CN116256743B - Method and device for detecting moving object, electronic equipment and storage medium - Google Patents
Method and device for detecting moving object, electronic equipment and storage medium Download PDFInfo
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- CN116256743B CN116256743B CN202310548450.3A CN202310548450A CN116256743B CN 116256743 B CN116256743 B CN 116256743B CN 202310548450 A CN202310548450 A CN 202310548450A CN 116256743 B CN116256743 B CN 116256743B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/62—Sense-of-movement determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The application discloses a method, a device, electronic equipment and a storage medium for detecting a moving target, wherein the method and the device apply a DDMA radar, specifically control the DDMA radar to simultaneously transmit a group of first carrier frequency signals and at least one group of second carrier frequency signals to a detection direction, and the frequencies of the first carrier frequency signals and the second carrier frequency signals are different, but have the same frequency modulation parameter and sweep frequency period; receiving a returned first echo signal and a returned second echo signal; and processing the first echo signal and the second echo signal to obtain the moving speed of the moving target. According to the scheme, at least two groups of carrier frequency signals are adopted, and through planning of the carrier frequency signals, speed blind areas can not appear in echo signals of different carrier frequency signals at the same time, so that the DDMA radar can avoid the speed blind areas when in target detection.
Description
Technical Field
The present invention relates to the field of radar technologies, and in particular, to a method and apparatus for detecting a moving object, an electronic device, and a storage medium.
Background
The DDMA radar (Doppler Division Multiple Access, doppler domain multiple access radar) generates a space Doppler frequency spectrum by using a sequence function, and can realize Doppler domain waveform diversity, so that transmission power is concentrated in a fixed space region, thereby improving the transmission energy distribution of radar signals and effectively increasing the detection distance.
However, since the Doppler spectrum initial positions of all the sub-bands of the DDMA radar contain static clutter, static targets and direct current components, when the Doppler frequency of a moving target falls into the initial positions of the sub-bands, the moving target cannot be detected to have correct speed, and a speed blind area appears.
Disclosure of Invention
In view of the above, the present application provides a method, apparatus, electronic device, and storage medium for detecting a moving target, where the method is applied to a DDMA radar to avoid a speed blind area of the DDMA radar when detecting a target.
In order to achieve the above object, the following solutions have been proposed:
a method for detecting a moving object, using DDMA radar, the method comprising the steps of:
controlling the DDMA radar to simultaneously transmit a group of first carrier frequency signals and at least a group of second carrier frequency signals to a detection direction, wherein the first carrier frequency signals and the second carrier frequency signals have different frequencies but the same frequency modulation parameters and frequency sweeping period;
receiving a returned first echo signal and a returned second echo signal;
and processing the first echo signal and the second echo signal to obtain the moving speed of the moving target.
Optionally, the frequency of the first carrier frequency signal is smaller than the frequency of the second carrier frequency signal.
Optionally, the frequency of the first carrier frequency signal and the frequency of the second carrier frequency signal satisfy the following relation:
f z2 ＞（1+1/2MT c ）*f z1
wherein f z1 For the frequency of the first carrier frequency signal, f z2 For the frequency of the second carrier frequency signal, M is the number of the sweep frequency periods, T c Is the duration of the sweep period.
Optionally, the movement speed includes a speed value and a speed direction.
A detection apparatus for a moving object, using DDMA radar, the detection apparatus comprising:
the transmission control module is configured to control the DDMA radar to simultaneously transmit a group of first carrier frequency signals and at least a group of second carrier frequency signals to a detection direction, wherein the frequencies of the first carrier frequency signals and the second carrier frequency signals are different, but have the same frequency modulation parameters and frequency sweeping period;
a reception control module configured to receive the returned first echo signal and second echo signal;
and the data processing module is configured to process the first echo signal and the second echo signal to obtain the movement speed of the moving object.
Optionally, the frequency of the first carrier frequency signal is smaller than the frequency of the second carrier frequency signal.
Optionally, the frequency of the first carrier frequency signal and the frequency of the second carrier frequency signal satisfy the following relation:
f z2 ＞（1+1/2MT c ）*f z1
wherein f z1 For the frequency of the first carrier frequency signal, f z2 For the frequency of the second carrier frequency signal, M is the number of the sweep frequency periods, T c Is the duration of the sweep period.
