CN114063032B - Calibration method and calibration device - Google Patents
Calibration method and calibration device Download PDFInfo
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- CN114063032B CN114063032B CN202210024936.2A CN202210024936A CN114063032B CN 114063032 B CN114063032 B CN 114063032B CN 202210024936 A CN202210024936 A CN 202210024936A CN 114063032 B CN114063032 B CN 114063032B
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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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
Abstract
The invention discloses a calibration method and a calibration device, wherein the calibration method comprises the following steps: receiving a frequency modulation continuous wave signal transmitted by a frequency modulation continuous wave signal transmitter, obtaining an interference signal after the frequency modulation continuous wave signal is subjected to interference processing, and obtaining a response parameter of a nonlinear item in the frequency modulation continuous wave signal according to the interference signal to obtain a real signal of the frequency modulation continuous wave signal; and pre-distorting the electrical signal according to the actual signal of the frequency modulation continuous wave to obtain a target electrical signal, and calibrating the frequency modulation continuous wave transmitter according to the target electrical signal. According to the invention, the frequency modulation continuous wave signal is interfered, and then the interference signal is processed by utilizing a matching Fourier transform algorithm, so that the response parameter of the nonlinear item in the frequency modulation continuous wave signal can be accurately and rapidly calculated, and the appropriate electrical signal intensity is calculated by utilizing an electrical signal pre-distortion method to complete the nonlinear calibration of the frequency modulation continuous wave signal transmitter.
Description
Technical Field
The present application relates to frequency modulated continuous wave signal transmitters, and more particularly to a method of calibrating frequency modulated continuous wave signal transmitters.
Background
The linear frequency modulation continuous wave radar transmits a frequency modulation continuous wave signal of which the frequency is linearly modulated to a target, receives an echo signal reflected by the target, mixes the frequency modulation continuous wave signal and the echo signal, outputs a difference frequency signal, and calculates the frequency of the difference frequency signal to obtain the distance and speed information of the target. The chirp continuous wave radar can be used to quickly and accurately measure the distance of a target object from the radar and the relative speed with the radar.
The frequency modulation continuous wave signal transmitter is an indispensable device for transmitting the linear frequency modulation continuous wave radar, and the electrical signal generating device generates an electrical signal to modulate the linear frequency modulation continuous wave signal. The frequency modulation linearity of the frequency modulation continuous wave signal transmitter determines the signal quality of the linear frequency modulation continuous wave radar and also determines the ranging precision and the measuring range of the linear frequency modulation continuous wave radar. The larger the frequency modulation linearity is, the lower the signal quality of the linear frequency modulation continuous wave radar is, the lower the ranging precision of the linear frequency modulation continuous wave radar is, and the shorter the measuring range is.
The frequency modulation linearity of the frequency modulation continuous wave signal transmitter is brought by a frequency modulation nonlinear term, and accurate evaluation and calculation of response parameters of the frequency modulation nonlinear term are important steps of technical work of calibration and the like of the frequency modulation continuous wave signal transmitter. The non-linear term of the frequency modulated continuous wave signal transmitter is mainly caused by the non-linear correspondence of the electrical signal of the driving circuit and the frequency modulated continuous wave signal.
Disclosure of Invention
The invention provides a calibration method for calibrating a frequency modulation continuous wave signal transmitter to transmit a more ideal frequency modulation continuous wave signal.
A method of calibration comprising the steps of:
receiving a frequency modulation continuous wave signal transmitted by a frequency modulation continuous wave signal transmitter, obtaining an interference signal after the frequency modulation continuous wave signal is subjected to interference processing, and obtaining a response parameter of a non-linear term in the frequency modulation continuous wave signal according to the interference signal to obtain a real signal of the frequency modulation continuous wave signal. The frequency of the interference signal is the frequency difference between the frequency of the local oscillator signal of the frequency modulated continuous wave signal and the frequency of the received signal.
And pre-distorting the electrical signal according to the actual signal of the frequency modulation continuous wave to obtain a target electrical signal, and calibrating the frequency modulation continuous wave signal transmitter according to the target electrical signal.
