CN115494496A - Single-bit radar imaging system, method and related equipment - Google Patents
Single-bit radar imaging system, method and related equipment Download PDFInfo
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Abstract
The invention discloses a single-bit radar imaging system, a method and related equipment, wherein the system comprises: the radar data acquisition module, the radar data processing module and the display module are sequentially in communication connection; the radar data acquisition module is used for transmitting radar signals, acquiring echo signals corresponding to the radar signals, and performing single-bit quantization on the echo signals to obtain single-bit quantized signals; the radar data processing module is used for obtaining a working mode, when the working mode is a perspective imaging mode, generating a single-bit quantized image according to a single-bit quantized signal, performing target detection on the single-bit quantized image according to a trained neural network to obtain a target detection result, generating a radar image according to the single-bit quantized signal, labeling the radar image according to the target detection result to obtain a radar labeling image, and taking the radar labeling image as a result to be displayed; the display module is used for outputting a result to be displayed. The scheme of the invention is beneficial to improving the efficiency and the accuracy of generating the radar labeling image.
Description
Technical Field
The invention relates to the technical field of radar imaging, in particular to a single-bit radar imaging system, a single-bit radar imaging method and related equipment.
Background
With the development of science and technology, the application of radar is more and more extensive. In the prior art, a radar is generally used to send a radar signal, then a corresponding radar echo signal is collected, and a radar image is directly generated by collecting the obtained radar echo signal.
The problem in the prior art is that the data volume of the radar echo signal is large, so that the data volume to be processed when a radar image is directly generated based on the radar echo signal is large, and the imaging processing process is complex, which is not beneficial to improving the radar imaging efficiency.
Thus, there is still a need for improvement and development of the prior art.
Disclosure of Invention
The invention mainly aims to provide a single-bit radar imaging system, a single-bit radar imaging method and related equipment, and aims to solve the problems that in the prior art, when a radar image is directly generated based on a radar echo signal, the data volume needing to be processed is large, the imaging processing process is complex, and the efficiency of radar imaging is not improved.
In order to achieve the above object, a first aspect of the present invention provides a single-bit radar imaging system, wherein the single-bit radar imaging system includes:
the radar data acquisition module, the radar data processing module and the display module are sequentially in communication connection;
the radar data acquisition module is used for transmitting radar signals, acquiring echo signals corresponding to the radar signals, and performing single-bit quantization on the echo signals to obtain single-bit quantized signals;
the radar data processing module is used for obtaining a working mode, when the working mode is a perspective imaging mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to a trained neural network to obtain a target detection result, generating a radar image according to the single-bit quantized signal, labeling the radar image according to the target detection result to obtain a radar labeling image, and taking the radar labeling image as a result to be displayed;
the display module is used for outputting the result to be displayed.
Optionally, the radar data processing module is further configured to:
when the working mode is a security mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to the trained neural network to obtain a target detection result, obtaining target information according to the target detection result and taking the target information as a result to be displayed, wherein the target information comprises the distance and the type of a detected target object.
Optionally, the radar data acquisition module includes:
the ultra-wideband pulse radar device comprises an ultra-wideband pulse radar chip unit, a transmitting antenna unit, a receiving antenna unit and a single-bit sampling unit, wherein the ultra-wideband pulse radar chip unit is in communication connection with the transmitting antenna unit, and the receiving antenna unit is in communication connection with the ultra-wideband pulse radar chip unit through the single-bit sampling unit;
the ultra-wideband pulse radar chip unit is used for generating the radar signal, receiving the single-bit quantized signal sent by the single-bit sampling unit and sending the single-bit quantized signal to the radar data processing module;
the transmitting antenna unit is used for transmitting the radar signal;
the receiving antenna unit is used for receiving an echo signal corresponding to the radar signal and sending the echo signal to the single-bit sampling unit;
the single-bit sampling unit is used for carrying out single-bit quantization on the echo signal to obtain the single-bit quantized signal and sending the single-bit quantized signal to the ultra-wideband pulse radar chip unit.
Optionally, the radar data processing module includes:
a working mode obtaining unit, configured to obtain the working mode;
a single-bit quantized signal processing unit, configured to store single-bit quantized software, and process the single-bit quantized signal through the single-bit quantized software to generate the single-bit quantized image;
a target detection unit, configured to perform target detection on the single-bit quantized image according to the trained neural network to obtain the target detection result;
and a radar image generation unit, configured to generate the radar image according to the single-bit quantized signal when the operating mode is a perspective imaging mode, label the radar image according to the target detection result to obtain a radar label image, and use the radar label image as the result to be displayed.
Optionally, the target detecting unit includes:
a sliding window segmentation subunit, configured to perform sliding window segmentation on the single-bit quantized image to obtain a plurality of single-bit quantized sub-images;
and the target detection subunit is used for carrying out target detection on the single-bit quantized subgraph according to the trained neural network so as to obtain the target detection result.
Optionally, the radar image generating unit includes:
a panoramic frame imaging subunit, configured to perform panoramic frame imaging according to the single-bit quantized signal to generate a panoramic frame image when the operating mode is a perspective imaging mode;
a constant false alarm detection subunit, configured to perform two-dimensional constant false alarm detection and noise processing on the panoramic frame image to obtain the radar image;
and the labeling subunit is used for labeling the radar image according to the target detection result to obtain the radar labeling image, and taking the radar labeling image as the result to be displayed.
