannel transceiving system can be realized in the power-on work initialization process of the whole radar. The invention overcomes the idea that the existing design is synchronous in the same place, and the invention modifies in different ways in two steps according to the difference time obtained by sampling, thereby realizing the high-precision function of the time sequence of the receiving and transmitting system.
Drawings
FIG. 1 is a block diagram of radar transmit receive channel adaptive calibration synchronization.
FIG. 2 is a schematic diagram of a delay calibration synchronization adjustment.
FIG. 3 shows a waveform front/middle/end phase difference test chart without synchronous adjustment.
FIG. 4 shows a synchronously adjusted waveform front/middle/end phase difference test chart.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 2, the self-adaptive synchronization method for a radar transceiver system based on channel calibration compensation of the present invention and the hardware architecture implementation of high-speed ADC + DAC + DSP + FPGA are provided, for example, the whole synchronization system of fig. 1 includes five parts of a transceiver channel, a calibration network, a calibration module, a signal processing subsystem and a data communication network, and the self-adaptive timing calibration synchronization between channels is started when the radar is started and initialized each time, and the whole calibration synchronization process can be divided into two major steps: inter-channel delay measurement and inter-channel delay adjustment. The method comprises the following steps:
1. and measuring the channel delay. The core device for measuring the interchannel delay is a high-speed AD chip AD9680 produced by ADI company, and the highest sampling clock can reach 1 GHz. Taking the method as an example, a signal processing subsystem sends a broadband waveform code for calibration, and radar 32 transceiver channel waveform generators receive the waveform code, output corresponding frequency modulation waveforms one by one, amplify and filter the waveforms through respective transmitting channels, and send the waveforms to a radar correction network. The correction network sends the waveform signal to the correction module when in a correction state, an AD chip in the correction module digitizes the waveform signal in a radio frequency direct acquisition mode, and then sends the data to the signal processing subsystem for real-time data comprehensive analysis. And during data analysis, setting the zero channel phase data as reference channel data, and comparing and analyzing the reference channel data and other 31 channel phase data one by one so as to calculate the delay difference between each channel and the reference channel. The method comprises the following specific steps: first, an arbitrary channel t is taken1、t2Time of day phase data
Figure BDA0003309689390000061
Get reference channel t1、t2Time of day phase data
Figure BDA0003309689390000062
Secondly, taking the difference value of the phase difference between the arbitrary channel and the reference channel,
Figure BDA0003309689390000063
then, based on the phase difference
Figure BDA0003309689390000064
And a value taking time t1、t2Calculating a delay difference value delta t between any channel and a reference channel, wherein the calculation formula is shown in the formula (1-2); finally, the steps are repeated until the delay difference delta t between each channel and the reference channel is obtainedn. In this example, the time delay difference between a certain channel and the reference channel is calculated to be 7.6ns (including the group delay difference of the filter in the transmitting channel).
2. Inter-channel delay alignment synchronization. And according to the delay difference delta t between the channels, carrying out accurate time sequence phase adjustment to realize the calibration synchronization of the delay between the channels. In order to reduce the time difference of the transmitting waveform envelopes among the channels as much as possible, the delay calibration is divided into two steps of coarse delay calibration and fine calibration synchronization.