Further, obtaining a real signal of the frequency modulated continuous wave signal specifically includes:
the interference signal comprises a frequency difference function, and the frequency difference function comprises adaptive coefficients of various orders;
processing the frequency difference function by using a matching Fourier transform algorithm in combination with the phase variation to obtain a frequency domain signal transform function; according to the frequency domain signal transformation function, the phase variation and the adaptive coefficients of each order, response parameters of nonlinear terms in the frequency modulation continuous wave signal are obtained, and the frequency variation function of the real signal of the frequency modulation continuous wave signal is obtained;
the phase variation comprises a phase variation function, the phase variation function comprises each order of frequency, and each order of frequency when the maximum frequency domain signal value is reached in the frequency domain signal transformation function is an adaptive coefficient of each order.
Further, the pre-distortion processing of the electrical signal to obtain the target electrical signal specifically includes:
according to the frequency modulation continuous wave signal and the electrical signal, obtaining a conversion relation between the frequency modulation continuous wave signal and the electrical signal; and obtaining a target electrical signal according to the conversion relation and a target signal of the frequency modulation continuous wave signal.
Further, the frequency difference function is:
wherein the content of the first and second substances,ξ ifor each of the steps of the adaptation coefficient,
i =1, 2,3 … … N, t being time and N being a positive integer.
Further, the frequency domain signal transformation function is:
，
wherein the content of the first and second substances,
as a function of the amount of phase change,ε 1toε NT is the maximum value of T for each order frequency, and s (T) is the signal intensity of the interference signal.
Further, the frequency variation function of the frequency modulated continuous wave signal is:
wherein the content of the first and second substances,
is a linear term， 
In the case of a non-linear term,f 0the frequency of the frequency modulated continuous wave signal at the start time is a known number,f 1is the chirp rate, is a known number, t is time,f 2tof NThe response parameter of the nonlinear term is N, wherein N is a positive integer, N can be selected according to actual requirements, and the larger N is, the higher the precision is, but the larger the workload is.
Further, obtaining the interference signal specifically includes:
dividing the frequency modulation continuous wave signal into two paths, wherein one path of frequency modulation continuous wave signal is delayed and then merged into the other path of frequency modulation continuous wave signal to obtain an interference signal of the frequency modulation continuous wave signal.
Further, the starting time is the starting time point of the frequency rising time period of the sawtooth wave signal after the sawtooth wave signal generated by the electrical signal is loaded to the frequency modulation continuous wave signal transmitter as the modulation signal.
The present invention also provides a calibration apparatus, comprising:
an electrical signal generator for generating an electrical signal;
the frequency modulation continuous wave signal transmitter is used for transmitting a frequency modulation continuous wave signal;
the interference signal generating device is used for interfering the frequency modulation continuous wave signal to generate an interference signal;
the data acquisition unit is used for acquiring the interference signal;
the data processor is used for processing the interference signal to obtain a target electrical signal;
the electric signal generator is electrically connected with the frequency modulation continuous wave signal transmitter, the frequency modulation continuous wave signal transmitter is electrically connected with the interference signal generating device, the interference signal generating device is electrically connected with the data acquisition unit, the data acquisition unit is electrically connected with the data processor, and the data processor sends the target electric signal to the electric signal generator.
Furthermore, the interference signal generating device comprises a first coupler, a second coupler and a time delay unit, wherein the first coupler divides the frequency modulated continuous wave signal into two paths, one path of the frequency modulated continuous wave signal enters the second coupler after passing through the time delay unit, the other path of the frequency modulated continuous wave signal directly enters the second coupler, and the two paths of the frequency modulated continuous wave signal are integrated into the interference signal by the second coupler.
The invention has the beneficial effects that:
the invention reduces the frequency modulation linearity of the frequency modulation continuous wave signal transmitter by reducing the response parameter value of the nonlinear term of the frequency modulation continuous wave signal transmitter, thereby ensuring high ranging precision and long measuring range of the frequency modulation continuous wave radar.
Firstly, the frequency modulation continuous wave signal is interfered, then the interference signal is processed by utilizing a matching Fourier transform algorithm, response parameters of nonlinear items in the frequency modulation continuous wave signal can be accurately and quickly calculated, proper electrical signal intensity is calculated by utilizing an electrical signal pre-distortion method to complete nonlinear calibration of the frequency modulation continuous wave signal transmitter, and calibration of the frequency modulation continuous wave signal transmitter is realized at low cost.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of the steps of a calibration method;
FIG. 2 is a schematic diagram of a process for determining response parameters;
fig. 3 is a schematic structural diagram of the calibration device.
Detailed Description
In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. 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.
The invention is further elucidated with reference to the drawings and the embodiments.
