CN115840197A - Vehicle-mounted radar MIMO array coherent phase error correction method and device - Google Patents
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Abstract
The invention discloses a coherent phase error correction method and device for a vehicle-mounted radar MIMO array. The method comprises the following steps: compensating a first phase error in the motion of the target to be detected according to the fuzzy speed of the vehicle-mounted radar; acquiring a virtual array element group with at least two virtual array elements at the same position based on the MIMO array, and selecting two virtual array elements in the virtual array element group; and compensating a second phase error in the motion of the target to be measured according to the two virtual array elements. The method comprises the steps of acquiring at least two virtual array elements at the same position through the partially overlapped MIMO array, eliminating a phase error caused by the position difference of the array elements by using the overlapped array elements, solving a fuzzy number by using a channel data phase difference to obtain the phase error caused by the movement of a target to be detected, and correcting the phase error.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a coherent phase error correction method and device for a vehicle-mounted radar MIMO array.
Background
Time division MIMO has only one transmit antenna at a time and is most widely used due to its simpler transmission mode compared to other modes. The time division MIMO radar uses echoes of pulse signals transmitted at different times as original data of angle estimation when coherent processing and imaging are carried out. But due to the target velocity, transmit antennas operating at different times may introduce phase errors.
The conventional solution is to first obtain a target velocity through a two-dimensional Fast Fourier Transform (FFT), and then compensate for a phase error caused by the target velocity. However, in high-resolution radars, a large number of transmit antennas are often required. In TDMA transmission mode, the corresponding Pulse Repetition Interval (PRI) for MIMO is relatively large, which greatly reduces and limits the maximum unambiguous speed achievable by MIMO radar. Therefore, the phase error cannot be correctly compensated only by actually obtaining the velocity blur component of the target.
Disclosure of Invention
The invention provides a coherent phase error correction method and device for a vehicle-mounted radar MIMO array, which can effectively solve the problem that the phase difference is still inaccurate by speed fuzzy compensation in the conventional high-resolution radar.
According to an aspect of the invention, a coherent phase error correction method for a vehicle-mounted radar MIMO array is provided, and the coherent phase error correction method for the vehicle-mounted radar MIMO array comprises the following steps: compensating a first phase error in the motion of the target to be detected according to the fuzzy speed of the vehicle-mounted radar; acquiring a virtual array element group with at least two virtual array elements at the same position based on the MIMO array, and selecting two virtual array elements in the virtual array element group; and compensating a second phase error in the motion of the target to be measured according to the two virtual array elements.
Further, before the compensating the first phase error in the motion of the target to be measured according to the fuzzy speed of the MIMO array, the method further includes: a channel data is constructed.
Further, the MIMO array composed of M transmitting antennas and N receiving antennas, the constructing the channel data of the vehicle-mounted radar includes: obtaining baseband parameters of the vehicle-mounted radar; and determining a first signal which is transmitted by the ith transmitting antenna and received by the jth receiving antenna based on the baseband parameters, wherein M, N, j and i are natural numbers which are larger than zero, i is less than or equal to M, and j is less than or equal to N.
Further, the constructing the channel data of the vehicle-mounted radar further comprises: and carrying out Fourier transform on the first signal to determine the distance and the speed of the object to be measured.
Further, the step of compensating a first phase error in the motion of the target to be detected according to the fuzzy speed of the vehicle-mounted radar comprises; and determining a second signal transmitted by the mth transmitting antenna and received by the nth receiving antenna based on the baseband parameters, wherein M and N are both natural numbers greater than zero, and M and N are respectively less than or equal to M and N.
Further, calculating a signal phase difference of the first signal and the second signal; compensating the signal phase difference according to the blur speed to generate the first phase error.
Further, the acquiring a virtual array element group having at least two virtual array elements at the same position based on the MIMO array, and after selecting two virtual array elements in the virtual array element group, further includes: and calculating the speed fuzzy number of the two virtual array elements.
Further, the compensating for the second phase error in the motion of the target to be measured according to the two virtual array elements includes: and compensating a second phase error in the motion of the target to be measured according to the speed fuzzy number.