Optionally, the movement speed includes a speed value and a speed direction.
An electronic device comprising at least one processor and a memory coupled to the processor, wherein:
the memory is used for storing a computer program or instructions;
the processor is configured to execute the computer program or instructions to cause the electronic device to implement the method for detecting a moving object as described above.
A storage medium applied to an electronic device, the storage medium carrying one or more computer programs executable by the electronic device to cause the electronic device to implement a method of detecting a moving object as described above.
As can be seen from the above technical solutions, the present application discloses a method, an apparatus, an electronic device, and a storage medium for detecting a moving target, where the method and the apparatus apply a DDMA radar, specifically control the DDMA radar to simultaneously transmit a set of first carrier frequency signals and at least one set of second carrier frequency signals to a detection direction, where frequencies of the first carrier frequency signals and the second carrier frequency signals are different, but have the same frequency modulation parameter and sweep period; receiving a returned first echo signal and a returned second echo signal; and processing the first echo signal and the second echo signal to obtain the moving speed of the moving target. According to the scheme, at least two groups of carrier frequency signals are adopted, and through planning of the carrier frequency signals, speed blind areas can not appear in echo signals of different carrier frequency signals at the same time, so that the DDMA radar can avoid the speed blind areas when in target detection.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a DDMA radar frontal Doppler domain waveform;
FIG. 2 is a Doppler domain waveform diagram over four transmit antennas of a DDMA radar;
fig. 3 is a flowchart of a method for detecting a moving object according to an embodiment of the present application;
fig. 4 is a schematic spectrum diagram of a first carrier frequency signal and a second carrier frequency signal according to an embodiment of the present application;
fig. 5 is a block diagram of a detection apparatus for a moving object according to an embodiment of the present application;
fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The transmitting antenna of the DDMA radar is provided with a plurality of transmitting antennas and receiving antennas, all transmitting antennas transmit simultaneously, the signal of each transmitting antenna is offset by a specific frequency, and the signals of different transmitting antennas are separated in the Doppler domain through the artificially offset frequency. For the corresponding detection target, the speed values detected in the echoes formed by the targets under the irradiation of the signals of different transmitting antennas are different, and the signals of the different transmitting antennas can be separated at the receiving end by utilizing the speed difference.
It should be noted that the frequency offset on different transmit antennas is achieved by applying different phase rotations between sweep periods (i.e., on slow time) while the phase of the signal is unchanged during sweep periods (i.e., on fast time).
As shown in fig. 1, assuming a total of N transmit antennas, for transmit antenna k, the phase shift ω applied over the adjacent sweep period is k Is determined by the following formula:
ω k =2π（k-1）/N,k=1,2,3……N t
in general, N in the formula is determined by:
N = Nt
in DDMA radar, all transmitters transmit simultaneously. Frequency spins are generated in slow time, which makes separation in the doppler domain possible. The transmission phase setting of a four-shot DDMA radar system is shown in fig. 2, and compared with a TDMA radar, nt transmission antennas of the DDMA radar transmit simultaneously, so that the diversity transmission gain gtx_array obtained by the TDMA radar is as follows:
Gtx_array = 10 log(Nt )
according to the above formula, the DDMA radar under four transmitting antennas can obtain diversity transmission gain of about 6dB compared with the TDMA radar, which is very beneficial for improving the detection distance of the radar. The disadvantage of the DDMA waveform is that the maximum unambiguous speed interval (maximum unambiguous doppler domain) of the radar becomes smaller due to the artificial addition of frequency offset to each transmit channel.
In practical applications, the doppler frequency interval needs to be introduced with blank subbands to expand the velocity detection interval. For the selection of the number of the introduced blank sub-bands, the number of the Doppler units allocated to each sub-interval is ensured to be an integer by comprehensively considering a plurality of factors such as the number of antennas, the sweep frequency period, the Doppler units and the like. Typically for a three or four-shot DDMA radar, one to two blank subbands are typically added. The introduction of blank subbands allows the mapping of signals from multiple transmit antennas over multiple subintervals, where signals from certain subbands that do not correspond to a target are mapped to. However, in view of the mutual energy superposition of the multiple sub-intervals, only the energy sum between multiple possible adjacent sub-bands on the Doppler thermal map is required at this time, and then the minimum value is selected, so that it can be determined which two sub-bands have no signal falling.