Example 1
It is known from the prior art that the frequency modulation linearity determines the signal quality of a chirp continuous wave radar, and the larger the frequency modulation linearity is, the lower the signal quality of the chirp continuous wave radar is, and the lower the ranging accuracy of the chirp continuous wave radar is, and the shorter the range is. The function relationship of the frequency modulation linearity is as follows:
Lwhich represents the degree of frequency modulation linearity to be sought,f cmaxrepresents the maximum value of the difference between the frequency of the real signal of the frequency modulated continuous wave signal and the frequency of the target signal of the frequency modulated continuous wave signal,Bis the total modulation range and is known invariant. Therefore, to achieve the reduction of the linearity of the frequency modulation, it is necessary to reducef cmaxInfinitesimal, that is, the frequency modulated continuous wave signal is to be brought infinitely close to the target signal.
The present embodiment provides a calibration method for calibrating a frequency modulated continuous wave signal transmitter for modulating a frequency modulated continuous wave signal by adjusting an electrical signal, as shown in fig. 1, comprising the steps of:
receiving a frequency modulation continuous wave signal transmitted by a frequency modulation continuous wave signal transmitter, obtaining an interference signal after the frequency modulation continuous wave signal is subjected to interference processing, and obtaining a response parameter of a non-linear term in the frequency modulation continuous wave signal according to the interference signal to obtain a real signal of the frequency modulation continuous wave signal. The frequency of the interference signal is the frequency difference between the frequency of the local oscillation signal of the frequency modulated continuous wave signal and the frequency of the received signal.
And pre-distorting the electrical signal according to the actual signal of the frequency modulation continuous wave to obtain a target electrical signal, and calibrating the frequency modulation continuous wave transmitter according to the target electrical signal.
Wherein, to the real signal of frequency modulation continuous wave signal specifically includes:
the interference signal includes a frequency difference function including adaptation coefficients of respective orders.
Processing the frequency difference function by using a matching Fourier transform algorithm in combination with the phase variation to obtain a frequency domain signal transform function; and according to the frequency domain signal transformation function, the phase variation and the adaptive coefficients of each order, obtaining response parameters of nonlinear terms in the frequency modulation continuous wave signal to obtain a real signal of the frequency modulation continuous wave signal.
The phase variation comprises a phase variation function, the phase variation function comprises each order of frequency, and each order of frequency when the frequency reaches the maximum frequency domain signal value in the frequency domain signal transformation function is an adaptive coefficient of each order.
The frequency variation function of the frequency modulated continuous wave signal is:
Wherein the content of the first and second substances,
is a linear term， 
In the case of a non-linear term,f 0the frequency of the frequency modulated continuous wave signal at the start time, which is a known number,f 1is the chirp rate, is a known number, t is time,f 2tof NThe response parameter of the nonlinear term is N, wherein N is a positive integer, N can be selected according to actual requirements, and the larger N is, the higher the precision is, but the larger the workload is. The starting time is the starting time point of the frequency rising time period of the sawtooth wave signal after the sawtooth wave signal generated by the electrical signal is used as a modulation signal and loaded to the frequency modulation continuous wave signal transmitter.
This is a real signal that has not yet undergone a calibration step. And the aim of the invention is to realizef 2Tof NTends towards zero, so that the frequency variation of the frequency modulated continuous wave signal is linearly variable. Wherein, the frequency variation function of the target signal of the frequency modulation continuous wave signal is as follows:
That is, the calibration method of the present embodiment aims to make equation (1) approach equation (2) infinitely.
The function of the frequency difference of the interference signal is:
Wherein the content of the first and second substances,ξ ifor each order of adaptation coefficients, i =1, 2,3 … … N, t being time, N being a positive integer,
The process of deriving a frequency difference function of the interference signal comprises the steps of:
the frequency modulation continuous wave signal is transmitted and then passes through an interference signal generating device, and the interference signal generating device is composed of a first coupler, a second coupler and a time delay device. The first coupler divides the frequency modulation continuous wave signal into two paths, wherein one path enters the second coupler after passing through the time delay unit, the time delay time is tau, the other path directly enters the second coupler, and the second coupler integrates the two paths of signals to form an interference signal.