Further, the vehicle-mounted radar baseband parameters are as follows:
According to another aspect of the invention, a coherent phase error correction method and device for a vehicle-mounted radar MIMO array are provided, and the coherent phase error correction method and device for the vehicle-mounted radar MIMO array comprise: the first compensation unit is used for compensating a first phase error in the motion of the target to be detected according to the fuzzy speed of the vehicle-mounted radar; and the virtual array element determining unit is used for acquiring at least two virtual array elements at the same position based on the MIMO array and selecting two virtual array elements in the at least two virtual array elements. And the second compensation unit is used for compensating a second phase error in the motion of the target to be measured according to the two virtual array elements.
The method has the advantages that at least two virtual array elements are arranged at the same position through the partially overlapped MIMO array and the overlapped MIMO array, the phase error caused by the position difference of the array elements is eliminated by using the overlapped array elements, the phase error caused by the motion of the target to be detected is solved by using the channel data phase difference to solve the fuzzy number, and the phase error is corrected.
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The technical solution and other advantages of the present invention will become apparent from the following detailed description of specific embodiments of the present invention, which is to be read in connection with the accompanying drawings.
Fig. 1 is a flowchart illustrating steps of a coherent phase error correction method for a vehicle-mounted radar MIMO array according to an embodiment of the present invention.
Fig. 2a is a simulation result of a single target to be tested according to an embodiment of the present invention.
Fig. 2b is a simulation result of two targets to be measured according to an embodiment of the present invention.
Fig. 3 is a graph of the difference between the phase error and the true phase error obtained by the method of the present invention according to the embodiment of the present invention, as a function of the signal-to-noise ratio.
Fig. 4 is a schematic structural diagram of a coherent phase error correction device for a vehicle-mounted radar MIMO array according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a coherent phase error correction method for a vehicle-mounted radar MIMO array according to an embodiment of the present invention, where an execution main body of the coherent phase error correction method for a vehicle-mounted radar MIMO array may be a coherent phase error correction method device for a vehicle-mounted radar MIMO array, or different types of devices such as an electronic device, a server device, a physical host, or a User Equipment (UE) integrated with the coherent phase error correction method device for identifying a vehicle-mounted radar MIMO array, where the coherent phase error correction method device for a vehicle-mounted radar MIMO array may be implemented in a hardware or software manner, and the UE may be a terminal device such as a smart phone, a tablet computer, a notebook computer, a palm computer, or a desktop computer. The vehicle-mounted radar MIMO array coherent phase error correction method comprises the following steps:
step S110: and compensating a first phase error in the motion of the target to be detected according to the fuzzy speed of the vehicle-mounted radar.
The purpose is, for example, to use the known blurred velocity component to find part of the known phase error and to compensate, i.e. to compensate the first phase error.
Illustratively, the compensating for the first phase error in the motion of the target to be measured according to the fuzzy speed of the vehicle-mounted radar comprises: determining a second signal transmitted by the mth transmitting antenna and received by the nth receiving antenna based on the baseband parameters, wherein M and N are both natural numbers greater than zero, and M and N are respectively less than or equal to M and N; calculating a signal phase difference of the first signal and the second signal; compensating the signal phase difference according to the blur speed to generate the first phase error.
Specifically, the first
The ^ th transmitted by the transmitting antenna>
A second signal and a fourth signal received by a receiver antenna>
The ^ th transmitted by the transmitting antenna>
The phase difference between the first signals received by the receive antennas may be expressed as:
illustratively, before the compensating the first phase error in the motion of the target to be measured according to the fuzzy speed of the vehicle-mounted radar, the method further comprises the following steps: and constructing channel data of the vehicle-mounted radar.
Illustratively, the constructing the channel data of the vehicle-mounted radar includes: obtaining baseband parameters of the vehicle-mounted radar; determining a first signal transmitted by an ith transmitting antenna and received by a jth receiving antenna based on the baseband parameters; and performing Fourier transform on the first signal to determine the distance and the speed of the target to be detected, wherein M, N, j and i are both natural numbers greater than zero, and i and j are respectively less than or equal to M and N.
Specifically, the vehicle-mounted radar baseband parameters are as follows:
Based on the TDMA-MIMO regime, for
A transmitting antenna and->
MIMO radar array of several receiving antennas which first ÷ multiply>
A receiving antenna which is selected from the direction->
The received th->
The signals transmitted by the transmit antennas may be represented as (i.e., first signals):
wherein, A is a complex number determined by factors such as reflection coefficient and signal path loss of the target to be measured. First, the
A signal transmitted by the transmitting antenna is ^ h>
The signals received by the receiving antennas may be identical to those transmitted from the origin of coordinates by the position sensor
In a receiving antenna of the receiving unit, wherein>
Represents the ith transmit antenna azimuth position>
Representing the jth receive antenna azimuth position.