Optionally, the radar data processing module further includes:
the parameter setting unit is used for setting radar acquisition parameters to trigger the radar data acquisition module to transmit and acquire signals according to the radar acquisition parameters;
and the target information generating unit is used for acquiring the target information according to the target detection result when the working mode is the security mode, and taking the target information as the result to be displayed.
A second aspect of the present invention provides a single-bit radar imaging method, where the single-bit radar imaging method includes:
transmitting a radar signal, acquiring an echo signal corresponding to the radar signal, and performing single-bit quantization on the echo signal to obtain a single-bit quantized signal;
obtaining a working mode, when the working mode is a perspective imaging mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to a trained neural network to obtain a target detection result, generating a radar image according to the single-bit quantized signal, labeling the radar image according to the target detection result to obtain a radar labeling image, and taking the radar labeling image as a result to be displayed;
and outputting the result to be displayed.
Optionally, the method further includes: and when the working mode is a security mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to the trained neural network to obtain a target detection result, obtaining target information according to the target detection result, and taking the target information as the result to be displayed, wherein the target information comprises the distance and the type of a detected target object.
A third aspect of the present invention provides a computer-readable storage medium having stored thereon a single-bit radar imaging program, which when executed by a processor, performs any one of the steps of the single-bit radar imaging method.
In the scheme of the invention, the single-bit radar imaging system comprises a radar data acquisition module, a radar data processing module and a display module which are sequentially in communication connection; the radar data acquisition module is used for transmitting radar signals, acquiring echo signals corresponding to the radar signals, and performing single-bit quantization on the echo signals to obtain single-bit quantized signals; the radar data processing module is used for obtaining a working mode, when the working mode is a perspective imaging mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to a trained neural network to obtain a target detection result, generating a radar image according to the single-bit quantized signal, labeling the radar image according to the target detection result to obtain a radar labeling image, and taking the radar labeling image as a result to be displayed; the display module is used for outputting the result to be displayed.
Compared with the prior art, the radar image is not directly generated according to the echo signal corresponding to the radar signal in the scheme of the invention, but the single-bit quantized signal is obtained after the single-bit quantization is carried out on the echo signal, the data volume of the signal after the single-bit quantization is reduced, the data volume needing to be processed in the subsequent processing process is favorably reduced, and the radar imaging efficiency is favorably improved. Meanwhile, the single-bit quantized signal is converted into the single-bit quantized image, the target detection is carried out on the single-bit quantized image according to the trained neural network, the target detection can be better carried out by utilizing the processing capacity of the neural network, and the efficiency and the accuracy of the target detection are improved, so that the efficiency and the accuracy of finally generating the radar labeling image are improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic diagram of the constituent modules of a single-bit radar imaging system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a radar data acquisition module in FIG. 1 according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a specific structure of the radar data processing module in FIG. 2 according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a specific application scenario of a single-bit radar imaging system according to an embodiment of the present invention;
FIG. 5 is a schematic workflow diagram of a single-bit radar imaging system in a perspective imaging mode according to an embodiment of the present invention;
FIG. 6 is a schematic view of a workflow of a single-bit radar imaging system in a security mode according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating comparison of an echo signal with a single-bit quantized echo signal in a single echo signal according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating comparison of an echo signal with a single-bit quantized echo signal in a plurality of echo signals according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a sliding window segmentation provided by an embodiment of the present invention;
fig. 10 is a schematic diagram of generating a panoramic frame image according to an embodiment of the present invention;
fig. 11 is a schematic diagram of a two-dimensional constant false alarm detection provided by an embodiment of the present invention;
FIG. 12 is a schematic diagram of a single-target perspective imaging recognition result according to an embodiment of the present invention;
FIG. 13 is a schematic diagram of a multi-target perspective imaging recognition result according to an embodiment of the present invention;
fig. 14 is a schematic flowchart of a single-bit radar imaging method according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from 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 the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and it will be appreciated by those skilled in the art that the present invention may be practiced without departing from the spirit and scope of the present invention, and therefore the present invention is not limited by the specific embodiments disclosed below.
With the development of science and technology, the application of radar is more and more extensive. In the prior art, a radar is generally used to send a radar signal, then a corresponding radar echo signal is collected, and a radar image is directly generated by collecting the obtained radar echo signal.
The problem in the prior art is that the data volume of the radar echo signal is large, so that the data volume to be processed when a radar image is directly generated based on the radar echo signal is large, and the imaging processing process is complex, which is not beneficial to improving the radar imaging efficiency.
Meanwhile, when the ultra-wideband radar is used for scanning, the radar moves through the platform to scan a scene, the real-time performance of the existing radar imaging algorithm (such as a BP algorithm and an RD algorithm) is difficult to meet the requirement, the real-time performance is affected due to the fact that the data volume needing to be processed is too large, and information such as the speed and the position of the platform needs to be accurately acquired to perform fine compensation.
In one application scenario, the amount of data that needs to be processed may be reduced in a single bit quantized manner. However, in the field of radar imaging technology, a signal obtained by performing single-bit nonlinear quantization processing on an echo signal of a radar is nonlinear, the processing difficulty of the nonlinear single-bit quantized signal in the process of target detection is high, the complexity is high, and the traditional radar signal processing algorithm is difficult to realize better processing on the signal, so that the efficiency of radar target detection is not improved.