According to the following formula:
V max =λ/4Tc
maximum unambiguous speed V of radar max Is determined by the sweep period Tc. Where Tc is the sweep period and λ is the wavelength.
Whereas the doppler formula indicates that the following relationship exists between the doppler frequency and velocity of the target:
f d =2v/λ
combined with formula V max As can be seen, the maximum unambiguous speed interval of the radar [ -V [ - λ/4Tc max , V max ]Corresponding Doppler frequency interval [ f ] d_L , f d_H ]Is [ -1/2Tc, 1/2Tc]The length of the whole non-ambiguous Doppler domain is:
f d_L - f d_H =1/Tc。
the DDMA radar accumulates artificially applied DDMA frequency offset besides Doppler frequency offset brought by target speed between different sweep periods of the same transmitting antenna.
From formula omega k =2π（k-1）/N,k=1,2,3……N t
It can be seen that the phase shift value difference Δω between the sweep periods of two adjacent transmit antennas is:
△ω =2π/N
then the same target will have a Doppler frequency difference Deltaf in the echoes generated by two adjacent transmit antenna signals DDMA The method comprises the following steps:
Δf DDMA =Δω/2πTc =1/NTc
the above formula Deltaf is given DDMA =Δω/2damper=1/NTc substituted into formula V max =λ/4Tc and f d For the same target, the detected velocity values in echoes generated by two adjacent transmit antenna signals differ by:
ΔV DDMA =2V max /N
in order not to confuse the data of the different transmit antennas, the maximum speed of the target cannot exceed DeltaV DDMA That is, the maximum unambiguous speed interval (or maximum unambiguous Doppler domain) of the radar becomes 1/N of the original.
Taking a four transmit antenna (n=4) as an example, the unambiguous speed interval of the radar without doppler domain multiple access DDMA is [ -V max ，V max ]After DDMA is used, this interval is equally divided into four sub-intervals of equal length a, B, C, D. For the same target, the echo signals of the four transmitting antennas respectively fall into the four subintervals, and the speed values of the echo signals corresponding to the two adjacent transmitting antennas differ by Vmax/2. At 0<v<In the case of Vmax/2, the echo signals of Tx1/2/3/4 will fall into subintervals C/D/A/B, respectively, no speed ambiguity will occur at this time, and we can separate out the data of Tx1/2/3/4 in turn according to the order of C/D/A/B, which is called DDMA demodulation. However, if v exceeds this range, the correspondence between Tx1/2/3/4 and subinterval C/D/a/B will change, and the user cannot separate different transmitting antenna data according to the location of the subinterval only, which is called DDMA speed ambiguity.
Because the static ground clutter and the direct current component are both positioned on the zero Doppler wave ridge, for the DDMA radar, the Doppler frequency spectrum starting positions of all the sub-bands comprise the static clutter, the static target and the direct current component, and because of the continuity of the sub-bands, when the Doppler frequency of the moving target falls into the starting position of the sub-band, the correct speed of the moving target cannot be obtained through calculation, so that a speed blind area is generated. Based on the above analysis, the following examples are specifically presented:
example 1
Fig. 3 is a flowchart of a method for detecting a moving object according to an embodiment of the present application.
As shown in fig. 3, the method for detecting a moving object provided in this embodiment is applied to a DDMA radar, specifically to a control system of the radar, and includes the following steps:
s1, controlling the DDMA radar to transmit a first carrier frequency signal and a second carrier frequency signal.
Namely, the DDMA radar is controlled to simultaneously transmit a group of first carrier frequency signals and at least one group of second carrier frequency signals to the detection direction through the radar, and the second carrier frequency signals can be multiple groups. The two groups of carrier frequency signals have different frequencies, but the same frequency modulation parameters and sweep frequency period.
In the case of a sweep period Tc, the DDMA radar maximum measurable doppler frequency is:
f max =1/Tc
f max corresponding to the whole Doppler interval, when the DDMA radar echo signal is divided into N sub-bands, the Doppler frequency difference of each sub-band is:
Δf DDMA =f dmax /N
the Doppler frequency corresponding to the zero Doppler position (i.e., the position of the dead zone velocity) of each subband is:
f d_blind (k)= k *ΔN k∈[-N/2,0)∪（0，-N/2）
wherein N is the number of subbands, specifically the sum of the number of transmitting antennas and the number of null bands, which is generally even, and k is an integer.