First, the
Transmitted by a transmitting antenna and combined with a transmitting antenna>
A signal received by the receiving antenna is->
. Then, fourier transform will @, via a distance dimension and a velocity dimension>
Switch over to->
. In a range-doppler cell on a two-dimensional plane->
Corresponds to the object to be measured. The distance and the speed of the target to be detected can be judged by->
and />
The corresponding value of (2) is obtained.
Step S120: and acquiring a virtual array element group with at least two virtual array elements at the same position based on the MIMO array, and selecting two virtual array elements in the virtual array element group.
The phase error compensated by step S110 is as follows:
wherein ,
the position difference of the two virtual array elements is shown, when the two selected virtual array elements are overlapped, namely, the two virtual array elements are at the same position, namely: />
。
The corresponding part will be equal to 0 and the corresponding phase error part will be
Then the phase error after rewriting is as follows:
exemplarily, the acquiring a virtual array element group having at least two virtual array elements at the same position based on the MIMO array, and selecting two virtual array elements of the virtual array element group further includes: and calculating the speed fuzzy numbers of the two virtual array elements.
The process of solving the speed ambiguity number is as follows: order to
，/>
Then, the phase error is as follows:
order to
Then, the phase error is as follows: />
。
The blur number is calculated as follows:
。
step S130: and compensating a second phase error in the motion of the target to be measured according to the two virtual array elements.
Specifically, the residual compensation phase, i.e., the compensation second phase error, is as follows:
and even if the actual speed ambiguity degree exceeds a, the phase compensation is still correct, and the subsequent angle domain estimation result is not influenced.
To illustrate the beneficial effects of the present invention, further demonstration was performed by simulation experiments:
and experimental setting, generating simulation echo data based on an MATLAB software platform, processing signals, respectively using the method of the invention without phase compensation and only compensating velocity fuzzy components, and obtaining an angle spectrum by using digital beam forming. The specific simulation parameter settings are shown in table 1 below:
TABLE 1 System parameters for MIMO simulation
| Variables of | Parameter(s) |
| Carrier frequency | 77GHz |
| Bandwidth of | 600MHz |
| Pulse repetition frequency | 6.6KHz |
| Number of sampling points | 1024 |
| Number of pulses | 128 |
| Unambiguous speed range | [-6.43 6.43] m/s |
And simulating to set two conditions of a single target to be tested and a double target to be tested respectively. For the case of a single target to be measured, the target distance is set to 70.7 m, the radial speed is set to 10.6m/s, and the azimuth angle is set to 45 °. Under the condition of two targets to be measured, the two targets to be measured have the same distance and the same speed, and only the angle of the second target to be measured is different and is-30 degrees.
Experimental result analysis, as shown in fig. 2a and fig. 2b, is a simulation experimental result diagram of the present invention, where fig. 2a is a simulation result of a single target to be measured, fig. 2b is a simulation result of a double target to be measured, where no compensation and only compensation velocity residual components are compensation methods using the prior art, and a solid line represents a compensation method provided for the present invention based on a solution of a partially overlapped virtual array.
According to the parameters in table 1, the speed of the target to be measured exceeds the range of the unambiguous speed, and the phase error cannot be corrected correctly by only compensating the speed ambiguity component.
By applying uncompensated, only velocity blur components and angle domain data corrected by the method of the present invention, the result of digital beamforming is shown in fig. 2 a. The vertical line in the figure is the actual angle of the object to be measured. It can be seen from the results that no phase compensation or only the velocity ambiguity component is compensated for introduces significant phase errors in the angular domain and no correct angular measurement results can be obtained. After the method is adopted, the phase error can be correctly compensated, and correct angle domain data can be obtained.
The solution is also applicable to the situation of a plurality of targets to be measured with different angles but the same distance and speed. The estimation result of the angular domain is shown in fig. 2 b. It can be seen from the results that the results are the same for the dual targets to be measured as for the single target to be measured. Compensating for the velocity ambiguity component alone or without phase compensation introduces significant phase errors in the angular domain and does not yield correct angle measurements. After the method is adopted, the phase error can be correctly compensated, and correct angle domain data can be obtained.