In order to solve at least one of the problems, in the scheme of the invention, a single-bit radar imaging system is provided, and the system comprises a radar data acquisition module, a radar data processing module and a display module which are sequentially in communication connection; the radar data acquisition module is used for transmitting radar signals, acquiring echo signals corresponding to the radar signals, and performing single-bit quantization on the echo signals to obtain single-bit quantized signals; the radar data processing module is used for obtaining a working mode, when the working mode is a perspective imaging mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to a trained neural network to obtain a target detection result, generating a radar image according to the single-bit quantized signal, labeling the radar image according to the target detection result to obtain a radar labeling image, and taking the radar labeling image as a result to be displayed; the display module is used for outputting the result to be displayed.
Compared with the prior art, the radar image is not directly generated according to the echo signal corresponding to the radar signal in the scheme of the invention, but the single-bit quantized signal is obtained after the single-bit quantization is carried out on the echo signal, the data volume of the signal after the single-bit quantization is reduced, the data volume needing to be processed in the subsequent processing process is favorably reduced, and the radar imaging efficiency is favorably improved. Meanwhile, the single-bit quantized signal is converted into the single-bit quantized image, the target detection is carried out on the single-bit quantized image according to the trained neural network, the target detection can be better carried out by utilizing the processing capacity of the neural network, and the efficiency and the accuracy of the target detection are improved, so that the efficiency and the accuracy of finally generating the radar labeling image are improved.
Meanwhile, in the embodiment, a sliding window sub-graph segmentation mode is further adopted, the single-bit quantized image is subjected to sliding window segmentation to obtain a plurality of single-bit quantized sub-graphs, and then each single-bit quantized sub-graph is processed by using a trained neural network. By combining the mode of single-bit quantization and sliding window segmentation of the subgraph, the data volume and the matrix size processed each time can be reduced, and the real-time performance of radar scanning is improved.
Further, an ultra-wideband radar is adopted in the embodiment, so that the target detection penetrating through the barrier can be realized, the target detection and radar scanning effects are improved, and the user experience is improved.
As shown in fig. 1, an embodiment of the present invention provides a single-bit radar imaging system, specifically, the system includes:
the radar data acquisition module 1, the radar data processing module 2 and the display module 3 are sequentially in communication connection;
the radar data acquisition module 1 is configured to transmit a radar signal, acquire an echo signal corresponding to the radar signal, and perform single-bit quantization on the echo signal to obtain a single-bit quantized signal;
the radar data processing module 2 is configured to obtain a working mode, when the working mode is a perspective imaging mode, generate a single-bit quantized image according to the single-bit quantized signal, perform target detection on the single-bit quantized image according to a trained neural network to obtain a target detection result, generate a radar image according to the single-bit quantized signal, label the radar image according to the target detection result to obtain a radar label image, and use the radar label image as a result to be displayed;
the display module 3 is used for outputting the result to be displayed.
Specifically, in this implementation, radar data acquisition module 1 transmits radar signals to a target area to be scanned, and receives echo signals reflected by objects in the target area, so as to perform radar scanning.
Further, the radar data processing module 2 is further configured to: when the working mode is a security mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to the trained neural network to obtain a target detection result, obtaining target information according to the target detection result and taking the target information as a result to be displayed, wherein the target information comprises the distance and the type of a detected target object.
Specifically, the target information may be obtained by extracting micro-doppler information (for example, in this embodiment, composite information corresponding to heartbeat and respiration of a human body, and the like) of the target object through a neural network, and then performing target detection and target classification. Specifically, the target object can be classified according to the micro-doppler information so as to identify the scanned human body, and thus the distance between the human body and the measurement position (or the single-bit radar imaging system) can be determined according to the position of the human body in the image.
The above-mentioned working mode is the working mode of single bit radar imaging system, and two working modes are provided in this embodiment, including perspective imaging mode and security mode, and the above-mentioned single bit radar imaging system moves in perspective imaging mode, for example, moves through setting up on a movable platform, thereby realizes the scanning to the target area, can detect whether there is target object (human target or angle anti-target) behind the barrier in the target area, and carry out mark and output on the radar image that generates, thereby make things convenient for the user to know whether there is target object behind the barrier. The single-bit radar imaging system does not move in the security mode, does not need to scan and mark radar images on the target object behind the obstacle, and only needs to generate and output corresponding target information (including the distance and the category of the scanned target object) according to the detection result after target detection.
In this embodiment, as shown in fig. 2, the radar data acquisition module 1 includes:
the ultra-wideband pulse radar device comprises an ultra-wideband pulse radar chip unit 11, a transmitting antenna unit 12, a receiving antenna unit 13 and a single-bit sampling unit 14, wherein the ultra-wideband pulse radar chip unit 11 is in communication connection with the transmitting antenna unit 12, and the receiving antenna unit 13 is in communication connection with the ultra-wideband pulse radar chip unit 11 through the single-bit sampling unit 14;
the ultra-wideband pulse radar chip unit 11 is configured to generate the radar signal, receive a single-bit quantized signal sent by the single-bit sampling unit 14, and send the single-bit quantized signal to the radar data processing module 2;
the transmitting antenna unit 12 is configured to transmit the radar signal;
the receiving antenna unit 13 is configured to receive an echo signal corresponding to the radar signal and send the echo signal to the single-bit sampling unit;
the single-bit sampling unit 14 is configured to perform single-bit quantization on the echo signal to obtain the single-bit quantized signal, and send the single-bit quantized signal to the ultra-wideband pulse radar chip unit 11.
