CN114594465A - MIMO radar channel separation method and device and MIMO radar - Google Patents

Abstract

The invention provides a channel separation method and device of an MIMO radar and the MIMO radar. The MIMO radar comprises M transmitting antennas and N receiving antennas, and the method comprises the following steps: acquiring mutually different transmission signal parameter values corresponding to each transmission antenna in M transmission antennas and echo signals received by each receiving antenna; processing echo signals received by the N receiving antennas to obtain range-Doppler data; extracting all peak values in the range-Doppler data, and taking each peak value as channel data; and determining the transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value. The method determines the transmitting antenna corresponding to each channel data, namely realizes the channel separation of the DDMA-mode MIMO radar, and further can measure the angle of the detection target based on the DDMA-MIMO radar.

Description

Channel separation method and device of MIMO radar and MIMO radar

technical field

The present invention relates to the technical field of MIMO radar, and in particular, to a channel separation method and device of a MIMO radar and a MIMO radar.

Background technique

A multiple-input multiple-output (Multiple-input Multiple-output, MIMO) radar is a radar that uses multiple antennas at both ends of a transmitter and a receiver to transmit and receive signals. The channel separation of the MIMO radar means that, assuming that the MIMO radar includes M transmitting antennas and N receiving antennas, the echo signals received by each receiving antenna are virtualized into M channel data, which are virtualized into M×N channel data. And determine the corresponding relationship between each channel data and the transmitting antenna. After channel separation of the echo signal received by the receiving antenna in the MIMO radar, the M×N channel data can be reasonably sorted according to the channel separation result, and the angle of the detection target can be determined according to the sorted channel data.

Among them, in the field of MIMO radar technology, time division multiple access (Time Division Multiple Access, TDMA), frequency division multiple access (Frequency Division Multiple Access, FDMA), Doppler frequency division multiple access (Doppler Division Multiple Access, DDMA), etc. The transceiver diversity mode is used to transmit and receive signals. Generally, TDMA-MIMO radars can transmit alternately at different times through multiple transmit antennas, and perform channel separation based on time orthogonality. FDMA-MIMO radar can transmit alternately in different frequency bands simultaneously through multiple transmit antennas, and perform channel separation based on frequency band orthogonality. For DDMA-MIMO radar, it aims to transmit through multiple transmit antennas at the same time, and achieve channel separation based on the orthogonality of the Doppler domain, but how to determine the transmission corresponding to each channel data based on the orthogonality of the Doppler domain Antenna, there is no reliable and effective solution. Therefore, for the MIMO radar in DDMA mode, how to accurately realize the channel separation is an urgent problem to be solved when measuring the angle of the detection target based on the DDMA-MIMO radar.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a channel separation method and device for a MIMO radar, and a MIMO radar, so as to solve the problem that the current DDMA mode MIMO radar cannot realize channel separation.

In a first aspect, an embodiment of the present invention provides a channel separation method for a MIMO radar, where the MIMO radar includes M transmit antennas and N receive antennas, where M and N are both positive integers greater than 1, and the channel separation method Methods include:

Obtain the parameter value of the transmit signal corresponding to each transmit antenna in the M transmit antennas, and the echo signal received by each receive antenna, wherein all transmit antennas transmit probe signals at the same time and the signal corresponding to each transmit antenna among the M transmit antennas is obtained. The transmitted signal parameter values of the detection signal are different;

processing the echo signals received by the N receiving antennas to obtain range-Doppler data;

extracting all the peaks in the range-Doppler data, and using each peak as a channel data;

According to the peak value and the parameter value of the transmission signal, the transmission antenna corresponding to the data of each channel is determined.

In a possible implementation manner, the determining the transmit antenna corresponding to each channel data according to the peak value and the transmit signal parameter value includes:

According to the peak value and the transmission signal parameter value, determine the transmission signal parameter value corresponding to each peak value;

The transmit antenna corresponding to each channel data is determined according to the transmit signal parameter value corresponding to each peak value and the transmit signal parameter value corresponding to each transmit antenna.

In a possible implementation manner, the determining the transmit signal parameter value corresponding to each peak value according to the peak value and the transmit signal parameter value includes:

Sorting the peak value and the parameter value of the transmission signal according to the same preset order, to obtain the first order after the peak value is sorted and the second order after the parameter value of the transmission signal is sorted;

It is determined that the transmission signal parameter value corresponding to the peak value at any position in the first sequence is the transmission signal parameter value corresponding to the same position in the second sequence.

