CN114545383B - High-anti-interference-capability X-band adjustable radar sensing method and system - Google Patents
High-anti-interference-capability X-band adjustable radar sensing method and system Download PDFInfo
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- CN114545383B CN114545383B CN202210085142.7A CN202210085142A CN114545383B CN 114545383 B CN114545383 B CN 114545383B CN 202210085142 A CN202210085142 A CN 202210085142A CN 114545383 B CN114545383 B CN 114545383B
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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
- G01S13/04—Systems determining presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention provides an X-band adjustable radio frequency radar sensing method and system with self-adaptive processing capacity and high anti-interference capacity, wherein the system respectively comprises a radar system module, a photosensitive module, an MCU processing module, a serial port interface, an upper computer and the like which are in communication connection with the MCU processing module, the photosensitive value, the sensitivity and time delay parameters of a control result of the radio frequency sensing system are set through the serial port interface, the acquired analog intermediate frequency signals are processed to the MCU through the MCU processing module to sequentially carry out direct current voltage integral processing and signal amplitude integral processing, then, the self-adaptive environmental noise value is calculated after the direct current voltage value filtering and the signal amplitude integral value filtering, so that whether a moving target appears in a sensing range is judged, a judgment result is output to the upper computer, the operation efficiency and the judgment capacity of the moving target of the radio frequency radar sensing system can be improved, the cost of the signal processing system is reduced, and the anti-interference system capacity is improved through adopting a self-adaptive processing method and a circulating judgment logic.
Description
Technical Field
The invention relates to the technical field of radar radio frequency, in particular to an X-waveband adjustable radar sensing method and system with high anti-interference capability.
Background
The traditional radar information system is mainly based on hardware platforms such as FPGA, DSP and the like, the cost of developed products is high, the applied algorithm is complex, and the system is not suitable for illumination products of common consumers.
Disclosure of Invention
In order to solve the technical problems, the invention provides an X-band adjustable radar sensing method and system with high anti-interference capability, which are used for judging whether a moving target moves in a radar sensing range or not so as to trigger different applications, such as on and off actions of a lamp.
Specifically, the X-band adjustable radar sensing method with high anti-interference capability comprises the following steps:
s1: electrifying and initializing a radar system module, processing a sampling value and an environmental photosensitive value sampling parameter of a photosensitive module for the MCU by using an intermediate frequency signal, and initializing a clock, IO and PWM system of the MCU;
s2: transmitting the analog intermediate frequency signal to an MCU for processing, and sequentially performing direct current voltage integral processing and signal amplitude integral processing to obtain an average value of a direct current voltage value average and a signal amplitude integral value;
s3: when the detection period T is exceeded, filtering a direct-current voltage value and filtering a signal amplitude integral value, and then calculating a self-adaptive noise value;
s4: and judging whether a moving target appears at present or not, and outputting a judgment result to an upper computer.
The average Value of the signal amplitude integral values = N × Value _ b, wherein Value _ b is the signal amplitude detected each time, and Value _ b = | Value _ a-average |; and N is the integration times.
The filtering of the direct-current voltage value further comprises: defining filter coefficient P, and performing recursive arithmetic mean processing on the DC voltage value
Further, the filtering of the signal amplitude integral value further includes: defining a noise fluctuation range Value M, wherein M is a variable, and M = Value _ c > >3; defining the filter coefficients as N, the value of N depending on the filter coefficients R and S; and carrying out amplitude limiting filtering on the average value of the signal amplitude integral values and the average value of the signal amplitude integral values of the previous T times, wherein the amplitude is a noise fluctuation range value M, and then carrying out recursive average filtering processing according to the filter coefficient N.
Wherein, S3, further includes: and the photosensitive value =0, when the low potential/lamp is turned off, dividing the noise coefficient into Q levels according to the difference value of the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient R, and when N is greater than R, taking the signal amplitude integral value as a new noise value and performing recursive average filtering.
Further, the S3 further includes: when the photosensitive value is greater than 0, and the high potential/lamp is on, the noise coefficient is divided into T levels according to the difference value between the noise value and the signal amplitude integral value, each level corresponds to different filter coefficients S, and when S < N, the signal amplitude integral value is used as a new noise value to carry out recursive average filtering on the noise value.
The S4 further includes:
and defining a threshold value H, if the signal amplitude integral value is greater than the noise value + the threshold value H, outputting a high level to indicate that a moving target exists in the induction range, and otherwise, outputting a low level to indicate that no moving target exists.
