CN116520266A - Radar target simulator based on mixing mode and microwave radar sensing test system - Google Patents
Radar target simulator based on mixing mode and microwave radar sensing test system Download PDFInfo
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Abstract
The invention provides a radar target simulator based on a frequency mixing mode and a microwave radar sensing test system, which are characterized in that after receiving electromagnetic wave signals of a radar sensor, a circuit of the radar target simulator based on the frequency mixing mode generates and returns echo signals containing detection target information to the radar sensor, and whether the functions of the radar in an actual scene can meet the use requirements is deduced through the processing capacity of the radar on the echo signals. Target characteristic information of radar echo signals is accurately set, so that microwave radar testing is more economical and flexible, and scene repeatability and controllability are better.
Description
Technical Field
The invention relates to the field of radars, in particular to a radar target simulator based on a frequency mixing mode and a microwave radar sensing test system.
Background
With the gradual deepening of radar technology from military to civil use, microwave radar is used as a sensor and applied to various consumer products. The microwave radar sensor can be installed in a hidden mode, is not influenced by temperature, air flow, dust, smoke and the like, has the advantages of long service life, high reaction speed, higher sensitivity, wide induction area and the like, gradually replaces the sensing technologies such as infrared, sound control and the like to be widely applied to consumer electronic products in multiple fields, comprises energy-saving illumination, security protection, intelligent household appliances and the like, and is an important link in the research and development of the microwave radar products and the production process of the microwave radar products.
For products such as present energy-saving illumination, security protection, intelligent household appliances, etc., a civil microwave radar sensor test scheme generally uses an angular antenna, a swinging device, a person walking or waving hand, etc. as a detection target of a test radar sensor, and the disadvantage of the mode is that: the test results are perceptively difficult to quantify, inflexible and poorly reproducible. Particularly, in the production test, when a plurality of radar sensor products and targets are detected and tested, the scheme can amplify deviation of sensing results of different radar sensors, so that consistency is deteriorated, and real performance of the radar products cannot be truly tested.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide a radar target simulator based on a mixing mode and a microwave radar sensing test system for solving the above technical problems in the prior art.
To achieve the above and other related objects, the present invention provides a radar target simulator based on a mixing method for simulating a detection target, the target simulator comprising: the device comprises a signal receiving module, a low noise amplifier, a first attenuator, a low pass filter module, a first mixer, a second mixer, a processing module, a first local oscillator generator, a second local oscillator generator, a high pass filter module, a second attenuator, a power amplifier and a signal transmitting module; the signal receiving module, the low noise amplifier, the first attenuator, the first mixer, the low-pass filtering module, the second mixer, the high-pass filtering module, the second attenuator and the power amplifier are sequentially connected in series; the first mixer is connected with the first local oscillator generator, and the second mixer is connected with the second local oscillator generator; the processing module is respectively connected with the first local oscillator generator and the second local oscillator generator; the signal receiving module receives an electromagnetic wave signal sent by a radar sensor, and then sequentially amplifies the electromagnetic wave signal and adjusts the amplitude of the electromagnetic wave through the low-noise amplifier and the first attenuator; the signal output by the first local oscillator generator, which is set with preset parameters based on the corresponding set simulation target parameters by the processing module, and the signal output by the first attenuator are converted to an intermediate frequency signal by the first mixer, the high frequency signal part of the signal output by the first mixer is filtered by the low-pass filtering module, the low frequency signal part is reserved, the signal output by the second local oscillator generator, which is set with preset parameters based on the corresponding set simulation target parameters by the processing module, and the signal output by the low-pass filtering module are subjected to frequency conversion and frequency mixing, the low frequency signal part of the signal output by the second mixer is filtered by the high-pass filtering module, the high frequency signal part is reserved, the signal is amplified and electromagnetic wave amplitude is regulated by the second attenuator and the power amplifier sequentially, and the signal transmitting module returns the simulation target signal conforming to the simulation target to the radar sensor.