Firstly, the coarse adjustment of the inter-channel delay is carried out in the process of generating waveform I/Q data in an FPGA and then sending the waveform I/Q data to a GTX interface module, and the principle is that a multi-stage trigger link is added in a data channel, the number of triggers connected in the link is adjusted by enabling or bypassing a corresponding number of triggers through a switch, and therefore the time delay synchronization of the waveform I/Q data is carried out by taking the period corresponding to the working clock frequency of the FPGA as a step. For example, the working clock of FPGA is f0Therefore, the waveform I/Q data can be adjusted back and forth in time according to the stepping of 1/F0, and since the time adjustment of each channel is bidirectional, namely, the waveform can move forward or backward in time, finally, any one channel waveform can be delayed by an integer M times of clock period through coarse adjustment, and the time difference between the waveform data and the reference channel can be adjusted to +/-1/2FsWithin, i.e. to be larger delay error
Figure BDA0003309689390000071
Adjusted to DeltaTn1/2f or lesss，ΔTnIs a smaller error requiring fine tuning. Taking the scheme as an example, because the working clock of the FPGA in the scheme is 250MHz, the method can perform time forward and backward adjustment on the waveform I/Q data according to 4ns stepsTherefore, the time difference between any one channel and the reference channel can be adjusted to +/-2 ns finally through coarse adjustment, and because the delay adjustment mode is to perform delay movement adjustment on the waveform I/Q data sent to the SDA9164 in the time domain, the envelope curve of the output waveform synchronously moves the delay adjustment along with the waveform data. Corresponding to the delay difference of 7.6ns in the above example application, the waveform data delay of 2 clock cycles can be roughly adjusted, i.e. the delay error between channels is reduced to-0.4 ns.
Secondly, the accurate calibration of the delay between the channels is realized by adjusting the initial phase and the starting frequency of each wave-shaped frequency modulation signal. The initial amplitude-phase characteristic of the chirp waveform is shown in a formula (2-1), and the amplitude-phase characteristic of the waveform after fine tuning delay delta T time of the chirp waveform is shown in a formula (2-2). That is, due to the inter-channel delay error Δ T, the initial frequency error Δ f ═ K · Δ T and the initial phase error of the signal are generated
Figure BDA0003309689390000072
And because the T value is extremely small and is in the order of nanoseconds, the value can be obtained
Figure BDA0003309689390000081
Adjusting the initial phase of each path of waveform frequency modulation signal according to the calculation result
Figure BDA0003309689390000082
And the initial frequency delta f can compensate and adjust the delay difference between the channels, so that the phase of the delay waveform is aligned with the phase of the reference waveform, namely the time sequence of the transmitted signal is synchronous. As shown in FIG. 2, the time delay of the N-th wave form of the radar and the signal transmitted by the reference channel is TnWhen waveform 1 is selected as a reference, the delay time difference between waveform 2 and waveform 1 is Δ T2The delay time difference between the waveform N and the waveform 1 is Δ Tn. Therefore, when the waveform N needs to be adjusted to be aligned with the waveform 1, the signal processing calculates the Δ T of the waveform 1 after the start time of the waveformnInstantaneous phase of time of day
Figure BDA0003309689390000083
And instantaneous frequency Δ fnThen the initial phase of the waveform NBit set as
Figure BDA0003309689390000084
Initial frequency set to Δ fnWaveform N may be aligned with waveform 1. Because the frequency control word data of the waveform generator of the transceiving channel in the scheme of the embodiment is 32 bits, the frequency control precision can reach 0.047Hz under the condition that the bandwidth of the I/Q data of the waveform output by the FPGA is 200MHz, the minimum time adjustment precision corresponding to the frequency adjustment step of 0.047Hz is related to the waveform frequency modulation slope, the maximum instantaneous bandwidth of the output signal of the channel is 100MHz, the shortest pulse width corresponding to the waveform of the bandwidth in the embodiment is 100 mus, and the frequency modulation slope K is 1 multiplied by 1012Hz/s, therefore, the time adjustment step corresponding to the 0.047Hz minimum frequency modulation step is 0.047ps, and therefore, the precision of the accurate calibration of the delay between the channels can reach 0.047 ps. Corresponding to a post-coarse tuning channel delay error of 0.4ns in the example application described above, the delay time is adjusted according to the formula deltaf-k.deltat,
Figure BDA0003309689390000085
it can be seen that the initial frequency of the signal synchronization adjustment is 400Hz, and the initial phase is 0.8 π. The channel synchronization correction result comparison shown in fig. 3 and 4 can be obtained by adjusting the initial frequency and phase of the transmitting channel signal. Fig. 3 shows that when the two transceiver channels output carrier frequency 1G waveforms with bandwidth of 200MHz and pulse width of 100 μ s, the phase difference between the front, middle and end of the two channels is obvious without synchronous adjustment. And because the radar system adopts broadband frequency modulation signals, the phase difference of the transmitted signals is not fixed and is greatly changed along with the time. Fig. 4 shows the phase difference of the front section, the middle section and the end section of the two-channel transmitting signals after the system compensation synchronization adjustment, so that the improvement of the phase difference can be obviously seen, and the self-adaptive time sequence synchronization of the radar multi-channel transmitting and receiving system is realized.