As another preferred, the present invention further provides an X-band tunable radar sensing system with high interference rejection capability, which at least includes:
the radar system module adopts a 9.85GHz X-band radar chip, detects a moving target existing in a preset range in real time through a fixed-frequency microstrip transmitting and receiving antenna, and outputs an intermediate frequency signal to the MCU for processing;
the photosensitive module is used for detecting the environmental brightness value in a preset range in real time;
the MCU processing module is used for processing the intermediate frequency signal to an MCU, performing AD (analog-to-digital) conversion, acquiring a digital signal Value _ a through digital-to-analog conversion, and performing N-time integration on the digital signal Value _ a to obtain an average Value of a direct current voltage Value average and a signal amplitude integral Value; when the detection period T is exceeded, respectively carrying out direct current voltage value filtering and signal amplitude integral value filtering on the average value of the direct current voltage value average and the signal amplitude integral value, and calculating a self-adaptive noise value; and judging whether a moving target appears at present or not, and outputting a judgment result to an upper computer.
And the serial port interface is used for setting the photosensitive value, the sensitivity and the time delay parameter of the radar system module.
Wherein, the filtering of direct current voltage value still includes: defining a filter coefficient P, and performing recursive arithmetic mean processing on the direct current voltage value;
the signal amplitude integral value filtering further comprises: defining a noise fluctuation range Value M, wherein M is a variable and M = Value _ c > >3; defining the filter coefficients as N, the value of N depending on the filter coefficients R and S; and performing amplitude limiting filtering on the average value of the signal amplitude integral values and the average value of the signal amplitude integral values of the previous T times, wherein the amplitude is a noise fluctuation range value M, and then performing recursive average filtering processing according to the filter coefficient N.
The calculating the adaptive noise value further comprises:
when the low potential/lamp is turned off, dividing the noise coefficient into Q levels according to the difference value of the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient R, and when N is greater than R, taking the signal amplitude integral value as a new noise value and performing recursive average filtering;
when high potential/lamp is on, dividing the noise coefficient into T levels according to the difference value between the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient S, and when S is less than N, the signal amplitude integral value is taken as a new noise value to carry out recursive average filtering on the noise value;
and defining a threshold value H, if the signal amplitude integral value is greater than the noise value + the threshold value H, outputting a high level to indicate that a moving target exists in the induction range, and otherwise, outputting a low level to indicate that no moving target exists.
In summary, the invention provides an X-band tunable radar sensing method and system with high anti-interference capability, the system comprises a radar system module, a photosensitive module, an MCU processing module, a serial interface and an upper computer, the radar system module, the photosensitive module, the MCU processing module, the serial interface and the upper computer are respectively in communication connection with the MCU processing module, the photosensitive value, the sensitivity and the delay parameter of the radar system module are set through the serial interface, the MCU processing module sequentially performs dc voltage integration processing and signal amplitude integration processing on the collected digital signals, and then calculates the adaptive noise value after the dc voltage value filtering and the signal amplitude integral value filtering, so as to determine whether a moving target is present, output the determination result to the upper computer, improve the operational efficiency and capability of the system, reduce the signal processing cost and improve the anti-interference capability of the system.
Drawings
FIG. 1 is a flow chart of an X-band tunable radar sensing method with high anti-jamming capability according to the present invention
Fig. 2 is a schematic diagram of an X-band tunable radar sensing system with high interference rejection capability according to the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
As shown in fig. 1, the sensing method for the X-band tunable radar with high interference rejection capability of the present invention includes the following steps:
s1: electrifying and initializing a radar system module, processing a sampling value and an environmental photosensitive value sampling parameter of a photosensitive module for the MCU by using an intermediate frequency signal, and initializing a clock, IO and PWM system of the MCU;
s2: transmitting the analog intermediate frequency signal to an MCU for processing, and sequentially performing direct current voltage integral processing and signal amplitude integral processing to obtain an average value of a direct current voltage value average and a signal amplitude integral value;
s3: when the detection period T is exceeded, filtering a direct-current voltage value and filtering a signal amplitude integral value, and then calculating a self-adaptive noise value;
the detection period T refers to a determination time interval for determining whether a moving target exists at each time, for example: the detection period T is 300ms, which means that whether a moving target exists or not is judged every 300ms, and the judgment period is determined according to factors such as the power supply condition of a system, the applied product shell, the use environment and the like, and is determined after debugging according to an actual scene.
S4: and judging whether a moving target appears at present or not, and outputting a judgment result to an upper computer.
The average Value of the signal amplitude integral values = N × Value _ b, wherein Value _ b is the signal amplitude detected each time, and Value _ b = | Value _ a-average |; and N is the integration times.
The filtering of the direct-current voltage value further comprises: defining a filter coefficient P, and performing recursive arithmetic mean processing on the DC voltage value
Further, the signal amplitude integral value filtering further includes: defining a noise fluctuation range Value M, wherein M is a variable, and M = Value _ c > >3; defining the filter coefficients as N, the value of N depending on the filter coefficients R and S; and carrying out amplitude limiting filtering on the average value of the signal amplitude integral values and the average value of the signal amplitude integral values of the previous T times, wherein the amplitude is a noise fluctuation range value M, and then carrying out recursive average filtering processing according to the filter coefficient N.