For different signal-to-noise ratios, the difference between the phase error obtained by the method of the present invention and the true phase error varies with the signal-to-noise ratio, as shown in fig. 3. It can be seen from the figure that the estimation error remains at a rather low level even in case of very low signal-to-noise ratio, indicating the stability of the inventive solution.
The method has the advantages that based on the partially overlapped MIMO array, the method obtains at least two virtual array elements at the same position through the overlapped MIMO array, eliminates the phase error caused by the position difference of the array elements by using the overlapped array elements, solves the fuzzy number by using the channel data phase difference to solve the phase error caused by the motion of the target to be detected, and corrects the phase error.
As shown in fig. 4, a schematic structural diagram of a coherent phase error correction apparatus for a vehicle-mounted radar MIMO array according to an embodiment of the present invention includes a first compensation unit 10, a virtual array element determination unit 20, and a second compensation unit 30.
The first compensation unit 10 is configured to compensate a first phase error in the motion of the target to be measured according to the fuzzy speed of the vehicle-mounted radar. The virtual array element determining unit 20 is configured to obtain at least two virtual array elements at the same position based on the MIMO array, and select two virtual array elements of the at least two virtual array elements. The second compensation unit 30 is configured to compensate a second phase error in the motion of the target to be measured according to the two virtual array elements.
As shown in fig. 5, it shows a schematic structural diagram of an electronic device to which the present application relates, specifically:
the electronic device may include components such as a processor 401 of one or more processing cores, memory 402 of one or more computer-readable storage media, a power supply 403, and an input unit 404. Those skilled in the art will appreciate that the device configuration shown in fig. 5 does not constitute a limitation of the device, and that an electronic device may also include more or fewer components than shown, or combine certain components, or a different arrangement of components. Wherein:
the processor 401 is a control center of the apparatus, connects various parts of the entire apparatus using various interfaces and lines, performs various functions of the apparatus and processes data by running or executing software programs and/or unit modules stored in the memory 402 and calling data stored in the memory 402, thereby integrally monitoring the electronic apparatus. Optionally, processor 401 may include one or more processing cores; the Processor 401 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-programmable gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, preferably the processor 401 may integrate an application processor, which handles primarily the operating system, user interfaces, application programs, etc., and a modem processor, which handles primarily wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 401.
The memory 402 may be used to store software programs and modules, and the processor 401 executes various functional applications and data processing by operating the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to use of the electronic device, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 access to the memory 402.
The electronic device may further include a power supply 403 for supplying power to the various components, and preferably, the power supply 403 may be logically connected to the processor 401 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system. The power supply 403 may also include any component of one or more dc or ac power sources, recharging systems, power failure detection circuitry, power converters or inverters, power status indicators, and the like.
The electronic device may further include an input unit 404 and an output unit 405, the input unit 404 being operable to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.
Although not shown, the electronic device may further include a display unit and the like, which are not described in detail herein. Specifically, in the present application, the processor 401 in the electronic device loads the executable file corresponding to the process of one or more application programs into the memory 402 according to the following instructions, and the processor 401 runs the application program stored in the memory 402, thereby implementing various functions as follows:
compensating a first phase error in the motion of the target to be detected according to the fuzzy speed of the vehicle-mounted radar;
acquiring a virtual array element group with at least two virtual array elements at the same position based on the MIMO array, and selecting two virtual array elements in the virtual array element group;
and compensating a second phase error in the motion of the target to be measured according to the two virtual array elements.
It will be understood by those skilled in the art that all or part of the steps of the above methods may be performed by instructions or related hardware controlled by the instructions, which may be stored in a computer readable storage medium and loaded and executed by the processor 401.
To this end, the present application provides a computer-readable storage medium, which may include: read Only Memory (ROM), random Access Memory (RAM), magnetic or optical disk, and the like. Stored thereon are computer instructions, which are loaded by the processor 401 to execute the steps of any of the vehicle-mounted radar MIMO array coherent phase error correction methods provided by the present application. For example, the computer instructions, when executed by the processor 401, implement the following functions:
compensating a first phase error in the motion of the target to be detected according to the fuzzy speed of the vehicle-mounted radar;
acquiring a virtual array element group with at least two virtual array elements at the same position based on the MIMO array, and selecting two virtual array elements in the virtual array element group;
and compensating a second phase error in the motion of the target to be measured according to the two virtual array elements.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, and are not described herein again.