The corresponding blind zone speeds are:
V blind (k)= λ* f d_blind (k)/2=kλ/2NTc= kc/2NTc f z
wherein f z Is the carrier frequencyC is the speed of light, the wavelength of the lambda carrier.
For a speed blind area, the DDMA radar is controlled to transmit a plurality of groups of carrier frequency signals by utilizing a multi-carrier frequency technology, wherein the carrier frequency signals comprise a group of first carrier frequency signals and at least one group of second carrier frequency signals, and the frequencies of the two groups of carrier frequency signals are respectively f z1 And f z2 Wherein f z1 ＜f z2 And has the same frequency modulation parameter and sweep frequency period.
For two groups of carrier frequency signals, the blind area speed difference which is any k sequence is as follows:
V blind (k)= V1 blind (k) - V2 blind (k)= kc（f z2 - f z1 ）/2NTc f z1 f z2
min（|Δv blind (k)|）=c（f z2 - f z1 ）/2NTc f z1 f z2
because for arbitrary carrier frequency signal f z The speed resolution of the DDMA radar is as follows:
V res =c/2 f z Tc
so at f z1 ＜f z2 Is the case of (1)
min（v res1 ，v res2 ）=V res2 =c/2 f z Tc
Where M represents the number of sweep periods Tc.
The difference of the speeds of the dead zones is larger than the minimum speed resolution, so that the speed dead zones cannot be simultaneously generated in echo signals of different carrier frequency signals when the moving target with the speed dead zone is generated.
min（|Δv blind (k)|）＞min（v res1 ，v res2 ）
c（f z2 - f z1 ）/2NTc f z1 f z2 ＞c/2 f z2 Tc
f z2 - f z1 ＞ f z1 /2MTc
As shown in FIG. 4, it can be derived therefrom that when the condition f is satisfied z2 ＞ /(1+1/2MTc) f z1 In the case of blind zone speeds, it is impossible to simultaneously occur in two groups of non-zonesIn the same carrier frequency data, the correct target speed of the speed blind area can be obtained.
S2, receiving the returned first echo signal and the returned second echo signal.
The first echo signal is a signal reflected by a moving object to be detected on the first carrier frequency signal, and the second echo signal is a signal reflected by the second carrier frequency signal.
S3, processing the first echo signal and the second echo signal.
The processing here refers to processing the first echo signal and the first carrier frequency signal based on the doppler principle, and processing the second echo signal and the second carrier frequency signal at the same time, so as to obtain the moving speed of the moving object. The movement speed in this embodiment includes not only the speed value but also the direction of the speed.
As can be seen from the above technical solution, the present embodiment provides a method for detecting a moving target, where the method applies a DDMA radar, specifically controls the DDMA radar to simultaneously transmit a set of first carrier frequency signals and at least one set of second carrier frequency signals in a detection direction, where the frequencies of the first carrier frequency signals and the second carrier frequency signals are different, but have the same frequency modulation parameter and sweep frequency period; receiving a returned first echo signal and a returned second echo signal; and processing the first echo signal and the second echo signal to obtain the moving speed of the moving target. According to the scheme, at least two groups of carrier frequency signals are adopted, and through planning of the carrier frequency signals, speed blind areas can not appear in echo signals of different carrier frequency signals at the same time, so that the DDMA radar can avoid the speed blind areas when target detection is carried out.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the C-language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computer may be connected to the user computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer.
Example two
Fig. 5 is a block diagram of a detection apparatus for a moving object according to an embodiment of the present application.
As shown in fig. 5, the detection apparatus for a moving object provided in the present embodiment is applied to a DDMA radar, specifically, a control system of the radar or the radar control system itself, and includes a transmission control module 10, a reception control module 20, and a data processing module 30.
The transmission control module is used for controlling the DDMA radar to transmit the first carrier frequency signal and the second carrier frequency signal.
Namely, the DDMA radar is controlled to simultaneously transmit a group of first carrier frequency signals and at least one group of second carrier frequency signals to the detection direction through the radar, and the second carrier frequency signals can be multiple groups. The two groups of carrier frequency signals have different frequencies, but the same frequency modulation parameters and sweep frequency period.