In a possible implementation manner, the transmission signal parameter value includes: transmission signal amplitude value or transmission signal power value;

When the transmit signal parameter value is the transmit signal power value, the acquiring the transmit signal parameter value corresponding to each transmit antenna includes:

Obtain the transmitted signal amplitude value of the detection signal corresponding to each transmitting antenna;

Calculate the square of the amplitude value of the transmit signal to obtain the transmit signal power value corresponding to each transmit antenna.

In a possible implementation manner, the parameter value of the transmitted signal includes: a normalized power value of the transmitted signal;

The acquiring the parameter value of the transmit signal corresponding to each transmit antenna includes:

Obtain the transmit signal power value of the probe signal corresponding to each transmit antenna;

Compare the transmit signal power values of the probe signals corresponding to all transmit antennas to determine the maximum transmit signal power among all transmit antennas;

The ratio of the power value of each transmission signal to the maximum value of the transmission signal power is sequentially calculated, and the normalized power value of the transmission signal corresponding to each transmission antenna is obtained.

In a possible implementation manner, the processing of echo signals received by the N receiving antennas to obtain range-Doppler data includes:

The range-Doppler two-dimensional Fourier transform is performed on the echo signals received by each of the N receiving antennas to obtain the range-Doppler data corresponding to each receiving antenna.

In a possible implementation manner, the range-Doppler two-dimensional Fourier transform is performed on the echo signal corresponding to each receiving antenna in the N receiving antennas to obtain the range-Doppler corresponding to each receiving antenna After the data, it also includes:

Accumulate and sum the amplitudes of the range-Doppler data corresponding to all the receiving antennas to obtain the range-Doppler data after detection and accumulation;

The extracting all the peaks in the range-Doppler data, and taking each peak as a channel data, including:

Extract all the peaks in the range-Doppler data after detection and accumulation, and use each peak in the range-Doppler data after detection and accumulation as a channel of data.

In a second aspect, an embodiment of the present invention provides a channel separation device for a MIMO radar, where the MIMO radar includes M transmit antennas and N receive antennas, where M and N are both positive integers greater than 1, and the channel separation The device includes:

The acquisition module is used to acquire the parameter value of the transmit signal corresponding to each transmit antenna in the M transmit antennas, and the echo signal received by each receive antenna, wherein all transmit antennas transmit probe signals at the same time, and the M transmit antennas are the same as each other. The transmit signal parameter values of the probe signals corresponding to one transmit antenna are different;

a first processing module, configured to process the echo signals received by the N receiving antennas to obtain range-Doppler data;

The second processing module is used to extract all the peaks in the range-Doppler data, and use each peak as a channel data;

A channel separation module, configured to determine the transmit antenna corresponding to each channel data according to the peak value and the transmit signal parameter value.

In a third aspect, an embodiment of the present invention provides a MIMO radar, including a control device, where the control device includes a memory and a processor, the memory is used for storing a computer program, and the processor is used for calling and running the memory in the memory. A stored computer program to perform the method as described in the first aspect or any of the possible implementations of the first aspect.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the first aspect or any of the first aspect above. A possible implementation of the steps of the described method.

Embodiments of the present invention provide a channel separation method and device for a MIMO radar, and a MIMO radar. The MIMO radar includes M transmit antennas and N receive antennas, where M and N are both positive integers greater than 1. The embodiments of the present invention provide The channel separation method of the MIMO radar obtains the range-Doppler data by obtaining the echo signals received by each receiving antenna, processes the echo signals corresponding to the N receiving antennas, and then extracts all the range-Doppler data. The peak value of each peak value is taken as a channel data; then the different transmit signal parameter values corresponding to each transmit antenna in the M transmit antennas are obtained, and the peak value obtained after processing based on the echo signal received by each receive antenna is also It is the principle that the number of channel data is the same as the number of transmitting antennas. According to the peak value and the parameter value of the transmitted signal, the transmitting antenna corresponding to each channel data is determined. That is, the channel separation of the MIMO radar in the DDMA mode is realized, and then the detection target can be measured based on the DDMA-MIMO radar.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a flowchart of an implementation of a channel separation method for a MIMO radar provided by an embodiment of the present invention;

2 is a schematic diagram of range-Doppler data provided by an embodiment of the present invention;

3 is a schematic diagram of all peaks in the range-Doppler data provided by an embodiment of the present invention;

4 is a schematic structural diagram of a channel separation device for a MIMO radar provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of a control device provided by an embodiment of the present invention.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

In order to make the objectives, technical solutions and advantages of the present invention clearer, the following descriptions will be given through specific embodiments in conjunction with the accompanying drawings.