Wherein, S3, further includes: and the photosensitive value =0, when the low potential/lamp is turned off, dividing the noise coefficient into Q levels according to the difference value of the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient R, and when N is greater than R, taking the signal amplitude integral value as a new noise value and performing recursive average filtering.
Further, the S3 further includes: when the photosensitive value is greater than 0, and the high potential/lamp is on, the noise coefficient is divided into T levels according to the difference value between the noise value and the signal amplitude integral value, each level corresponds to different filter coefficients S, and when S < N, the signal amplitude integral value is used as a new noise value to carry out recursive average filtering on the noise value.
The S4 further includes:
and defining a threshold value H, if the signal amplitude integral value is larger than the noise value plus the threshold value H, outputting a high level to indicate that a moving target exists in the induction range, otherwise, outputting a low level to indicate that no moving target exists.
As another preferred, the invention also provides an X-band tunable radar sensing system with high interference rejection capability, which mainly includes the following functions: a movement sensing function; a brightness value sensing function; a high-low level output driving function; a serial port communication function; and (5) controlling the operation of the upper computer.
The mobile induction function is mainly used for monitoring the condition of the moving target in real time through a radar system module, and recording monitoring data for background data analysis.
And the brightness value sensing function is mainly used for judging the state of the headlight through the photosensitive module according to the photosensitive value of the radar system module, and the headlight is turned off or turned on.
And the high-low level output driving function outputs high level by a moving target, otherwise, the low level is output by no moving target.
The serial port communication function can set parameters such as light sensitivity, sensitivity and time delay of the radar system module according to actual scenes and requirements, various user scenes can be met, and user experience is improved.
The upper computer decodes the threshold value, light sensing threshold value, delay value and other parameters, and transmits the decoded values to the central processing module for data processing and returning the state information value to the upper computer.
Preferably, the system of the present invention specifically includes the following modules:
the radar system module adopts a 9.85GHz X-band radar chip, detects a moving target existing in a preset range in real time through a fixed-frequency microstrip transmitting and receiving antenna, and outputs an intermediate-frequency signal to the MCU for processing;
the photosensitive module is used for detecting the environmental brightness value in a preset range in real time;
the MCU processing module transmits the intermediate frequency signal to an MCU for processing, AD (analog-to-digital) conversion is carried out, a digital signal Value _ a is acquired after the AD conversion, and the digital signal Value _ a is subjected to N-time integration to obtain an average Value of a direct current voltage Value average and a signal amplitude integral Value; when the detection period T is exceeded, respectively carrying out direct current voltage value filtering and signal amplitude integral value filtering on the average value of the direct current voltage value average and the signal amplitude integral value, and calculating a self-adaptive noise value; and judging whether a moving target appears at present or not, and outputting a judgment result to an upper computer.
And the serial port interface is used for setting a preset photosensitive value G, sensitivity and a delay parameter of the radar system module.
Wherein, the filtering of direct current voltage value still includes: defining a filter coefficient P, and performing recursive arithmetic mean processing on the direct-current voltage value;
the signal amplitude integral value filtering further comprises: defining a noise fluctuation range Value M, wherein M is a variable, and M = Value _ c > >3; defining the filter coefficients as N, the value of N depending on the filter coefficients R and S; and carrying out amplitude limiting filtering on the average value of the signal amplitude integral values and the average value of the signal amplitude integral values of the previous T times, wherein the amplitude is a noise fluctuation range value M, and then carrying out recursive average filtering processing according to the filter coefficient N.