In the case of a sweep period Tc, the DDMA radar maximum measurable doppler frequency is:
f max =1/Tc
f max corresponding to the whole Doppler interval, when the DDMA radar echo signal is divided into N sub-bands, the Doppler frequency difference of each sub-band is:
Δf DDMA =f dmax /N
the Doppler frequency corresponding to the zero Doppler position (i.e., the position of the dead zone velocity) of each subband is:
f d_blind (k)= k *ΔN k∈[-N/2,0)∪（0，-N/2）
wherein N is the number of subbands, which should be even, and k is an integer.
The corresponding blind zone speeds are:
V blind (k)= λ* f d_blind (k)/2=kλ/2N Tc= kc/2N Tc f z
wherein f z The carrier frequency, c is the speed of light, the wavelength of the lambda carrier.
For a speed blind area, the DDMA radar is controlled to transmit a plurality of groups of carrier frequency signals by utilizing a multi-carrier frequency technology, wherein the carrier frequency signals comprise a group of first carrier frequency signals and at least one group of second carrier frequency signals, and the frequencies of the two groups of carrier frequency signals are respectively f z1 And f z2 Wherein f z1 ＜f z2 And has the same frequency modulation parameters andsweep frequency period.
For two groups of carrier frequency signals, the blind area speed difference which is any k sequence is as follows:
V blind (k)= V1 blind (k) - V2 blind (k)= kc（f z2 - f z1 ）/2NTc f z1 f z2
min（|Δv blind (k)|）=c（f z2 - f z1 ）/2NTc f z1 f z2
because for arbitrary carrier frequency signal f z The speed resolution of the DDMA radar is as follows:
V res = c/2 f z Tc
so at f z1 ＜f z2 Is the case of (1)
min（v res1 ，v res2 ）=V res2 =c/2 f z Tc
Where M represents the number of sweep periods Tc.
The difference of the speeds of the dead zones is larger than the minimum speed resolution, so that the speed dead zones cannot be simultaneously generated in echo signals of different carrier frequency signals when the moving target with the speed dead zone is generated.
min（|Δv blind (k)|）＞min（v res1 ，v res2 ）
c（f z2 - f z1 ）/2NTc f z1 f z2 ＞c/2 f z2 Tc
f z2 - f z1 ＞ f z1 /2MTc
As shown in FIG. 4, it can be derived therefrom that when the condition f is satisfied z2 ＞ /(1+1/2MTc) f z1 In this case, the dead zone speed cannot be found in two different carrier frequency data at the same time, so that the correct target speed of the speed dead zone can be obtained.
The receiving control module is used for receiving the returned first echo signal and the returned second echo signal.
The first echo signal is a signal reflected by a moving object to be detected on the first carrier frequency signal, and the second echo signal is a signal reflected by the second carrier frequency signal.
The data processing module is used for processing the first echo signal and the second echo signal.
The processing here refers to processing the first echo signal and the first carrier frequency signal based on the doppler principle, and processing the second echo signal and the second carrier frequency signal at the same time, so as to obtain the moving speed of the moving object. The movement speed in this embodiment includes not only the speed value but also the direction of the speed.
As can be seen from the above technical solution, the present embodiment provides a device for detecting a moving target, where the device applies a DDMA radar, specifically controls the DDMA radar to simultaneously transmit a set of first carrier frequency signals and at least one set of second carrier frequency signals in a detection direction, where the frequencies of the first carrier frequency signals and the second carrier frequency signals are different, but have the same frequency modulation parameter and sweep period; receiving a returned first echo signal and a returned second echo signal; and processing the first echo signal and the second echo signal to obtain the moving speed of the moving target. According to the scheme, at least two groups of carrier frequency signals are adopted, and through planning of the carrier frequency signals, speed blind areas can not appear in echo signals of different carrier frequency signals at the same time, so that the DDMA radar can avoid the speed blind areas when target detection is carried out.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
Example III
Fig. 6 is a block diagram of an electronic device according to an embodiment of the present application.
Referring to fig. 6, a schematic diagram of a configuration of an electronic device suitable for use in implementing embodiments of the present disclosure is shown. The terminal devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. The electronic device is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.