Therefore, two signals appear, wherein one signal has no change, or the frequency changes as shown in formula (1), but one signal passes through the delayer, and the frequency change function becomes:
When frequency-varying functions of two signals are subtracted, i.e.f 0(t) reductionf 1(t), obtaining a frequency difference function of the interference signal:
the result of combining the same kind of terms of the above formula must include t0，t1，t2，…，tNTerms, then the coefficients of these terms are all recorded as
，
，
，…，
. The following frequency difference function is derived:
Wherein formula (3) is one less term than formula (6)ξ 0Because the interference signal enters the data collector, the high-frequency signal in the signal is lost due to the limited response frequency of the data collector, namely the lossξ 0Therefore, the frequency difference function of the interference signal finally becomes the same as the formula (3), and the adaptive coefficient of each order, i.e., t0，t1，t2，…，tNCoefficient of (1) is calculated as
. Because of the fact thatξ 0Is a known number and the loss has no effect on the calculation.
Wherein, the frequency difference function is processed by using a matching Fourier transform algorithm, and the obtained frequency domain signal transform function is as follows:
Obtaining a response parameter of a nonlinear term in a frequency variation function of the frequency modulated continuous wave signal, as shown in fig. 2, specifically includes:
the known quantity s (t) is present,ε 1= f 1then as soon as i =2 the order frequencies start to be calculated.
Frequency of each orderε 2，…，ε NThe frequencies of each order when the frequency domain signal transformation function value F reaches the maximum are the adaptive coefficients of each order and correspond to the adaptive coefficients of each order respectively
，…，
。
Then, the known delay time tau and the calculation function of the formula (4) about each coefficient can be used for solving to obtain each order response parameter of the nonlinear termf 2，……，f N. Thus, a specific function of formula (1) is derived, that is, a function is derivedA specific function of the frequency modulated continuous wave signal within one period of the real world signal of the frequency modulated continuous wave signal is shown.
The pre-distortion processing is performed on the electrical signal to obtain a target electrical signal, and the method specifically comprises the following steps:
according to the frequency variation function of the frequency-modulated continuous wave signal obtained abovef 0(t) and a function of variation E of the electrical signal0(t) obtaining a conversion relation H (t) between the frequency modulated continuous wave signal and the electrical signal;
target signal based on conversion relation H (t) and frequency modulated continuous wave signalf(t), obtaining the target electrical signal.
The change function of the sawtooth wave signal generated by the electric signal generator in one period is as follows:
Wherein E is0(t) represents the intensity of the electrical signal, k represents the slope, and t is time.
The conversion relation between the electrical signal and the real signal of the frequency modulation continuous wave signal is as follows:
Then, one can obtain:
According to H (t) andf(t), the strength of the available target electrical signal should be:
According to the target electrical signal E1(t) calibrating the frequency modulated continuous wave transmitter.
In the present embodiment, it is preferred that,f 0is an initial frequency value, which can be deleted for the convenience of calculation, even iff 00 does not affect the final result.
Example 2
The present embodiment provides a calibration apparatus, as shown in fig. 3, including:
and the electrical signal generator is used for generating an electrical signal.
And the frequency modulation continuous wave signal transmitter is used for transmitting the frequency modulation continuous wave signal.
And the interference signal generating device is used for interfering the frequency modulation continuous wave signal to generate an interference signal.
The interference signal generating device in the embodiment is composed of a first coupler, a second coupler and a delayer; the first coupler divides the frequency modulation continuous wave signal into two paths, wherein one path enters the second coupler after passing through the time delay unit, the time delay time is tau, the other path directly enters the second coupler, and the second coupler integrates the two paths of signals to form an interference signal.
The data acquisition unit is used for acquiring the interference signal generated by the interference signal generation device;
and the data processor is used for processing the interference signal to obtain a target electrical signal.
The electrical signal generator generates an electrical signal which is sent to the frequency modulated continuous wave signal transmitter for modulating the frequency modulated continuous wave signal. The frequency modulation continuous wave signal emitter emits a frequency modulation continuous wave signal, the frequency modulation continuous wave signal is transmitted into the interference signal generation device, the generated interference signal is input into the data acquisition device, the data acquisition device acquires the interference signal and then transmits the interference signal to the data processor, the data processor realizes the calculation method of the calibration method in the embodiment 1 to obtain a target electrical signal, the target electrical signal is sent to the electrical signal generator, the target electrical signal modulates an ideal frequency modulation continuous wave signal, and the response parameter of a nonlinear term in the ideal frequency modulation continuous wave signal infinitely approaches to zero.