Referring to FIG. 1 , it shows a flowchart for implementing a channel separation method for a MIMO radar provided by an embodiment of the present invention, where the MIMO radar includes M transmit antennas and N receive antennas, where M and N are both positive integers greater than 1 , the channel separation method of the MIMO radar is described in detail as follows:

In step 101, a parameter value of a transmit signal corresponding to each transmit antenna among the M transmit antennas, and an echo signal received by each receive antenna are acquired.

Wherein, all transmit antennas transmit probe signals at the same time, and the transmit signal parameter values of the probe signals corresponding to each transmit antenna among the M transmit antennas are different.

In this embodiment, the number of all transmit antennas in the MIMO radar may be K, and the K transmit antennas may include several transmit antennas with known correspondences with channel data, and M unknown correspondences with channel data The transmitting antenna of the relation, M≤K, and K is a positive integer greater than 1. Because the MIMO radar includes M transmit antennas that have not been determined to have a corresponding relationship with the channel data, and also includes N receive antennas, that is to say, after each receive antenna of the N receive antennas receives echo signals, after processing, M can be virtually obtained. For channel data, N receiving antennas can obtain M×N channel data virtually. It is necessary to determine the corresponding relationship between each channel data in the M×N channel data and each transmitting antenna in the M transmitting antennas for channel separation.

The transmission signal parameter value is the value of the transmission signal parameter corresponding to the detection signal transmitted by each transmission antenna. For a number of transmission antennas whose corresponding relationship with the channel data is known, the transmission signal of the detection signal corresponding to the plurality of transmission antennas is the value of the transmission signal parameter. The parameter values can be the same or different. For the other M transmit antennas, in order to utilize the unequal values of the transmit signal parameters of the probe signals corresponding to each transmit antenna, the channel data obtained after processing the echo signals received by the receive antennas are also unequal, and then the subsequent channel separation is performed. , it is required that the transmitted signal parameter values of the detection signal corresponding to each of the M transmitting antennas are different from each other.

Exemplarily, it is assumed that the MIMO radar includes 4 transmit antennas, wherein the correspondence between the transmit antenna Tx1 and the transmit antenna Tx2 and the channel data is known, and the correspondence between the transmit antenna Tx3 and the transmit antenna Tx4 and the channel data is unknown, then the transmit antenna Tx1 The transmission signal parameter value of the corresponding detection signal and the transmission signal parameter value of the detection signal corresponding to the transmission antenna Tx2 may be the same or different, and the transmission signal parameter value of the detection signal corresponding to the transmission antenna Tx3 is the same as that of the detection signal corresponding to the transmission antenna Tx4. The transmit signal parameter values need to be different.

Optionally, the transmission signal parameter value may be any one of the transmission signal amplitude value, the transmission signal power value, and the transmission signal normalized power value.

When the transmit signal parameter value is the transmit signal amplitude value, the transmit signal parameter value corresponding to each transmit antenna is acquired, that is, the transmit signal amplitude value of the probe signal corresponding to each transmit antenna is directly acquired.

When the transmission signal parameter value is the transmission signal power value, acquiring the transmission signal parameter value corresponding to each transmission antenna may include: acquiring the transmission signal amplitude value of the detection signal corresponding to each transmission antenna, and calculating the square of the transmission signal amplitude value, Obtain the transmit signal power value corresponding to each transmit antenna.

When the transmission signal parameter value is the normalized power value of the transmission signal, acquiring the transmission signal parameter value corresponding to each transmission antenna may include: acquiring the transmission signal power value of the detection signal corresponding to each transmission antenna; Compare the transmitted signal power values of the detected signals to determine the maximum value of the transmitted signal power in all the transmitting antennas; calculate the ratio of each transmitted signal power value to the maximum transmitted signal power value in turn, and obtain the normalized transmission signal corresponding to each transmitting antenna. Normalized power value.

No matter the parameter value of the transmitted signal is the amplitude value of the transmitted signal or the power value of the transmitted signal or the normalized power value of the transmitted signal, it is based on the difference of the transmitted signal parameter value of the detection signal corresponding to the transmitting antenna. After processing, the channel data obtained virtually is not equal, and subsequent channel separation is performed.

When the transmit signal parameter value is the transmit signal amplitude value, acquire different transmit signal amplitude values of the detection signals corresponding to each transmit antenna, and process the echo signals received by each receive antenna to obtain channel data and transmit signals virtually. If the amplitude values correspond to each other, the corresponding relationship between the data of each channel and the transmitting antenna can be determined, and the channel separation of the MIMO radar in the DDMA mode can also be realized.