The electronic device may comprise a processing means (e.g. a central processor, a graphics processor, etc.) 601, which may perform various suitable actions and processes according to a program stored in a read only memory ROM or a program loaded from an input means 606 into a random access memory RAM 603. In the RAM, various programs and data required for the operation of the electronic device are also stored. The processing device, ROM, and RAM are connected to each other by bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
The electronic equipment can control the DDMA radar to simultaneously transmit a group of first carrier frequency signals and at least a group of second carrier frequency signals in the detection direction, wherein the frequencies of the first carrier frequency signals and the second carrier frequency signals are different, but have the same frequency modulation parameters and frequency sweeping period; receiving a returned first echo signal and a returned second echo signal; and processing the first echo signal and the second echo signal to obtain the moving speed of the moving target. By adopting at least two groups of carrier frequency signals and planning the carrier frequency signals, speed blind areas can not appear in echo signals of different carrier frequency signals at the same time, so that the DDMA radar can avoid the speed blind areas when detecting targets.
In general, the following devices may be connected to the I/O interface: input devices including, for example, touch screens, touch pads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. While an electronic device having various means is shown in the figures, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
Example IV
The present embodiment provides a computer-readable storage medium applied to the electronic device, where the storage medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device controls the DDMA radar to simultaneously transmit a set of first carrier frequency signals and at least one set of second carrier frequency signals in a detection direction, where frequencies of the first carrier frequency signals and the second carrier frequency signals are different, but have the same frequency modulation parameter and sweep period; receiving a returned first echo signal and a returned second echo signal; and processing the first echo signal and the second echo signal to obtain the moving speed of the moving target.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The foregoing has outlined rather broadly the more detailed description of the invention in order that the detailed description of the invention that follows may be better understood, and in order that the present principles and embodiments may be better understood; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (6)
1. The detection method of the moving target is applied to the DDMA radar and is characterized by comprising the following steps:
controlling the DDMA radar to simultaneously transmit a group of first carrier frequency signals and at least a group of second carrier frequency signals to a detection direction, wherein the first carrier frequency signals and the second carrier frequency signals have different frequencies but the same frequency modulation parameters and frequency sweeping period;
receiving a returned first echo signal and a returned second echo signal;
processing the first echo signal and the second echo signal to obtain the moving speed of the moving target;
the frequency of the first carrier frequency signal and the frequency of the second carrier frequency signal satisfy the following relation:
f z2 ＞（1+1/2MT c ）*f z1
wherein f z1 For the frequency of the first carrier frequency signal, f z2 For the frequency of the second carrier frequency signal, M is the number of the sweep frequency periods, T c Is the duration of the sweep period.
2. The method of detection of claim 1, wherein the movement speed comprises a speed value and a speed direction.
3. A detection apparatus for a moving object, applied to a DDMA radar, characterized in that the detection apparatus comprises:
the transmission control module is configured to control the DDMA radar to simultaneously transmit a group of first carrier frequency signals and at least a group of second carrier frequency signals to a detection direction, wherein the frequencies of the first carrier frequency signals and the second carrier frequency signals are different, but have the same frequency modulation parameters and frequency sweeping period;
a reception control module configured to receive the returned first echo signal and second echo signal;
the data processing module is configured to process the first echo signal and the second echo signal to obtain the movement speed of the moving object;
the frequency of the first carrier frequency signal and the frequency of the second carrier frequency signal satisfy the following relation:
f z2 ＞（1+1/2MT c ）*f z1
wherein f z1 For the frequency of the first carrier frequency signal, f z2 For the frequency of the second carrier frequency signal, M is the number of the sweep frequency periods, T c Is the duration of the sweep period.
4. A detection device according to claim 3, wherein the movement speed comprises a speed value and a speed direction.
5. An electronic device comprising at least one processor and a memory coupled to the processor, wherein:
the memory is used for storing a computer program or instructions;
the processor is configured to execute the computer program or instructions to cause the electronic device to implement the method for detecting a moving object according to any one of claims 1 to 2.
6. A storage medium applied to an electronic device, wherein the storage medium carries one or more computer programs, and the one or more computer programs are executable by the electronic device, so that the electronic device implements the method for detecting a moving object according to any one of claims 1-2.
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