In an embodiment of the invention, the radar target simulator is configured to simulate a target speed and a target amplitude of the doppler radar detection target, so as to return a simulated target signal conforming to the doppler radar detection target to the corresponding doppler radar sensor.
In one embodiment of the present invention, the method for simulating the target speed of the Doppler radar detection target includes: changing a signal with a corresponding frequency by the first local oscillator generator according to a digital signal generated by the processing module based on a first analog target parameter related to the target speed of the Doppler radar detection target, outputting the signal with the corresponding frequency by the first local oscillator generator, converting the signal output by the first local oscillator generator and the signal output by the first attenuator into an intermediate frequency signal by the first mixer, filtering a high-frequency signal part of the signal output by the first mixer by a low-pass filtering module, reserving a low-frequency signal part, changing the signal with the corresponding frequency by the second local oscillator generator according to a digital signal generated by the processing module based on a second analog target parameter related to the target speed of the Doppler radar detection target by the second mixer, carrying out frequency conversion and frequency mixing on the signal with the corresponding frequency output by the second local oscillator generator and the signal output by a low-pass filtering module, filtering a low-frequency signal part of the signal output by the second mixer, reserving the high-frequency signal part, and amplifying the signal with a power amplifier in sequence, and amplifying the signal with the power amplifier to generate an electromagnetic wave according to the target speed of the Doppler radar detection target; the method comprises the steps of setting a first simulation target parameter and a second simulation target parameter, and generating a simulation target signal which accords with the target speed of a Doppler radar detection target by changing the frequency of output signals of a first local oscillator generator and a second local oscillator generator.
In an embodiment of the present invention, the method for simulating the target amplitude of the doppler radar detection target by the target simulator includes: and adjusting the amplitude of the signal by setting one or more of parameters of a low noise amplifier, a first attenuator, a second attenuator and a power amplifier, and generating an analog target signal of the output power which accords with the target amplitude.
In an embodiment of the invention, the radar target simulator further includes: a phase control circuit connected between the power amplifier and the signal transmitting module; the radar target simulator is used for simulating the detection target distance, the target speed and the target amplitude of the detection target of the frequency modulation continuous wave radar so as to return the simulated target signal which accords with the detection target of the frequency modulation continuous wave radar to the corresponding frequency modulation continuous wave radar sensor.
In an embodiment of the present invention, a method for simulating a detection target distance of a detection target of an adjustable frequency continuous wave radar includes: changing a signal with a corresponding frequency by the first local oscillator generator according to a digital signal generated by the processing module based on a third analog target parameter related to the detection target distance of a frequency modulation continuous wave radar detection target, outputting the signal with the corresponding frequency by the preset parameter of the first local oscillator generator, converting the signal output by the first local oscillator generator and the signal output by the first attenuator to an intermediate frequency signal by the first mixer, filtering a high-frequency signal part of the signal output by the first mixer by a low-pass filter module, reserving a low-frequency signal part, changing the signal with the corresponding frequency by the first local oscillator generator according to a digital signal generated by the processing module based on a fourth analog target parameter related to the detection target distance of the frequency modulation continuous wave radar detection target by the second mixer, carrying out frequency conversion frequency mixing on the signal with the corresponding frequency output by the low-pass filter module, filtering a low-frequency signal part of the signal output by the second mixer, reserving a high-frequency signal part, sequentially amplifying the signal with the second mixer, and controlling the amplitude, and adjusting the amplitude of the signal to be consistent with the detection target distance of the target, and generating an electromagnetic wave signal; the frequency of the signals output by the first local oscillator generator and the second local oscillator generator is changed by setting the third simulation target parameter and the fourth simulation target parameter so as to generate a simulation target signal which accords with the intermediate frequency beat signal frequency of the detection target distance, and then the simulation target signal which accords with the detection target distance of the frequency modulation continuous wave radar detection target is generated.