When the transmit signal parameter value is the transmit signal power value, since the transmit signal power value is the square of the transmit signal amplitude value, the transmit signal amplitude values of the detection signals corresponding to each transmit antenna in the MIMO radar can be set to be different, so that each transmit signal can have different transmit signal amplitude values. The transmission signal power values of the detection signals corresponding to the antennas are different, and it is also possible to directly set the transmission signal power values of the detection signals corresponding to each transmission antenna in the MIMO radar to be different. Based on the power value of the transmitted signal, the corresponding relationship between the data of each channel in the receiving antenna and the transmitting antenna can be more accurately determined.

Wherein, when setting the transmit signal amplitude value or transmit signal power value of the probe signal corresponding to each transmit antenna, the order may be from large to small in order, from small to large, or in random order.

When the transmit signal parameter value is the transmit signal normalized power value, the transmit signal power value can be obtained directly or indirectly, and then the transmit signal power value is further processed to obtain the transmit signal normalized power value corresponding to each transmit antenna . Based on the normalized power value of the transmitted signal, the corresponding relationship between the data of each channel and the transmitting antenna can be determined more accurately and conveniently.

Exemplarily, it is assumed that the DDMA-MIMO radar includes 3 transmit antennas and 4 receive antennas. At a certain moment, the three transmitting antennas work at the same time, and the transmitted signals are A1*Sig1, A2*Sig2, and A3*Sig3 respectively. Among them, A1 to A3 are the transmitted signal amplitude values of the detection signals transmitted by the three transmission antennas, and Sig1 to Sig3 are the transmission signal forms of the detection signals transmitted by the three transmission antennas.

On this basis, the transmit signal power values P1 to P3 of the probe signals transmitted by the three transmit antennas can be obtained through P1=A1^2, P2=A2^2, and P3=A3^2.

On this basis, the maximum value of the transmitted signal power in the three transmitting antennas can be determined by Pmax=max(P1, P2, P3), and then the normalized calculation is performed, then:

The normalized power value of the transmit signal of the transmit antenna Tx1 is Nor_P1=P1/Pmax.

The normalized power value of the transmit signal of the transmit antenna Tx2 is Nor_P2=P2/Pmax.

The normalized power value of the transmit signal of the transmit antenna Tx3 is Nor_P3=P3/Pmax.

In step 102, the echo signals received by the N receiving antennas are processed to obtain range-Doppler data.

Optionally, the echo signals received by the N receiving antennas are processed to obtain range-Doppler data, which may include:

The range-Doppler two-dimensional Fourier transform is performed on the echo signals received by each of the N receiving antennas to obtain the range-Doppler data corresponding to each receiving antenna.

Exemplarily, after the DDMA-MIMO radar receives echo signals through multiple receiving antennas, each receiving antenna can perform range-Doppler two-dimensional Fourier transform on the echo signals, and the number of range-dimensional FFT points is denoted as N1, and the number of distance-dimensional FFT points is denoted as N1. The number of Plevey FFT points is denoted as N2, and then the fast-time-slow-time range-Doppler spectrum distribution shown in Figure 2 is obtained, which is also called Range-Doppler Map (RD_MAP). For example, for 4 receiving antennas, the RD_MAP data volume of each receiving antenna is N1*N2, and the total data volume is N1*N2*4.

In step 103, all peaks in the range-Doppler data are extracted, and each peak is regarded as a channel data.

Among them, in the application background of the DDMA-MIMO radar in this embodiment, due to the influence of Doppler modulation, the number of peaks in the RD_MAP obtained by processing the echo signal received by a certain receiving antenna is the same as the number of transmitting antennas in the MIMO radar. , that is, for any receiving antenna in the MIMO radar, the detection signal transmitted by each transmitting antenna will correspond to a peak value in RD_MAP after being reflected by the detection target (that is, the echo signal received by the receiving antenna). The peak value is the data of one channel. However, the transmission signal parameter values of the detection signals corresponding to the transmission antennas are different, and the channel data, that is, the corresponding peak values in the RD_MAP are also different. Therefore, after the receiving antenna receives the echo signal, it processes the echo signal to obtain the RD_MAP, and extracts all the peaks in the RD_MAP, which can be used to subsequently determine the corresponding relationship between each channel data and the transmitting antenna. Determine the correspondence between the data of each channel and the transmit antenna, that is, to realize the channel separation of the MIMO radar in DDMA mode, and then according to the result of the channel separation, the data of each channel (that is, each peak in the RD_MAP corresponding to each receive antenna) ) for reasonable sorting, and the angle of the detection target is determined according to the sorted channel data.

Exemplarily, under a certain Doppler modulation, the three transmit antennas of the MIMO radar transmit detection signals at the same time, as shown in Figure 3, then there are three RD_MAPs in the RD_MAP of the echo signals reflected by the detection target received by a certain receive antenna. The peak value, that is, there are 3 channel data, it is necessary to determine the transmitting antennas corresponding to the 3 channel data respectively.