In this embodiment, the radar data acquisition module 1 is used as a radar front end to implement the processes of radar signal transmission, echo signal reception, analog end processing, digital end single-bit sampling, data transmission and processing, and the like. Specifically, in the ultra-wideband pulse radar chip unit 11, a Digital-to-Analog Converter (DAC) is used to generate voltage waveform data and a Voltage Controlled Oscillator (VCO) is used to generate a transmission signal, the transmission signal is a 27MHz crystal oscillator providing a stable clock signal, and is divided by a 243MHz phase-locked loop to form two signals, one of which passes through the 1215MHz phase-locked loop, and finally a gaussian pulse is transmitted by the transmitter as the radar signal, and the radar signal is transmitted by the transmitting antenna unit 12 (i.e., TX). The echo signals of this region are acquired by the receiving antenna unit 13 (i.e. RX).
In this embodiment, the echo signal is further subjected to low-noise amplification and low-frequency noise elimination, and then the processed echo signal is input to the single-bit sampling unit 14 for single-bit quantization, so as to further improve the radar imaging effect. Specifically, the echo signal collected by the receiving antenna unit 13 passes through a Low Noise Amplifier (LNA) and then is subjected to low-frequency noise elimination by a high-pass filter to obtain a processed echo signal, and the processed echo signal is input to a single-bit sampling unit 14 (i.e., a single-bit ADC unit) for processing, so as to obtain a single-bit quantized signal. Further, the single-bit sampling unit 14 may transmit back to the ultra-wideband pulse radar chip unit 11 through a serial peripheral interface (such as an SPI bus), so as to obtain a single-bit quantized signal corresponding to an echo signal of the single-bit ultra-wide radar.
The single-bit sampling unit 14 may be a single-bit sampler, and is configured to quantize the signal to a form of 0 or 1, so as to greatly reduce the data amount and improve the processing efficiency of the signal in the subsequent processing process. In this embodiment, the single-bit sampler actually implements single-bit quantization of the echo signal by means of software processing (for example, calling a function in Matlab).
In this embodiment, as shown in fig. 3, the radar data processing module 2 includes:
a working mode obtaining unit 21 configured to obtain the working mode;
a single-bit quantized signal processing unit 22, configured to store single-bit quantized software, and process the single-bit quantized signal through the single-bit quantized software to generate the single-bit quantized image;
a target detection unit 23, configured to perform target detection on the single-bit quantized image according to the trained neural network to obtain the target detection result;
and a radar image generating unit 24, configured to generate the radar image according to the single-bit quantized signal when the operating mode is a perspective imaging mode, label the radar image according to the target detection result to obtain a radar label image, and use the radar label image as the result to be displayed.
It should be noted that, in this embodiment, the single-bit quantization signal processing unit 22 is set and single-bit quantization software is stored therein for example, and in the actual use process, an existing function in Matlab may also be directly called to implement single-bit quantization, which is not limited herein.
Specifically, in this embodiment, the radar data processing module 2 is a processing module based on a raspberry pi system, and the radar data processing module 2 is in communication connection with the radar data acquisition module 1 through a USB interface. In an application scenario, the radar data processing module 2 is in communication connection with the radar data acquisition module 1 through the ModuleConnector module, and the radar data processing module 2 can be developed by python programming. In the radar data processing module 2, radar acquisition parameters are set, wherein the radar acquisition parameters include pulse repetition frequency PRF, the pulse repetition frequency PRF is used for determining the resolution of radar azimuth dimension and the number of distance dimension sampling points, and the larger the number of distance dimension sampling points is, the higher the sampling precision is. The radar acquisition parameters may be preset by a user according to actual requirements, or determined by comparison through multiple experiments, which is not specifically limited herein.
Further, in the perspective imaging mode, in the radar data processing module 2, the single-bit quantized signal corresponding to the radar echo is stored and processed, specifically, the single-bit quantized signal is converted into a picture by a software processing mode, and the converted picture is input into a trained neural network to obtain a target detection result. Then, radar imaging is generated through a rapid imaging algorithm, noise interference around a radar image is removed through a two-dimensional constant false alarm detection technology, and a clean two-dimensional constant false alarm detection result (namely a clean radar image) is obtained. And finally, marking the target detection result on the radar image to obtain a result to be displayed, and enabling the display module 3 to output the result to be displayed through a control command.
In this embodiment, the target detection unit includes: a sliding window segmentation subunit, configured to perform sliding window segmentation on the single-bit quantized image to obtain a plurality of single-bit quantized sub-images;
and the target detection subunit is used for carrying out target detection on the single-bit quantized subgraph according to the trained neural network so as to obtain the target detection result.
Therefore, the single-bit quantized image is segmented to obtain each single-bit quantized sub-image, then the target detection is carried out on each sub-image through the target detection sub-unit, the calculation complexity is favorably reduced, the target detection efficiency is improved, and the target detection result can be obtained by combining the detection results corresponding to all sub-images. Wherein the segmented sub-graph contains local information of the whole scene, wherein the partial graph comprises information of the target object, and the partial sub-graph does not comprise information of the target object or comprises information of other objects (such as obstacles). Specifically, the segmented single-bit quantized subgraph may include micro-motion information corresponding to the target object, and target detection may be performed based on the micro-motion information. The trained neural network is obtained by performing iterative training in advance according to a training data set, the training data set comprises a plurality of training single-bit quantized images and corresponding real labeling results thereof, the training single-bit quantized images are input into the neural network to generate corresponding training detection results, and parameters of the neural network are adjusted according to loss values (namely differences) between the real labeling results and the training detection results until preset training conditions are met (for example, the number of iterations reaches an iteration threshold value, or the loss values are smaller than a preset loss threshold value) so as to obtain the trained neural network.