In one embodiment of the present invention, the method for simulating the target speed of the target detected by the frequency modulated continuous wave radar includes: changing a signal with a corresponding phase by the first local oscillator generator according to a received digital signal generated by the processing module based on a fifth analog target parameter related to the detection target speed of the frequency modulation continuous wave radar detection target, outputting the signal with the corresponding phase by the first local oscillator generator and the signal output by the first attenuator through the first mixer, converting the signal output by the first local oscillator generator and the signal output by the first attenuator into an intermediate frequency signal, filtering a high-frequency signal part of the signal output by the first mixer through a low-pass filter module, reserving a low-frequency signal part, changing the signal with the corresponding phase by the second local oscillator generator according to the received digital signal generated by the processing module based on a sixth analog target parameter related to the target speed of the frequency modulation continuous wave radar detection target through the second mixer, converting and mixing the signal with the corresponding phase output by the low-pass filter module, filtering a low-frequency signal part of the signal output by the second mixer and reserving a high-frequency signal part, amplifying the signal with the second mixer and the power in turn, amplifying the signal with the second mixer and the phase, amplifying the signal with the power, and controlling the amplitude, and adjusting the amplitude of the signal to be consistent with the target speed of the target speed, and generating an electromagnetic wave signal according to the detection target speed; the method comprises the steps of setting fifth simulation target parameters and sixth simulation target parameters to change phases of output signals of a first local oscillator generator and a second local oscillator generator, and setting phase parameters of a phase control circuit to generate a simulation target signal corresponding to an intermediate frequency beat signal phase conforming to a target speed so as to generate a simulation target signal conforming to a target speed of a frequency modulation continuous wave radar detection target.
In an embodiment of the invention, the processing module is configured to set the simulation target parameter based on a control instruction of a control end of an upper computer connected to the radar target simulator, and generate a digital signal according with a characteristic of the simulation target.
In one embodiment of the present invention, the method for simulating the target amplitude of the target detected by the frequency modulated continuous wave radar includes: and adjusting the amplitude of the signal by setting one or more of parameters of a low noise amplifier, a first attenuator, a second attenuator and a power amplifier, and generating an analog target signal of the output power which accords with the target amplitude.
In an embodiment of the present invention, the signal receiving module includes: a circular polarization receiving antenna, a first radio frequency switch and a receiving radio frequency head are arranged in the antenna; the built-in circularly polarized receiving antenna is used for receiving electromagnetic wave signals in the orthogonal direction; the receiving radio frequency head is used for externally connecting a receiving antenna so as to receive electromagnetic wave signals through the receiving antenna; the first radio frequency switch is connected with the built-in circularly polarized receiving antenna and the receiving radio frequency head and is used for controlling the built-in circularly polarized receiving antenna or the receiving antenna externally connected with the receiving radio frequency head to correspondingly receive electromagnetic wave signals so as to input the electromagnetic wave signals to the low noise amplifier.
In an embodiment of the present invention, the signal transmitting module includes: a circular polarization transmitting antenna, a second radio frequency switch and a transmitting radio frequency head are arranged in the antenna; the built-in circularly polarized transmitting antenna is used for transmitting a simulated target signal in the form of circularly polarized electromagnetic waves; the transmitting radio frequency head is used for being externally connected with a transmitting antenna so as to transmit the analog target signal through the transmitting antenna; the second radio frequency switch is connected with the built-in circular polarization transmitting antenna and the transmitting radio frequency head and is used for controlling the built-in circular polarization transmitting antenna or the transmitting antenna externally connected with the transmitting radio frequency head to transmit the simulation target signal.
In an embodiment of the invention, the processing module is configured to set the simulation target parameter based on a control instruction of a control end of an upper computer connected to the radar target simulator, and generate a digital signal according with a characteristic of the simulation target.
To achieve the above and other related objects, the present invention provides a microwave radar sensing test system, comprising: the radar sensors are respectively arranged on the tool plane of the fixed tool; the radar target simulator is arranged in the normal direction along the tool plane; the radar target simulator simulates the detection target based on the received electromagnetic wave signals emitted by the radar sensors and the simulation target parameters related to the detection target, and returns each simulation target signal conforming to the detection target to the corresponding radar sensor.