In a specific implementation, each unit or structure may be implemented as an independent entity, or may be combined arbitrarily to be implemented as one or several entities, and the specific implementation of each unit or structure may refer to the foregoing embodiments, which are not described herein again.
In view of the foregoing, it is intended that the present invention cover the preferred embodiment of the invention and not be limited thereto, but that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. A vehicle-mounted radar MIMO array coherent phase error correction method, wherein the vehicle-mounted radar comprises a MIMO array, and the method comprises the following steps:
compensating a first phase error in the motion of a target to be detected according to the fuzzy speed of the vehicle-mounted radar;
acquiring a virtual array element group with at least two virtual array elements at the same position based on the MIMO array, and selecting two virtual array elements in the virtual array element group;
and compensating a second phase error in the motion of the target to be measured according to the two virtual array elements.
2. The coherent phase error correction method for the vehicle-mounted radar MIMO array according to claim 1, before the compensating the first phase error in the motion of the target to be measured according to the fuzzy speed of the vehicle-mounted radar, further comprising:
and constructing channel data of the vehicle-mounted radar.
3. The coherent phase error correction method for vehicle-mounted radar MIMO array according to claim 2, wherein the MIMO array comprising M transmitting antennas and N receiving antennas, the constructing the channel data of the vehicle-mounted radar comprises:
obtaining baseband parameters of the vehicle-mounted radar;
and determining a first signal which is transmitted by the ith transmitting antenna and received by the jth receiving antenna based on the baseband parameters, wherein M, N, j and i are natural numbers which are larger than zero, i is less than or equal to M, and j is less than or equal to N.
4. The vehicle radar MIMO array coherent phase error correction method of claim 3, wherein the constructing the channel data for the vehicle radar further comprises:
and carrying out Fourier transform on the first signal to determine the distance and the speed of the object to be measured.
5. The vehicle-mounted radar MIMO array coherent phase error correction method of claim 4, wherein the compensating the first phase error in the motion of the target to be measured according to the fuzzy speed of the vehicle-mounted radar comprises:
and determining a second signal transmitted by the mth transmitting antenna and received by the nth receiving antenna based on the baseband parameters, wherein M and N are both natural numbers greater than zero, and M and N are respectively less than or equal to M and N.
6. The vehicle-mounted radar MIMO array coherent phase error correction method of claim 5, wherein the compensating the first phase error in the motion of the target to be measured according to the ambiguity speed of the vehicle-mounted radar further comprises:
calculating a signal phase difference of the first signal and the second signal;
compensating the signal phase difference according to the blur speed to generate the first phase error.
7. The coherent phase error correction method for vehicle-mounted radar MIMO array according to claim 1, wherein the obtaining a virtual array element group having at least two virtual array elements at the same position based on the MIMO array, and selecting two virtual array elements of the virtual array element group further comprises:
and calculating the speed fuzzy number of the two virtual array elements.
8. The coherent phase error correction method for the vehicle-mounted radar MIMO array according to claim 7, wherein the compensating the second phase error in the motion of the target to be measured according to the two virtual array elements comprises:
and compensating a second phase error in the motion of the target to be measured according to the speed fuzzy number.
9. The vehicle-mounted radar MIMO array coherent phase error correction method according to any one of claims 3 to 6, wherein the vehicle-mounted radar baseband parameters are as follows:
wherein ,
in order to transmit a carrier frequency of a signal,
for frequency modulation, the full time t is divided into fast times
And slow time
V is the real speed of the object to be measured,
is at the same time
The distance between the target to be measured and the radar,
the initial distance between the target and the radar, and c the speed of light in vacuum.
10. A vehicle radar MIMO array coherent phase error correction apparatus, the vehicle radar comprising the MIMO array, the apparatus comprising:
the first compensation unit is used for compensating a first phase error in the motion of a target to be detected according to the fuzzy speed of the vehicle-mounted radar;
a virtual array element determining unit, configured to obtain at least two virtual array elements at the same position based on the MIMO array, and select two virtual array elements of the at least two virtual array elements;
and the second compensation unit is used for compensating a second phase error in the motion of the target to be measured according to the two virtual array elements.
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