In an application scenario, the trained neural network is used to detect micro doppler information of a target object in an input picture, and targets after obstacles can be resolved corresponding to different gray levels in the picture. The input of the neural network is a picture, the output is a tensor (or vector), and different tensors correspond to different target classification results, that is, the classification results can be output (in this embodiment, the classes include no target object, including a human target, and including an angular inverse).
Specifically, the radar image generation unit includes: a panoramic frame imaging subunit, configured to perform panoramic frame imaging according to the single-bit quantized signal to generate a panoramic frame image when the operating mode is a perspective imaging mode; a constant false alarm detection subunit, configured to perform two-dimensional constant false alarm detection and noise processing on the panoramic frame image, so as to obtain the radar image; and the labeling subunit is used for labeling the radar image according to the target detection result to obtain the radar labeling image, and taking the radar labeling image as the result to be displayed.
The fast imaging algorithm adopted in this embodiment is specifically a panoramic frame imaging algorithm, and it should be noted that a panoramic frame image generated by the panoramic frame imaging algorithm is an approximate image of the whole scanned scene, and a single-bit quantized image obtained after processing by echo signal software for a radar embodies original information corresponding to a radar echo signal (cannot directly embody an image of the scene). The single-bit quantized image is used for target detection, and the panoramic frame image is used for representing the rough appearance of a scene (can represent the relative positions of a target and the scene), so that the result identified by the target detection is labeled.
Further, in this embodiment, the constant false alarm detection subunit performs two-dimensional constant false alarm detection and noise processing on the panoramic frame image, so as to remove other objects in the panoramic frame image and only keep a target object, where the target object in this embodiment may include a human body and an angular inverse. Note that, the positions of the respective target objects in the detection result can be determined and labeled according to the segmentation result when the sub-image is segmented for the single-bit quantized image. Specifically, when the subgraph is divided, the size and the coordinates of the subgraph are stored, that is, the mapping relationship between the subgraph (namely, a single-bit quantized subgraph) and the global graph (namely, a single-bit quantized image) can be stored, and the single-bit quantized image and the single-bit quantized signal have a corresponding relationship; the radar image (or the panoramic frame image) is obtained through single-bit quantitative signal processing, a mapping exists, and the relationship between the sub-image and the radar image can be obtained through the mutual mapping relationship, so that the position of the target object can be determined, and further, the marking is realized. When the subgraph division is not performed, the positions of the target objects can be determined directly according to the corresponding relationship between the single-bit quantized image and the single-bit quantized signal and the corresponding relationship between the radar image and the single-bit quantized signal, and the positions are not particularly limited herein.
Further, in this embodiment, the radar data processing module 2 further includes:
the parameter setting unit is used for setting radar acquisition parameters to trigger the radar data acquisition module to transmit and acquire signals according to the radar acquisition parameters;
and the target information generating unit is used for acquiring the target information according to the target detection result when the working mode is the security mode, and taking the target information as the result to be displayed.
It should be noted that two working modes are set in this embodiment, and it is only necessary to generate and output target information (i.e., distance and category) corresponding to a detected target object without generating a radar image in a security mode (i.e., a single-bit radar imaging system) that is not moved.
Fig. 4 is a schematic view of a specific application scenario of a single-bit radar imaging system according to an embodiment of the present invention, as shown in fig. 4, in a perspective imaging mode, a radar signal is sent to an actual scenario with an obstacle through a transmitting antenna unit 12, and a corresponding echo signal is collected through a receiving antenna unit 13, where the radar signal is a gaussian pulse generated by an ultra wideband radar chip unit 11. The receiving antenna unit 13 returns the echo signal to the radar signal ultra-wideband radar chip unit 11 and transmits the echo signal to the radar data processing module 2, and the radar data processing module 2 generates a corresponding radar labeling image and then controls the display module 3 to display the corresponding radar labeling image through a control instruction, namely, an imaging scene and a marking result based on target detection are displayed.
Fig. 5 is a schematic workflow diagram of a single-bit radar imaging system in a perspective imaging mode according to an embodiment of the present invention, and fig. 6 is a schematic workflow diagram of a single-bit radar imaging system in a security mode according to an embodiment of the present invention. As shown in fig. 5 and 6, in the embodiment of the present invention, in the perspective imaging mode, a panoramic frame image is generated according to a single-bit quantized signal, a radar image is obtained through two-dimensional constant false alarm detection and processing, a target detection result is labeled on the radar image, and finally the radar labeled image is displayed, so that the perspective imaging effect is achieved. In the security mode, only target information obtained through a target detection result needs to be displayed, and radar imaging is not needed.
It should be noted that, in this embodiment, the single-bit radar imaging system employs a gaussian pulse radar, and a transmitted radar signal is g (t), and is shown in the following formula (1):
where t represents the fast time, τ is the slow time, ω c Angular velocity, V, of central frequency TX To send outThe frequency of the radar signal. In this embodiment, radar echo single bit is realized from a software layer, and a sign function is used to perform single comparison on a received echo signal. It should be noted that, in this embodiment, the echo signal is delayed on the transmitted radar signal, that is, the echo signal is s r (t-t 0 ). Specifically, a single-bit quantized signal s is obtained according to the following formula (2) g (t)：
Wherein s is r (. Represents the received echo signal, t 0 Sign () is a sign function for latency.