As described above, the invention relates to a radar target simulator based on a mixing mode and a microwave radar sensing test system, which have the following beneficial effects: after receiving electromagnetic wave signals of the radar sensor, the circuit of the radar target simulator based on the frequency mixing mode generates and returns echo signals containing detection target information to the radar sensor, and whether the functions of the radar in an actual scene can meet the use requirements is deduced through the processing capacity of the radar on the echo signals. Target characteristic information of radar echo signals is accurately set, so that microwave radar testing is more economical and flexible, and scene repeatability and controllability are better.
Drawings
Fig. 1 is a schematic diagram of a radar target simulator based on a mixing mode according to an embodiment of the invention.
Fig. 2 is a graph showing a frequency-modulated continuous wave radar transmission frequency versus time according to an embodiment of the invention.
Fig. 3 is a schematic diagram of a radar target simulator based on a mixing mode according to an embodiment of the invention.
Fig. 4 is a schematic diagram showing a relationship between a sending signal and a receiving signal of the fm continuous wave radar according to an embodiment of the invention.
Fig. 5 is a schematic diagram showing the relationship between the intermediate frequency signal and time of the fm continuous wave radar according to an embodiment of the invention.
Fig. 6 is a schematic diagram showing the relationship between the input signal and the output signal of the fm continuous wave radar target simulator according to an embodiment of the invention.
Fig. 7 is a schematic diagram of a radar target simulator based on a mixing mode according to an embodiment of the invention.
Fig. 8 is a schematic diagram of a radar target simulator based on a mixing mode according to an embodiment of the invention.
FIG. 9 is a schematic diagram of an application test environment of a microwave radar sensing test system according to an embodiment of the invention.
Fig. 10 is a schematic view showing the installation of the doppler radar sensor in an embodiment of the present invention.
Fig. 11 is a schematic diagram showing an axial ratio index of a circular polarized antenna at each main direction angle according to an embodiment of the invention.
Fig. 12 is a schematic view of an application test environment of a microwave radar sensing test system according to an embodiment of the invention.
Fig. 13 is a schematic diagram showing the installation of a fm continuous wave radar sensor according to an embodiment of the present invention.
Fig. 14 is a schematic diagram showing an axial ratio index of a circular polarized antenna at each main direction angle according to an embodiment of the invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
In the following description, reference is made to the accompanying drawings, which illustrate several embodiments of the invention. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present invention. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present invention is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "above," "upper," and the like, may be used herein to facilitate a description of one element or feature as illustrated in the figures relative to another element or feature.
Throughout the specification, when a portion is said to be "connected" to another portion, this includes not only the case of "direct connection" but also the case of "indirect connection" with other elements interposed therebetween. In addition, when a certain component is said to be "included" in a certain section, unless otherwise stated, other components are not excluded, but it is meant that other components may be included.
The first, second, and third terms are used herein to describe various portions, components, regions, layers and/or sections, but are not limited thereto. These terms are only used to distinguish one portion, component, region, layer or section from another portion, component, region, layer or section. Thus, a first portion, component, region, layer or section discussed below could be termed a second portion, component, region, layer or section without departing from the scope of the present invention.
Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, operations, elements, components, items, categories, and/or groups. The terms "or" and/or "as used herein are to be construed as inclusive, or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C). An exception to this definition will occur only when a combination of elements, functions or operations are in some way inherently mutually exclusive.
The invention provides a radar target simulator based on a frequency mixing mode and a microwave radar sensing test system, which are characterized in that after receiving electromagnetic wave signals of a radar sensor, a circuit of the radar target simulator based on the frequency mixing mode generates and returns echo signals containing detection target information to the radar sensor, and whether the functions of the radar in an actual scene can meet the use requirements is deduced through the processing capacity of the radar on the echo signals. Target characteristic information of radar echo signals is accurately set, so that microwave radar testing is more economical and flexible, and scene repeatability and controllability are better.