Optionally, after performing the range-Doppler two-dimensional Fourier transform on the echo signals received by each of the N receiving antennas to obtain the range-Doppler data corresponding to each receiving antenna, you can also include:

Accumulate and sum the amplitudes of the range-Doppler data corresponding to all the receiving antennas to obtain the range-Doppler data after detection and accumulation.

Correspondingly, extract all the peaks in the range-Doppler data, and use each peak as a channel data, which can include:

Extract all the peaks in the range-Doppler data after the detection and accumulation, and take each peak in the range-Doppler data after the detection and accumulation as a channel data.

For example, detection and accumulation can be performed on the RD_MAPs of the above four receiving antennas, that is, the amplitude of each RD_MAP can be calculated separately, and the amplitudes of the four receiving RD_MAPs can be accumulated, summed, and accumulated to obtain the RD_MAP after detection and accumulation.

This embodiment can improve the signal-to-noise ratio of the echo signal received by the receiving antenna and reduce the influence of noise through the detection and accumulation, so as to improve the detection performance of the MIMO radar in the DDMA mode on the detection target in a complex environment.

Optionally, extracting all the peaks in the range-Doppler data may include: performing constant false alarm target detection on the range-Doppler data, and extracting all the peaks in the detection results.

Wherein, in the RD_MAP of each receiving antenna, or in the RD_MAP after detection and accumulation, constant false alarm target detection (Constant False Alarm Rate, CFAR) can be performed to obtain all the peaks in the detection result. Among them, the method of CFAR target detection can be CA-CFAR, SO-CFAR, GO-CFAR, etc. The idea is to judge whether the target exists in each range Doppler unit of RD_MAP in a sliding window.

In this embodiment, better performance can be obtained by extracting all the peaks in the range-Doppler data through the CFAR target detection method.

In step 104, the transmit antenna corresponding to each channel data is determined according to the peak value and the transmit signal parameter value.

Optionally, according to the peak value and the parameter value of the transmitted signal, determine the transmit antenna corresponding to the data of each channel, which may include:

According to the peak value and the transmission signal parameter value, determine the transmission signal parameter value corresponding to each peak value.

The transmit antenna corresponding to each channel data is determined according to the transmit signal parameter value corresponding to each peak value and the transmit signal parameter value corresponding to each transmit antenna.

In this embodiment, if the transmitted signal parameter value of the detection signal corresponding to the transmitting antenna is large, then the echo signal received by the receiving antenna will have a large peak value after processing. If the transmitted signal parameter value of the detection signal corresponding to the transmitting antenna is small, Then, the peak value of the echo signal received by the receiving antenna after processing is also small. Therefore, according to this principle, the parameter value of the transmit signal corresponding to each peak can be determined, and each parameter value of the transmit signal corresponds to a transmit antenna, then the correspondence between each peak, that is, the data of each channel and the transmit antenna can be determined .

Optionally, according to the peak value and the transmission signal parameter value, determine the transmission signal parameter value corresponding to each peak value, which may include:

The peak values and the parameter values of the transmission signal are sorted according to the same preset order, to obtain a first order after the peak value sorting and a second order after the parameter values of the transmission signal are sorted.

It is determined that the transmission signal parameter value corresponding to the peak value at any position in the first sequence is the transmission signal parameter value corresponding to the same position in the second sequence.

In this embodiment, the parameter value of the transmission signal corresponding to each peak value is determined by sorting the peak value and the parameter value of the transmission signal respectively.

The preset order may be in ascending order, or may be in descending order, or other random order, and this embodiment does not limit the preset order.

In addition to the above-mentioned embodiment, the process of determining the parameter value of the transmitted signal corresponding to each peak value may also adopt other methods, as long as the determined result is that a large peak corresponds to a large parameter value of the transmitted signal, and a small peak corresponds to a small parameter of the transmitted signal value.

Exemplarily, the process of determining the transmission signal parameter value corresponding to each peak value may be: selecting the maximum value in the peak value and the maximum value in the transmission signal parameter value, corresponding the maximum peak value to the maximum transmission signal parameter value, and then Select the maximum value among the remaining peak values and the maximum value among the remaining transmit signal parameter values, and make the maximum peak value among the remaining peak values correspond to the maximum transmit signal parameter value among the remaining transmit signal parameter values..., and so on, Until the parameter value of the transmitted signal corresponding to each peak is determined.

The channel separation method of the above-mentioned MIMO radar will be further described below through specific embodiments.