Fig. 7 is a schematic diagram illustrating comparison between an echo signal and a single-bit quantized echo signal in a single echo signal according to an embodiment of the present invention, and fig. 8 is a schematic diagram illustrating comparison between an echo signal and a single-bit quantized echo signal in a plurality of echo signals according to an embodiment of the present invention. As can be seen from fig. 7 and 8, after the accumulation of the slow time, the slope distance history (shown in the frame in the figure) in the echo signal diagram can still be observed in the single-bit quantized signal diagram after the single bit (shown in the frame in the figure in the texture), the information in the doppler dimension is not completely lost, and the target is slowly changed within a certain angle range; the scattering characteristic of the human body target is slowly changed, and the micro-Doppler modulation is added to the breathing, heartbeat and limb action effects of the human body target, so that the texture information of the target in the single-bit quantized signal is different, and the effect of identifying the human body target and other targets can be achieved by using the single-bit quantized signal. And the single-bit quantized signal can save more space during transmission, and because the radar of the system collects 16-bit data, the obtained data volume is larger, and the data volume is reduced to 1/16 of the original data volume after single-bit processing.
In this embodiment, the trained neural network is a Resnet18 network, and the Resnet18 network is used to identify human body targets and other targets. Fig. 9 is a schematic diagram of sliding window segmentation according to an embodiment of the present invention, when the neural network processes an image, an oversized picture includes rich information, but more includes global information and is insensitive to a response of local information, and a segmented sub-picture can better represent the local information, so that the network pays attention to learning the local information. The system can achieve the effect of rough distance measurement (for example, 10 pictures are obtained by dividing the distance dimension, the 1 st picture represents 0-1 meter, namely rough distance measurement), and the micro-motion characteristic and the calculation complexity are considered by dividing the direction dimension, in the global graph, the radar echo acquisition direction dimension has 10s accumulation, the micro-motion characteristic such as respiration and heartbeat of a human target does not need to be accumulated for a long time when being identified, and the calculation complexity is reduced by dividing the direction dimension. The global graph also comprises multiple types of targets and implicit targets corresponding to different distances, and the global graph is subjected to sliding window segmentation, so that the target information at different distances is acquired, and the multiple types of targets are also acquired. And a strategy of dividing the global graph by a sliding window is adopted, so that the extraction of the micro-motion characteristics is considered, and the data acquisition efficiency is improved. In an application scenario, the image may be directly divided without using sliding window segmentation, and is not limited herein.
Fig. 10 is a schematic diagram of generating a panoramic frame image according to an embodiment of the present invention, and fig. 10 shows a panoramic frame image directly generated from an echo signal and a panoramic frame image generated from a single-bit quantized signal, respectively. In this embodiment, the echo data volume of the radar system is M × N (M corresponds to a distance dimension data volume, and N corresponds to an azimuth dimension data volume.assuming that N is the azimuth dimension data volume of the echo data, N is a single frame echo number, an imaging processing step size is s, the number of rows and columns of a full-zero-space matrix is M/2 and (N-N)/s, respectively.
And performing azimuth dimension FFT on each frame of image, and sequentially extracting Doppler center frequency data in each frame to perform panoramic estimation to obtain a histogram of the scene. The actual treatment process is as follows: and performing azimuth dimension FFT on the first frame image, extracting data of the ID column as a first column of the strip chart, performing azimuth dimension FFT on the second frame image, and extracting data of the ID column as a second column of the strip chart. And in the same way, obtaining a frame of image containing all data information of the scene. When the radar works under a front side view, column data of zero frequency are sequentially extracted for panoramic reconstruction.
After the radar echo signals are collected, algorithm simulation is performed by using a Matlab program, and the obtained result is shown in fig. 10. In fig. 10, a high-precision imaging algorithm and a single-bit imaging algorithm are respectively adopted for the same scene, and an echo signal panoramic frame image and a single-bit quantized signal panoramic frame image are respectively and correspondingly obtained, for example, 1 to 50 echoes are respectively processed as a first frame, 11 to 60 echoes are used as a second frame, … … and 741 to 790 echoes are used as a 75 th frame, and each frame of the 75 frames is extracted to have a ID column spliced into a picture, so that a radar panoramic frame image is constructed. Through comparison, the target information can be clearly obtained in two modes, but the single-bit data is processed by using the panoramic frame algorithm, so that the imaging speed is increased, the data volume is greatly reduced, and the obtained image can still obviously see the target.
In this embodiment, a two-dimensional constant false alarm detection method is used to remove noise. The Constant False Alarm detection is used to detect a target signal from an echo signal at a Constant False Alarm Rate without being influenced by background noise, and a two-Dimensional Cell Average Constant False Alarm detection (2D-CA-CFAR, 2Dimensional Cell Average False Alarm Rate) is usually performed by using a neighboring Cell Average. Fig. 11 is a schematic diagram of two-dimensional constant false alarm detection according to an embodiment of the present invention, and as shown in fig. 11, the unit average M is obtained by summing and averaging all units in the training unit, and the detection threshold T is calculated by multiplying M by a threshold factor a h Then T is added h Comparing with the detection unit CUT if CUT>T h Judging that the target has appeared and outputting the amplitude of the spectral line and the spectrum thereofA line number; if CUT<T h Then the target is deemed to be absent, its amplitude is zeroed and a zero amplitude is output.