The embodiments of the present invention will be described in detail below with reference to the attached drawings so that those skilled in the art to which the present invention pertains can easily implement the present invention. This invention may be embodied in many different forms and is not limited to the embodiments described herein.
The radar target simulator based on the frequency mixing mode in the embodiment of the invention comprises the following components: the device comprises a signal receiving module, a low noise amplifier, a first attenuator, a low pass filter module, a first mixer, a second mixer, a processing module, a first local oscillator generator, a second local oscillator generator, a high pass filter module, a second attenuator, a power amplifier and a signal transmitting module;
The signal receiving module, the low noise amplifier, the first attenuator, the first mixer, the low-pass filtering module, the second mixer, the high-pass filtering module, the second attenuator and the power amplifier are sequentially connected in series; the first mixer is connected with the first local oscillator generator, and the second mixer is connected with the second local oscillator generator; the processing module is respectively connected with the first local oscillator generator and the second local oscillator generator;
the signal receiving module receives an electromagnetic wave signal sent by a radar sensor, and then sequentially amplifies the electromagnetic wave signal and adjusts the amplitude of the electromagnetic wave through the low-noise amplifier and the first attenuator; the signal output by the first local oscillator generator, which is set with preset parameters based on the corresponding set simulation target parameters by the processing module, and the signal output by the first attenuator are converted to an intermediate frequency signal by the first mixer, the high frequency signal part of the signal output by the first mixer is filtered by the low-pass filtering module, the low frequency signal part is reserved, the signal output by the second local oscillator generator, which is set with preset parameters based on the corresponding set simulation target parameters by the processing module, and the signal output by the low-pass filtering module are subjected to frequency conversion and frequency mixing, the low frequency signal part of the signal output by the second mixer is filtered by the high-pass filtering module, the high frequency signal part is reserved, the signal is amplified and electromagnetic wave amplitude is regulated by the second attenuator and the power amplifier sequentially, and the signal transmitting module returns the simulation target signal conforming to the simulation target to the radar sensor.
The processing module can be a microprocessor MCU, and schemes such as an FPGA can also be used, and the scheme does not need to use a very high-end microprocessor, so that the software development difficulty and cost are reduced.
Preferably, the PCB size of the simulator circuit board is only 100 x 60mm, the space requirement on the use environment is low, and the high-integration and miniaturization design is realized.
In order to better describe the specific mode of the radar target simulator based on the mixing mode for simulating the detection target, the following specific embodiment will be described.
Firstly, the radar target simulator of the invention can be applied to target simulation of Doppler radar, and a simulation method for realizing Doppler radar detection targets by the scheme is introduced below.
Doppler radar, also called continuous wave radar, is a relatively common radar in which the radio frequency emitted by the radar itself is fixed. The Doppler radar can detect moving targets and the moving speed of the targets, when the targets move, the Doppler effect can be generated when radio frequency signals sent by the radar return to the radar through the surfaces of the targets, so that the signals received by the radar are shifted in frequency, the speed of the moving targets can be calculated by the radar through the radio frequency and the size of the shift, and the moving targets can be known to be close to the radar or far away from the radar through the fact that the frequency of the returned radio frequency signals is increased or decreased compared with that of the radio frequency signals.
Fig. 1 shows a schematic structural diagram of a radar target simulator based on a mixing mode in an embodiment of the invention.
The radar target simulator based on the frequency mixing mode is used for simulating Doppler radar detection targets.
The radar target simulator based on the mixing mode comprises: the signal receiving module 1, the low noise amplifier 2, the first attenuator 3, the first mixer 4, the low pass filtering module 5, the second mixer 6, the processing module 7, the first local oscillator generator 8, the second local oscillator generator 9, the high pass filtering module 10, the second attenuator 11, the power amplifier 12 and the signal transmitting module 14 are integrated on the circuit board of the simulator.