Exemplarily, it is assumed that there are three transmit antennas Tx1, Tx2, and Tx3 in the MIMO radar, and the normalized power values of the transmit signals of the probe signals transmitted by the three transmit antennas Tx1, Tx2, and Tx3 are [1, 0.7, 0.8], respectively, The correspondence between the three transmitting antennas Tx1, Tx2, Tx3 and the channel data is unknown. The amplitudes of the 3 peaks after CFAR target detection by the RD_MAP of a certain receiving antenna are [50dB, 40dB, 30dB] respectively, that is, the three channel data of a certain receiving antenna are [50dB, 40dB, 30dB] respectively. Besides, the 3 peaks have the same position in the distance dimension in RD_MAP, and their positions in the Doppler dimension are [10, 50, 90] respectively. Then, according to the channel separation method of the MIMO radar, the process of determining the corresponding relationship between the above-mentioned three channel data and the transmitting antenna is as follows:

The normalized power values of the transmit signals of each transmit antenna and the magnitudes of the amplitudes of each peak are used to perform pairing one by one. Specifically, the normalized power values of the transmit signals and the amplitudes of the peaks of each transmit antenna are sorted respectively, and paired one by one according to the relationship between the normalized power values of the transmit signals and the amplitudes of the Doppler peaks.

Sorting can be from large to small or small to large.

The normalized power values of the transmitted signals of the above three transmitting antennas are 1, 0.8, 0.7 after sorting from large to small, and the amplitudes of the peaks are 50 dB, 40 dB and 30 dB respectively after sorting from large to small. The corresponding relationship of parameter values is: 50dB-1, 40dB-0.8, 30dB-0.7, and the corresponding relationship between the parameter value of the transmitted signal and the transmitting antenna is: 1-TX1, 0.7-Tx2, 0.8-Tx3, so the channel data and the transmitting antenna The corresponding relationship is: 50dB-Tx1, 40dB-Tx3, 30dB-Tx2.

Besides, the position of the channel data in the RD_MAP, the corresponding relationship between the channel data and the transmitting antennas can be further determined: 10-50dB-Tx1, 50-40dB-Tx3, 90-30dB-Tx2. By determining the corresponding relationship between each channel data and the transmitting antenna, and further determining the position of each channel data in the RD_MAP, the corresponding relationship between the channel data and the transmitting antenna, the DDMA mode MIMO radar can achieve low false alarm and high detection. channel separation, and then determine the angle of the detection target based on the result of the channel separation.

The channel separation method for a MIMO radar provided by the embodiment of the present invention acquires the echo signals received by each receiving antenna, processes the echo signals corresponding to the N receiving antennas, obtains distance-Doppler data, and then extracts the distance-Doppler data. All the peaks in the Doppler data, each peak is regarded as a channel data; then the different transmit signal parameter values corresponding to each transmit antenna in the M transmit antennas are obtained, based on the echo signal received by each receive antenna The peak value obtained after processing is the principle that the number of channel data is the same as the number of transmitting antennas. According to the peak value and the parameter value of the transmitted signal, the transmitting antenna corresponding to each channel data is determined. That is, the channel separation of the MIMO radar in the DDMA mode is realized, and then the detection target can be measured based on the DDMA-MIMO radar.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

The following are apparatus embodiments of the present invention, and for details that are not described in detail, reference may be made to the above-mentioned corresponding method embodiments.

FIG. 4 shows a schematic structural diagram of a channel separation device for a MIMO radar provided by an embodiment of the present invention. For convenience of description, only the part related to the embodiment of the present invention is shown, and the details are as follows:

As shown in FIG. 4 , the MIMO radar includes M transmitting antennas and N receiving antennas, wherein M and N are both positive integers greater than 1. The channel separation device of the MIMO radar includes: an acquisition module 41, a first processing module 42, The second processing module 43 and the channel separation module 44 .

The acquisition module 41 is configured to acquire the parameter value of the transmit signal corresponding to each transmit antenna in the M transmit antennas, and the echo signal received by each receive antenna, wherein all transmit antennas transmit probe signals at the same time, and the M transmit antennas are the same as the one in the M transmit antenna. The transmit signal parameter values of the probe signals corresponding to each transmit antenna are different;

a first processing module 42, configured to process the echo signals received by the N receiving antennas to obtain range-Doppler data;

The second processing module 43 is used to extract all the peaks in the range-Doppler data, and use each peak as a channel data;

The channel separation module 44 is configured to determine the transmit antenna corresponding to each channel data according to the peak value and the transmit signal parameter value.