The frequency modulation continuous signal transmitter in this embodiment is of various types, including devices and equipment with continuous wave signal transmitting function, such as a frequency modulation laser or a microwave transmitter. There are many kinds of electrical signal generators, including piezoelectric ceramic generators or photoelectric sensors, etc. which can emit voltage signals, current signals or other electrical signals.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, a module or a unit may be divided into only one logic function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another apparatus, or some features may be omitted, or not executed.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (9)
1. A calibration method, comprising the steps of:
receiving a frequency modulation continuous wave signal transmitted by a frequency modulation continuous wave signal transmitter, obtaining an interference signal by interference processing of the frequency modulation continuous wave signal, and obtaining a response parameter of a non-linear item in the frequency modulation continuous wave signal according to the interference signal to obtain a real signal of the frequency modulation continuous wave signal;
pre-distortion processing is carried out on the electrical signals according to the actual signals of the frequency modulated continuous waves to obtain target electrical signals, and the frequency modulated continuous wave signal transmitter is calibrated according to the target electrical signals;
obtaining a real signal of the frequency modulated continuous wave signal, specifically comprising:
the interference signal comprises a frequency difference function, and the frequency difference function comprises adaptive coefficients of various orders;
processing the frequency difference function by using a matching Fourier transform algorithm in combination with the phase variation to obtain a frequency domain signal transform function; according to the frequency domain signal transformation function, the phase variation and the adaptive coefficients of each order, response parameters of nonlinear terms in the frequency modulation continuous wave signal are obtained, and the frequency variation function of the real signal of the frequency modulation continuous wave signal is obtained;
the phase variation comprises a phase variation function, the phase variation function comprises each order of frequency, and each order of frequency when the maximum frequency domain signal value is reached in the frequency domain signal transformation function is an adaptive coefficient of each order.
2. The calibration method according to claim 1, wherein the pre-distorting the electrical signal to obtain the target electrical signal comprises:
according to the frequency modulation continuous wave signal and the electrical signal, obtaining a conversion relation between the frequency modulation continuous wave signal and the electrical signal; and obtaining a target electrical signal according to the conversion relation and a target signal of the frequency modulation continuous wave signal.
3. The calibration method according to claim 1, wherein the frequency difference function is:
wherein the content of the first and second substances,ξ ifor each of the steps of the adaptation coefficient,
i =1, 2,3 … … N, t being time and N being a positive integer.
4. The calibration method according to claim 1, wherein the frequency domain signal transformation function is:
，
wherein the content of the first and second substances,
as a function of the amount of phase change,ε 1toε NT is the maximum value of T for each order frequency, and s (T) is the signal intensity of the interference signal.
5. The calibration method according to claim 1, wherein the frequency variation function of the frequency modulated continuous wave signal is:
wherein the content of the first and second substances,
is a linear term， 
In the case of a non-linear term,f 0the frequency of the frequency modulated continuous wave signal at the start time is a known number,f 1is the chirp rate, is a known number, t is time,f 2tof NIs a non-linear termN is a positive integer.
6. The calibration method according to claim 1, wherein obtaining the interference signal comprises:
dividing the frequency modulation continuous wave signal into two paths, wherein one path of frequency modulation continuous wave signal is delayed and then merged into the other path of frequency modulation continuous wave signal to obtain an interference signal of the frequency modulation continuous wave signal.
7. The calibration method according to claim 5, wherein the start time is a start time point of a frequency rising period of the sawtooth wave signal after the electrical signal generates the sawtooth wave signal as a modulation signal to be loaded to the FM continuous wave signal transmitter.
8. A calibration device for implementing the calibration method according to any one of claims 1 to 7, comprising:
an electrical signal generator for generating an electrical signal;
the frequency modulation continuous wave signal transmitter is used for transmitting a frequency modulation continuous wave signal;
the interference signal generating device is used for interfering the frequency modulation continuous wave signal to generate an interference signal;
the data acquisition unit is used for acquiring the interference signal;
the data processor is used for processing the interference signal to obtain a target electrical signal;
the electric signal generator is electrically connected with the frequency modulation continuous wave signal transmitter, the frequency modulation continuous wave signal transmitter is electrically connected with the interference signal generating device, the interference signal generating device is electrically connected with the data acquisition unit, the data acquisition unit is electrically connected with the data processor, and the data processor sends the target electric signal to the electric signal generator.
9. The calibration device according to claim 8, wherein the interference signal generating device comprises a first coupler, a second coupler and a delay unit, the first coupler divides the frequency modulated continuous wave signal into two paths, one path enters the second coupler after passing through the delay unit, the other path directly enters the second coupler, and the second coupler combines the two paths of signals to form the interference signal.
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