The signal receiving module 1, the low noise amplifier 2, the first attenuator 3, the first mixer 4, the low pass filter module 5, the second mixer 6, the high pass filter module 10, the second attenuator 11, the power amplifier 12 and the signal transmitting module 14 are sequentially connected in series; the first mixer 4 is connected with the first local oscillator generator 8, and the second mixer 6 is connected with the second local oscillator generator 9; the processing module 7 is respectively connected with the first local oscillator generator 8 and the second local oscillator generator 9;
The signal receiving module 1 receives an electromagnetic wave signal sent by a radar sensor, and then the signal is amplified and the electromagnetic wave amplitude is adjusted by the low noise amplifier 2 and the first attenuator 3 in sequence; the processing module 7 sets preset parameters of the first local oscillator generator 8 based on the corresponding set simulation target parameters, the first local oscillator generator 8 outputs corresponding signals based on the preset parameters, the signals output by the first local oscillator generator 8 and the signals output by the first attenuator 3 are converted into intermediate frequency signals through the first mixer 4, and the high frequency signal part of the signals output by the first mixer 4 is filtered through the low pass filtering module 5 and the low frequency signal part is reserved; the processing module 7 sets preset parameters of the second local oscillator generator 9 based on the corresponding set simulation target parameters, the second local oscillator generator 9 outputs corresponding signals based on the preset parameters, the signals output by the second local oscillator generator 9 and the signals output by the low-pass filtering module 5 are subjected to frequency conversion and frequency mixing through the second mixer 6, the frequencies of the second local oscillator generator 9 and the first local oscillator generator 8 have certain frequency differences according to the preset simulation target parameters, the low-frequency signal part of the signals output by the second mixer 6 is filtered through the high-pass filtering module 10, the high-frequency signal part is reserved, the signals are amplified and electromagnetic wave amplitude adjusted sequentially through the second attenuator 11, and the simulation target signals conforming to the simulation target are returned to the radar sensor through the signal transmitting module 14.
In an embodiment, the radar target simulator is configured to simulate a target speed and a target amplitude of the doppler radar detection target, so as to return a simulated target signal conforming to the doppler radar detection target to the corresponding doppler radar sensor.
In one embodiment, the method for simulating the target speed of the Doppler radar detection target comprises the following steps:
changing, by the first local oscillator generator 8, a signal with a corresponding frequency according to a digital signal generated by the processing module 7 based on a first analog target parameter related to a target speed of a doppler radar detection target, where the digital signal is generated by the processing module 7 based on a first analog target parameter related to the target speed of the doppler radar detection target, then converting, by the first mixer 4, the signal output by the first local oscillator generator 8 and the signal output by the first attenuator 3 into an intermediate frequency signal, filtering out a high-frequency signal portion of the signal output by the first mixer 4 through the low-pass filtering module 5, retaining a low-frequency signal portion, changing, by the second mixer 6, the signal with a corresponding frequency output by the second local oscillator generator 9 according to a digital signal generated by the processing module 7 based on a second analog target parameter related to the target speed of the doppler radar detection target, then carrying out frequency conversion mixing with the signal output by the low-pass filtering module 5, filtering out a low-frequency signal portion of the signal output by the second mixer 6 through the high-pass filtering module 10, and sequentially amplifying, and retaining an amplitude-modulated signal 12 of the signal with a high-frequency signal, which is in accordance with a target amplitude of the doppler radar detection target, and an amplitude is generated by the second mixer 11;
The first simulated target parameter and the second simulated target parameter are set, and the frequency of the signals output by the first local oscillator generator 8 and the second local oscillator generator 9 is changed to generate simulated target signals which accord with the target speeds of the Doppler radar detection targets, so that Doppler signals corresponding to different speeds of the detection targets and the moving direction of the detection targets relative to the radar can be simulated.