Fig. 12 is a schematic diagram of a single-target perspective imaging recognition result provided in the embodiment of the present invention, and fig. 13 is a schematic diagram of a multi-target perspective imaging recognition result provided in the embodiment of the present invention. Fig. 12 includes two boxes, the lower box marks the human target, and the upper box marks the human target misjudged by the network. Because a single-bit image of a radar echo is directly put in the system during training, a human target is a very weak target, an angle reflection target selected by the system is similar to the human target in an oblique distance process, the human target not only contains the micro-motion characteristics of respiration and heartbeat, but also occupies a plurality of distance units in a distance dimension, the micro-motion of the heartbeat and the respiration only reflects a few distance units, so that the distance units represented by the upper frame are identified as angle reflections by a network, and the result is within an acceptable error range. It should be noted that the human target not only has the micro-motion characteristics such as respiration and heartbeat, but also has the static characteristics, the angle reflection target only has the static characteristics, and the two are similar when the human target reflects the slope distance course of the radar, but the micro-motion characteristics are also superposed on the slope distance course of the human target.
In fig. 13, the right frame indicates a human body target, the left two frames indicate angle inverse targets, the distance can be calculated correspondingly according to the distance unit sampling points (namely, each frame in the figure), the distance of the human body target obtained by detection is 2.5 meters, the angle inverse target distance is 3.8 meters, the distance of the human body target in the actual scene is 2.8 meters, the angle inverse target distance is 4 meters, the visible measurement is accurate, and the requirement can be met.
In the scheme of the invention, the single-bit radar imaging system comprises a radar data acquisition module, a radar data processing module and a display module which are sequentially in communication connection; the radar data acquisition module is used for transmitting radar signals, acquiring echo signals corresponding to the radar signals, and performing single-bit quantization on the echo signals to obtain single-bit quantized signals; the radar data processing module is used for obtaining a working mode, when the working mode is a perspective imaging mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to a trained neural network to obtain a target detection result, generating a radar image according to the single-bit quantized signal, labeling the radar image according to the target detection result to obtain a radar labeling image, and taking the radar labeling image as a result to be displayed; the display module is used for outputting the result to be displayed.
Compared with the prior art, the radar image is not directly generated according to the echo signal corresponding to the radar signal in the scheme of the invention, but the single-bit quantized signal is obtained after the single-bit quantization is carried out on the echo signal, the data volume of the signal after the single-bit quantization is reduced, the data volume needing to be processed in the subsequent processing process is favorably reduced, and the radar imaging efficiency is favorably improved. Meanwhile, the single-bit quantized signal is converted into the single-bit quantized image, the target detection is carried out on the single-bit quantized image according to the trained neural network, the target detection can be better carried out by utilizing the processing capacity of the neural network, and the efficiency and the accuracy of the target detection are improved, so that the efficiency and the accuracy of finally generating the radar labeling image are improved.
Specifically, in this embodiment, an embedded platform of raspberry pi is adopted, and an X4M05 ultra-wideband radar is adopted to perform data acquisition; the method is characterized in that radar echo single bit is realized on software, compared with high-precision data, the single bit data amount is reduced by 93.75%, an ultra-fast radar imaging algorithm is adopted to image a scene, a neural network is used to extract target information of the radar single bit echo, the network identifies various average accuracy rates by 90.2%, an obtained identification result is marked on a radar image, and real-time detection and identification of a human body target behind an obstacle are realized. It should be noted that, in the embodiment of the present invention, when the single-bit technology is applied to radar signal processing, while the data amount is greatly reduced, the identification accuracy is good. Alternatively, other radars or radar chips may be used, or other processing boards may be used to perform radar control and signal processing, or other waveforms may be used instead of the gaussian pulse, which is not limited herein.
As shown in fig. 14, an embodiment of the present invention further provides a single-bit radar imaging method corresponding to the single-bit radar imaging system, where the single-bit radar imaging method includes:
step S100, transmitting a radar signal, collecting an echo signal corresponding to the radar signal, and performing single-bit quantization on the echo signal to obtain a single-bit quantized signal;
step S200, obtaining a working mode, when the working mode is a perspective imaging mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to a trained neural network to obtain a target detection result, generating a radar image according to the single-bit quantized signal, labeling the radar image according to the target detection result to obtain a radar labeling image, and taking the radar labeling image as a result to be displayed;
and step S300, outputting the result to be displayed.
Further, the method further comprises: and when the working mode is a security mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to the trained neural network to obtain a target detection result, obtaining target information according to the target detection result and taking the target information as the result to be displayed, wherein the target information comprises the distance and the type of a detected target object.
It should be noted that, the above single-bit radar imaging method is applied to the above single-bit radar imaging system, and therefore, specific steps of the above single-bit radar imaging method may refer to the above single-bit radar imaging system and specific structures and function settings of each module or unit thereof, which are not described herein again.
It should be noted that the division manner of each module of the single-bit radar imaging system is not unique, and is not specifically limited herein.