The channel separation device of the MIMO radar provided by the embodiment of the present invention obtains the echo signals received by each receiving antenna, processes the echo signals corresponding to the N receiving antennas, obtains range-Doppler data, and then extracts the range-Doppler data. For all the peaks in the Doppler data, each peak is regarded as a channel data; then the different transmit signal parameter values corresponding to each transmit antenna in the M transmit antennas are obtained, and the received echo signal processing is based on each receive antenna. The obtained peak value is the principle that the number of channel data is the same as the number of transmitting antennas. According to the peak value and the parameter value of the transmitted signal, the transmitting antenna corresponding to each channel data is determined. That is, the channel separation of the MIMO radar in the DDMA mode is realized, and then the detection target can be measured based on the DDMA-MIMO radar.

In a possible implementation manner, the channel separation module 44 may be configured to determine the transmission signal parameter value corresponding to each peak value according to the peak value and the transmission signal parameter value; according to the transmission signal parameter value corresponding to each peak value and the transmit signal parameter value corresponding to each transmit antenna to determine the transmit antenna corresponding to each channel data.

In a possible implementation manner, the channel separation module 44 may be configured to sort the peak values and the parameter values of the transmitted signal according to the same preset order, and obtain the first order and all the peak values after sorting. The second order of the transmitted signal parameter values after sorting is performed; the transmitted signal parameter value corresponding to the peak value at any position in the first order is determined to be the transmitted signal parameter value corresponding to the same position in the second order.

In a possible implementation manner, the transmission signal parameter value includes: transmission signal amplitude value or transmission signal power value; when the transmission signal parameter value is the transmission signal power value, the acquisition module 41 can be used for Acquire the transmit signal amplitude value of the probe signal corresponding to each transmit antenna; calculate the square of the transmit signal amplitude value to obtain the transmit signal power value corresponding to each transmit antenna.

In a possible implementation manner, the parameter value of the transmitted signal includes: a normalized power value of the transmitted signal; the acquiring module 41 can be used to acquire the transmitted signal power value of the detection signal corresponding to each transmitting antenna; Compare the transmit signal power values of the probe signals corresponding to the antennas to determine the maximum transmit signal power in all transmit antennas; calculate the ratio of each transmit signal power value to the maximum transmit signal power value in turn, and obtain the corresponding value of each transmit antenna. The normalized power value of the transmitted signal.

In a possible implementation manner, the first processing module 42 may be configured to perform range-Doppler two-dimensional Fourier transform on the echo signals received by each of the N receiving antennas to obtain each received signal. The range-Doppler data corresponding to the antenna.

In a possible implementation manner, the range-Doppler two-dimensional Fourier transform is performed on the echo signals received by each of the N receiving antennas to obtain the range-Doppler corresponding to each receiving antenna After the data, the first processing module 42 can also be used to accumulate and sum the amplitudes of the range-Doppler data corresponding to all the receiving antennas to obtain the range-Doppler data after detection and accumulation; the second processing The module 43 may be configured to extract all the peaks in the range-Doppler data after detection and accumulation, and use each peak value in the range-Doppler data after detection and accumulation as a channel of data.

FIG. 5 is a schematic diagram of a control device provided by an embodiment of the present invention. As shown in FIG. 5 , the control device 5 of this embodiment includes a processor 50 , a memory 51 , and a computer program 52 stored in the memory 51 and executable on the processor 50 . When the processor 50 executes the computer program 52 , the steps in each of the above-mentioned embodiments of the channel separation methods for MIMO radars are implemented, for example, steps 101 to 104 shown in FIG. 1 . Alternatively, when the processor 50 executes the computer program 52 , the functions of the modules in the above-mentioned device embodiments, for example, the functions of the modules 41 to 44 shown in FIG. 4 , are implemented.

Exemplarily, the computer program 52 can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 51 and executed by the processor 50 to complete the this invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 52 in the control device 5 . For example, the computer program 52 can be divided into modules 41 to 44 shown in FIG. 4 .

The control device 5 may be a computing device such as a desktop computer, a notebook computer, a palmtop computer, and a cloud server. The control device 5 may include, but is not limited to, a processor 50 and a memory 51 . Those skilled in the art can understand that FIG. 5 is only an example of the control device 5, and does not constitute a limitation on the control device 5, and may include more or less components than the one shown, or combine some components, or different components For example, the control apparatus may further include input and output devices, network access devices, buses, and the like.

The so-called processor 50 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 51 may be an internal storage unit of the control device 5 , such as a hard disk or a memory of the control device 5 . The memory 51 may also be an external storage device of the control device 5, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the control device 5 card, flash card (Flash Card) and so on. Further, the memory 51 may also include both an internal storage unit of the control device 5 and an external storage device. The memory 51 is used to store the computer program and other programs and data required by the control device. The memory 51 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. Module completion, that is, dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned system, reference may be made to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/control apparatus and method may be implemented in other manners. For example, the device/control device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units. Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated modules/units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed by the processor, the steps of the above-mentioned embodiments of the channel separation method for each MIMO radar can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, Read-Only Memory (ROM) , Random Access Memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media Excluded are electrical carrier signals and telecommunication signals.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to implement the foregoing implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the within the protection scope of the present invention.