The further principle of target speed simulation of the Doppler radar detection target is as follows:
the radio frequency emitted by the radar is f 0 Wavelength lambda 0 ＝c/f 0 C is the propagation speed of electromagnetic wave in vacuum, the distance between the target and the radar is R, and the total wavelength number of the radar sending signal to the target and then returning the signal from the target to the radar is 2R/lambda 0 I.e. the total phaseWhen the target moves, the moving target speed is v t The phase phi changes along with the distance R to generate Doppler effect, and the corresponding Doppler frequency is f d Angular velocity->At the same time
Then
The Doppler radar target simulator receives the sine wave RF signal sent by the radar in . The phase and gain amplitude variation in signal transmission is not considered, and the scheme core content description is not affected. RF (radio frequency) in Can be simply defined as cos (omega) r t), the output frequency of the first local oscillator generator 8 is simply defined as cos (ω) 1 t), the output frequency of the second local oscillator generator 9 is simply defined as cos (ω) 2 t)。cos(ω r t) gain-controlled by the low noise amplifier 2 and the first attenuator 3, and cos (ω) 1 t) down-converting the mixed signal via the first mixer 4 to:
after passing through the low-pass filtering module 5, the high-frequency signal part is attenuated and filtered, and then the intermediate-frequency signal is:
intermediate frequency signal and cos (omega) 2 t) up-converting the mixed signal via the second mixer 6 to:
after passing through the high-pass filtering module 10, the low-frequency signal part is filtered out, and the output signal is:
after the signal is subjected to gain control by the second attenuator 11 and the power amplifier 12, the Doppler radar target simulator outputs a signal RF out The frequency is:
it follows that the incoming radar signal RF of the doppler radar target simulator in Frequency omega r Output signal RF of/2 pi out Frequency is (omega) r -ω 1 +ω 2 ) Output signal RF of Doppler radar target simulator out Compared with the input signal RF in The frequency offset is (-omega) 1 +ω 2 ) /2 pi, i.e. the Doppler signal frequency corresponding to the simulated target movement is (-omega) 1 +ω 2 )/2π。
The control processing module 7 sets the preset parameters of the first local oscillator generator 8 and the second local oscillator generator 9 to adjust cos (omega) 1 t) and cos (omega) 2 t), namely simulating Doppler signals corresponding to different speeds of the detected target and the moving direction of the detected target relative to the radar, when (-omega) 1 +ω 2 ) When/2pi > 0, the simulated scene is Doppler frequency shift frequency corresponding to the speed of the detected target approaching the radar, when (-omega) 1 +ω 2 ) And when the pi of the detection target is less than 0, the simulated scene is Doppler frequency shift frequency corresponding to the speed of the detection target when the detection target is far away from the radar.
In a specific embodiment, RCS (radar cross-sectional area) is an imaginary area defined as the ratio of the reverse echo power to the incident injection power density of a radar detection target in a given direction, the parameter being described in terms of unit area. The larger the RCS value, the stronger the backscatter echo capability, and the greater the echo power received by the radar.
The method for simulating the target amplitude of the Doppler radar detection target comprises the following steps:
the amplitude of the signal is adjusted by setting one or more of the parameters of the low noise amplifier 2, the first attenuator 3, the second attenuator 11 and the power amplifier 12, so as to generate an analog target signal of the output power which meets the target amplitude.
The output power of the radar target simulator can be controlled by adjusting the parameters of the low noise amplifier 2, the first attenuator 3, the second attenuator 11, the power amplifier 12 and the like, so that the purpose of simulating the target amplitude (RCS) of the Doppler radar detection target is achieved, and the use scene of target simulation of various different input powers and different output powers can be flexibly met.
In addition, the radar target simulator can be applied to target simulation of the frequency modulation continuous wave radar, and a simulation method for realizing detection targets of the frequency modulation continuous wave radar is introduced below.
The frequency of the Doppler radar is fixed, and the frequency of the frequency modulation continuous wave radar is linearly changed along with time, as shown in fig. 2; where B is the frequency modulation bandwidth range, T is the frequency modulation period, a frequency modulation period is also commonly referred to as a chirp, and fc is the starting frequency of the transmitted signal.