The embodiment of the present invention further provides a computer-readable storage medium, where a single-bit radar imaging program is stored on the computer-readable storage medium, and when the single-bit radar imaging program is executed by a processor, the steps of any one of the single-bit radar imaging methods provided in the embodiments of the present invention are implemented.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention. The specific working processes of the units and modules in the above-mentioned apparatus may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system/terminal device and method can be implemented in other ways. For example, the above-described system/terminal device embodiments are merely illustrative, and for example, the division of the above modules or units is only one logical division, and the actual implementation may be implemented by another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
The integrated modules/units described above, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and can implement the steps of the embodiments of the method when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer readable medium may include: any entity or device capable of carrying the above-described computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier signal, telecommunications signal, software distribution medium, and the like. It should be noted that the contents contained in the computer-readable storage medium can be increased or decreased as required by legislation and patent practice in the jurisdiction.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (10)
1. A single-bit radar imaging system, comprising:
the radar data acquisition module, the radar data processing module and the display module are sequentially in communication connection;
the radar data acquisition module is used for transmitting radar signals, acquiring echo signals corresponding to the radar signals, and performing single-bit quantization on the echo signals to obtain single-bit quantized signals;
the radar data processing module is used for obtaining a working mode, when the working mode is a perspective imaging mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to a trained neural network to obtain a target detection result, generating a radar image according to the single-bit quantized signal, labeling the radar image according to the target detection result to obtain a radar labeling image, and taking the radar labeling image as a result to be displayed;
the display module is used for outputting the result to be displayed.
2. The single-bit radar imaging system of claim 1, wherein the radar data processing module is further configured to:
when the working mode is a security mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to the trained neural network to obtain a target detection result, obtaining target information according to the target detection result and taking the target information as a result to be displayed, wherein the target information comprises the distance and the category of a detected target object.
3. The single-bit radar imaging system of claim 1, wherein the radar data acquisition module comprises:
the ultra-wideband pulse radar device comprises an ultra-wideband pulse radar chip unit, a transmitting antenna unit, a receiving antenna unit and a single-bit sampling unit, wherein the ultra-wideband pulse radar chip unit is in communication connection with the transmitting antenna unit, and the receiving antenna unit is in communication connection with the ultra-wideband pulse radar chip unit through the single-bit sampling unit;
the ultra-wideband pulse radar chip unit is used for generating the radar signal, receiving the single-bit quantized signal sent by the single-bit sampling unit and sending the single-bit quantized signal to the radar data processing module;
the transmitting antenna unit is used for transmitting the radar signal;
the receiving antenna unit is used for receiving an echo signal corresponding to the radar signal and sending the echo signal to the single-bit sampling unit;
the single-bit sampling unit is used for carrying out single-bit quantization on the echo signal to obtain a single-bit quantized signal and sending the single-bit quantized signal to the ultra-wideband pulse radar chip unit.
4. The single-bit radar imaging system of claim 2, wherein the radar data processing module comprises:
a working mode obtaining unit, configured to obtain the working mode;
the single-bit quantized signal processing unit is used for storing single-bit quantized software and processing the single-bit quantized signal through the single-bit quantized software to generate a single-bit quantized image;
the target detection unit is used for carrying out target detection on the single-bit quantized image according to the trained neural network so as to obtain a target detection result;
and the radar image generation unit is used for generating the radar image according to the single-bit quantized signal when the working mode is the perspective imaging mode, labeling the radar image according to the target detection result to obtain a radar labeling image, and taking the radar labeling image as the result to be displayed.
5. The single-bit radar imaging system of claim 4, wherein the target detection unit comprises:
a sliding window segmentation subunit, configured to perform sliding window segmentation on the single-bit quantized image to obtain a plurality of single-bit quantized sub-images;
and the target detection subunit is used for carrying out target detection on the single-bit quantization subgraph according to the trained neural network so as to obtain the target detection result.
6. The single-bit radar imaging system of claim 4, wherein the radar image generation unit comprises:
a panoramic frame imaging subunit, configured to perform panoramic frame imaging according to the single-bit quantized signal when the working mode is a perspective imaging mode, so as to generate a panoramic frame image;
the constant false alarm detection subunit is used for performing two-dimensional constant false alarm detection and noise processing on the panoramic frame image to obtain the radar image;
and the labeling subunit is used for labeling the radar image according to the target detection result to obtain the radar labeling image, and taking the radar labeling image as the result to be displayed.
7. The single-bit radar imaging system of claim 4, wherein the radar data processing module further comprises:
the parameter setting unit is used for setting radar acquisition parameters to trigger the radar data acquisition module to transmit and acquire signals according to the radar acquisition parameters;
and the target information generating unit is used for acquiring the target information according to the target detection result when the working mode is the security mode, and taking the target information as the result to be displayed.
8. A single-bit radar imaging method, comprising:
transmitting a radar signal, acquiring an echo signal corresponding to the radar signal, and performing single-bit quantization on the echo signal to obtain a single-bit quantized signal;
obtaining a working mode, when the working mode is a perspective imaging mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to a trained neural network to obtain a target detection result, generating a radar image according to the single-bit quantized signal, labeling the radar image according to the target detection result to obtain a radar labeling image, and taking the radar labeling image as a result to be displayed;
and outputting the result to be displayed.
9. The single bit radar imaging method of claim 8, further comprising:
when the working mode is a security mode, generating a single-bit quantized image according to the single-bit quantized signal, performing target detection on the single-bit quantized image according to the trained neural network to obtain a target detection result, obtaining target information according to the target detection result and taking the target information as the result to be displayed, wherein the target information comprises the distance and the category of a detected target object.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a single bit radar imaging program which, when executed by a processor, implements the steps of the single bit radar imaging method according to claim 8 or 9.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115902895A (en) * | 2022-12-27 | 2023-04-04 | 深圳大学 | Single-bit high-precision signal parameter estimation method for inverse synthetic aperture radar |
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