Claims (10)

1. A channel separation method for a MIMO radar, the MIMO radar including M transmitting antennas and N receiving antennas, wherein M and N are both positive integers greater than 1, the method comprising:

acquiring a transmission signal parameter value corresponding to each transmission antenna in M transmission antennas and an echo signal received by each receiving antenna, wherein all the transmission antennas transmit detection signals simultaneously, and the transmission signal parameter values of the detection signals corresponding to each transmission antenna in the M transmission antennas are different;

processing the echo signals received by the N receiving antennas to obtain range-Doppler data;

extracting all peak values in the range-Doppler data, and taking each peak value as channel data;

and determining a transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value.

2. The method of claim 1, wherein the determining the transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value comprises:

determining a transmission signal parameter value corresponding to each peak value according to the peak values and the transmission signal parameter values;

and determining the transmitting antenna corresponding to each channel data according to the transmitting signal parameter value corresponding to each peak value and the transmitting signal parameter value corresponding to each transmitting antenna.

3. The method of channel separation for MIMO radar according to claim 2, wherein said determining a transmit signal parameter value corresponding to each peak value from the peak values and the transmit signal parameter values comprises:

sorting the peak values and the transmission signal parameter values according to the same preset sequence respectively to obtain a first sequence after sorting the peak values and a second sequence after sorting the transmission signal parameter values;

and determining the transmission signal parameter value corresponding to the peak value at any position in the first sequence as the transmission signal parameter value corresponding to the same position in the second sequence.

4. The channel separation method for a MIMO radar according to claim 1, wherein the transmission signal parameter values include: a transmit signal amplitude value or a transmit signal power value;

when the transmission signal parameter value is the transmission signal power value, the obtaining of the transmission signal parameter value corresponding to each transmission antenna includes:

acquiring a transmission signal amplitude value of a detection signal corresponding to each transmission antenna;

and calculating the square of the amplitude value of the transmission signal to obtain the power value of the transmission signal corresponding to each transmission antenna.

5. The channel separation method for a MIMO radar of claim 1, wherein the transmission signal parameter value includes: normalizing the power value of the transmitted signal;

the obtaining of the transmission signal parameter value corresponding to each transmission antenna includes:

acquiring a transmission signal power value of a detection signal corresponding to each transmission antenna;

comparing the transmitting signal power values of the detection signals corresponding to all the transmitting antennas to determine the maximum transmitting signal power value in all the transmitting antennas;

and calculating the ratio of each transmitting signal power value to the maximum value of the transmitting signal power in sequence to obtain the transmitting signal normalized power value corresponding to each transmitting antenna.

6. The method for channel separation of a MIMO radar according to any one of claims 1-4, wherein the processing the echo signals received by the N receiving antennas to obtain range-doppler data comprises:

and performing range-Doppler two-dimensional Fourier transform on the echo signal received by each receiving antenna in the N receiving antennas to obtain range-Doppler data corresponding to each receiving antenna.

7. The method for channel separation of a MIMO radar according to claim 6, wherein after performing range-doppler two-dimensional fourier transform on the echo signal received by each of the N receiving antennas to obtain range-doppler data corresponding to each receiving antenna, the method further comprises:

accumulating and summing the amplitude values of the range-Doppler data corresponding to all the receiving antennas to obtain the range-Doppler data after detection accumulation;

the extracting all peaks in the range-doppler data, and using each peak as a channel data includes:

and extracting all peak values in the distance-Doppler data after detection and accumulation, and taking each peak value in the distance-Doppler data after detection and accumulation as channel data.

8. A channel separation apparatus for a MIMO radar including M transmit antennas and N receive antennas, wherein M and N are positive integers greater than 1, comprising:

an obtaining module, configured to obtain a transmission signal parameter value corresponding to each of M transmission antennas and an echo signal received by each receiving antenna, where all the transmission antennas transmit a probe signal simultaneously and the transmission signal parameter values of the probe signal corresponding to each of the M transmission antennas are different;

the first processing module is used for processing the echo signals received by the N receiving antennas to obtain range-Doppler data;

the second processing module is used for extracting all peak values in the range-Doppler data and taking each peak value as channel data;

and the channel separation module is used for determining a transmitting antenna corresponding to each channel data according to the peak value and the transmitting signal parameter value.

9. A MIMO radar comprising control means including a memory for storing a computer program and a processor for invoking and running the computer program stored in the memory, to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.

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