The calculating the adaptive noise value further comprises:
when the current low potential/lamp is off, dividing the noise coefficient into Q levels according to the difference value of the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient R, and when N is greater than R, taking the signal amplitude integral value as a new noise value and performing recursive average filtering;
when high potential/lamp is on, dividing the noise coefficient into T levels according to the difference value of the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient S, and when S is less than N, performing recursive average filtering on the noise value by taking the signal amplitude integral value as a new noise value;
and defining a threshold value H, if the signal amplitude integral value is greater than the noise value + the threshold value H, outputting a high level to indicate that a moving target exists in the induction range, and otherwise, outputting a low level to indicate that no moving target exists.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. An X-band adjustable radar sensing method with high anti-interference capability is characterized in that the occurrence of high and low potentials is defined, and is based on the actual photosensitive value of a detection environment and is lower than the photosensitive value parameter preset by a system, and the method comprises the following steps:
s1: electrifying and initializing a radar system module, processing a sampling value and an environmental photosensitive value sampling parameter of a photosensitive module by an intermediate frequency signal to the MCU, and initializing a clock, IO and PWM system of the MCU;
s2: transmitting the analog intermediate frequency signal to an MCU for processing, and sequentially performing direct current voltage integral processing and signal amplitude integral processing to obtain an average value of a direct current voltage value average and a signal amplitude integral value;
s3: when the detection period T is exceeded, filtering a direct-current voltage value and filtering a signal amplitude integral value, and then calculating a self-adaptive noise value; when the photosensitive value =0 and the potential is low or the lamp is turned off, dividing the noise coefficient into Q levels according to the difference value of the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient R, and when N is greater than R, taking the signal amplitude integral value as a new noise value and performing recursive average filtering;
when the light sensitivity value is greater than 0 and the high potential or the lamp is on, dividing the noise coefficient into T levels according to the difference value between the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient S, and when S < N, performing recursive average filtering on the noise value by taking the signal amplitude integral value as a new noise value;
s4: defining a threshold value H, judging whether a moving target appears at present, if the signal amplitude integral value is larger than the noise value plus the threshold value H, outputting a high level to indicate that the moving target exists in the induction range, otherwise, outputting a low level to indicate that the moving target does not exist, and outputting a judgment result to an upper computer.
2. The method according to claim 1, wherein the average Value of the signal amplitude integration values = N × Value _ b, where Value _ b is the signal amplitude detected each time, and Value _ b = | Value _ a-average |; value _ a is a digitized signal Value, average is a direct current voltage Value, and the digitized signal Value _ a is subjected to N-time integration to obtain the direct current voltage Value average; and N is the integration times.
3. The sensing method according to claim 2, wherein the filtering of the dc voltage value further comprises: defining a filter coefficient P, and performing recursive arithmetic mean processing on the direct current voltage value.
4. The method of claim 3, wherein the filtering of the signal amplitude integration value further comprises: defining a noise fluctuation range Value M, wherein M is a variable, and M = Value _ c > >3; defining the filter coefficients as N, the value of N being dependent on the filter coefficients R and S; and carrying out amplitude limiting filtering on the average value of the signal amplitude integral values and the average value of the signal amplitude integral values of the previous T times, wherein the amplitude is a noise fluctuation range value M, and then carrying out recursive average filtering processing according to the filter coefficient N.
5. An X-band adjustable radar sensing system with high anti-interference capability is characterized by at least comprising:
the radar system module adopts a 9.85GHz X-band radar chip, detects a moving target existing in a preset range in real time through a fixed-frequency microstrip transmitting and receiving antenna, and outputs an intermediate frequency signal to the MCU for processing;
the photosensitive module is used for detecting the environmental brightness value in a preset range in real time;
the MCU processing module is used for processing the received intermediate frequency signal by an MCU, obtaining a digital signal Value _ a after AD (analog-to-digital) conversion, and performing N-time integration on the digital signal Value _ a to obtain an average Value of a direct current voltage Value average and a signal amplitude integral Value; when the detection period T is exceeded, respectively carrying out direct current voltage value filtering and signal amplitude integral value filtering on the average value of the direct current voltage value average and the signal amplitude integral value, calculating a self-adaptive noise value, when a low potential or a lamp is turned off, dividing a noise coefficient into Q levels according to the difference value of the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient R, and when N is greater than R, taking the signal amplitude integral value as a new noise value, and carrying out recursive average filtering; when high potential or a lamp is on, dividing the noise coefficient into T levels according to the difference value between the noise value and the signal amplitude integral value, wherein each level corresponds to a different filter coefficient S, and when S is less than N, the signal amplitude integral value is used as a new noise value to carry out recursive average filtering on the noise value;
defining a threshold value H, judging whether a moving target appears at present, if the signal amplitude integral value is larger than the noise value plus the threshold value H, outputting a high level to indicate that the moving target exists in the induction range, otherwise, outputting a low level to indicate that the moving target does not exist, and outputting a judgment result to an upper computer;
and the serial port interface is used for setting a preset photosensitive value G, sensitivity and a delay parameter of the radar system module.
6. The high interference rejection X-band tunable radar sensing system according to claim 5, wherein:
the filtering of the direct current voltage value further comprises: defining a filter coefficient P, and performing recursive arithmetic mean processing on the direct-current voltage value;
the signal amplitude integral value filtering further comprises: defining a noise fluctuation range Value M, wherein M is a variable, and M = Value _ c > >3; defining the filter coefficients as N, the value of N being dependent on the filter coefficients R and S; and carrying out amplitude limiting filtering on the average value of the signal amplitude integral values and the average value of the signal amplitude integral values of the previous T times, wherein the amplitude is a noise fluctuation range value M, and then carrying out recursive average filtering processing according to the filter coefficient N.
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