Claims (5)

1. The self-adaptive synchronization method of the radar multichannel receiving and transmitting system based on the channel correction compensation is characterized in that: comprises the following steps
Step one, measuring delay time between channels, and solving a delay difference value delta t between each channel and a reference channel1、Δt2、Δt3……ΔtnN is the number of channels;
and step two, calibrating and synchronizing delay among channels.
The first substep is carried out in the process of generating waveform I/Q data in the FPGA and then sending the waveform I/Q data to the GTX interface module, a multi-stage trigger link is added in a data channel, the number of triggers connected in the link is adjusted by enabling or bypassing the corresponding number of triggers through a switch,
according to 1/fsThe step of (2) temporally back-and-forth adjusting the waveform I/Q data by M times, wherein
Figure FDA0003309689380000011
By adjusting the value of M to be Δ T thereinn1/2f or lesss，fsFor the working clock of the FPGA, Δ TnError requiring fine tuning;
substeps two-way fine calibration of the interchannel delay by adjusting the initial phase and starting frequency of the channel waveform chirp signal: initial phase setting of N channels
Figure FDA0003309689380000012
Initial frequency set to Δ fnWherein
Figure FDA0003309689380000013
Δf＝K·ΔT，ΔTnFor errors requiring fine adjustment, f0Is the waveform center frequency.
2. The adaptive synchronization method for radar multichannel transceiving system based on channel correction compensation as claimed in claim 1, wherein the step of measuring delay time between channels is characterized in that: the method comprises the following specific steps:
substep one, taking any channel t1、t2Time of day phase data
Figure FDA0003309689380000014
Get reference channel t1、t2Time of day phase data
Figure FDA0003309689380000015
Taking the difference between the phase difference of the arbitrary channel and the reference channel,
Figure FDA0003309689380000016
a third substep of determining the phase difference
Figure FDA0003309689380000017
And a value taking time t1、t2Calculating the delay difference value delta t between any channel and a reference channel, wherein the calculation formula is
Figure FDA0003309689380000018
In the formula:
Figure FDA0003309689380000019
is the calculated phase difference; b is signal frequency modulation bandwidth; t is the signal frequency modulation pulse width; Δ t is the inter-channel time difference;
and a fourth substep of repeating the first to third substeps until a delay difference Δ t between each channel and the reference channel is determinedn。
3. The radar multichannel transmitting and receiving system adaptive synchronization method based on channel correction compensation according to claim 1, characterized in that: the channel synchronization system comprises a transceiving channel, a correction network, a correction module, a signal processing subsystem and a data communication network, wherein the transceiving channel, the correction network, the correction module and the signal processing subsystem are sequentially connected, and the data communication network is connected with the transceiving channel and the signal processing subsystem.
4. The radar multichannel transmitting and receiving system adaptive synchronization method based on channel correction compensation according to claim 3, characterized in that: the signal processing subsystem sends a broadband waveform code for calibration, all channels of broadband calibration linear frequency modulation waveforms of the transceiving channels are output one by one and are amplified and filtered by respective transmitting channels and then returned to the correction network, the correction network sends received signals coupled back by all the transceiving channels to the correction module one by one, an AD sampling module in the correction module carries out broadband digitization on the waveform signals in a radio frequency direct sampling mode, and sampled data are sent to the signal processing system for real-time data comprehensive analysis.
5. The radar multichannel transmitting and receiving system adaptive synchronization method based on channel correction compensation according to claim 1, characterized in that: the delay difference of the reference channel is 0.
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