Fig. 3 shows a schematic structural diagram of a radar target simulator based on a mixing mode in an embodiment of the invention.
The radar target simulator based on the frequency mixing mode is used for simulating a frequency modulation continuous wave radar detection target.
The radar target simulator based on the mixing mode comprises: the signal receiving module 1, the low noise amplifier 2, the first attenuator 3, the first mixer 4, the low pass filtering module 5, the second mixer 6, the processing module 7, the first local oscillator generator 8, the second local oscillator generator 9, the high pass filtering module 10, the second attenuator 11, the power amplifier 12, the phase control circuit 13 and the signal transmitting module 14 are integrated on the circuit board of the simulator.
The signal receiving module 1, the low noise amplifier 2, the first attenuator 3, the first mixer 4, the low pass filter module 5, the second mixer 6, the high pass filter module 10, the second attenuator 11, the power amplifier 12, the phase control circuit 13 and the signal transmitting module 14 are sequentially connected in series; the first mixer 4 is connected with the first local oscillator generator 8, and the second mixer 6 is connected with the second local oscillator generator 9; the processing module 7 is respectively connected with the first local oscillator generator 8 and the second local oscillator generator 9;
the signal receiving module 1 receives an electromagnetic wave signal sent by a radar sensor, and then the signal is amplified and the electromagnetic wave amplitude is adjusted by the low noise amplifier 2 and the first attenuator 3 in sequence; the processing module 7 sets preset parameters of the first local oscillator generator 8 based on the corresponding set simulation target parameters, the first local oscillator generator 8 outputs corresponding signals based on the preset parameters, the signals output by the first local oscillator generator 8 and the signals output by the first attenuator 3 are converted into intermediate frequency signals through the first mixer 4, and the high frequency signal part of the signals output by the first mixer 4 is filtered through the low pass filtering module 5 and the low frequency signal part is reserved; the processing module 7 sets preset parameters of the second local oscillator generator 9 based on the corresponding set simulation target parameters, the second local oscillator generator 9 outputs corresponding signals based on the preset parameters, the signals output by the second local oscillator generator 9 and the signals output by the low-pass filtering module 5 are subjected to frequency conversion and frequency mixing through the second mixer 6, the frequencies of the second local oscillator generator 9 and the first local oscillator generator 8 have certain frequency differences according to the preset simulation target parameters, the high-pass filtering module 10 filters low-frequency signal parts of the signals output by the second mixer 6 and retains high-frequency signal parts, the signals are amplified and electromagnetic wave amplitude adjusted sequentially through the second attenuator 11 and the power amplifier 12, the phase of the output signals is adjusted through the phase control circuit 13, and the simulation target signals conforming to the simulation target are returned to the radar sensor through the signal transmitting module 14.
In one embodiment, the radar target simulator is configured to simulate a detected target distance, a target speed and a target amplitude of the fm continuous wave radar detected target, so as to return a simulated target signal conforming to the fm continuous wave radar detected target to the corresponding fm continuous wave radar sensor.
In one embodiment, the method for simulating the detection target distance of the detection target of the frequency modulation continuous wave radar comprises the following steps:
changing, by the first local oscillator generator 8, a signal with a corresponding frequency according to a digital signal generated by the processing module 7 based on a third analog target parameter related to a detection target distance of a frequency modulation continuous wave radar detection target, where the digital signal is generated by the processing module 7 based on a fourth analog target parameter related to the detection target distance of the frequency modulation continuous wave radar detection target, then converting, by the first mixer 4, the signal output by the first local oscillator generator 8 and the signal output by the first attenuator 3 to an intermediate frequency signal, filtering out a high frequency signal part of the signal output by the first mixer 4 through the low pass filter module 5 and retaining a low frequency signal part, changing, by the second mixer 6, the signal with a corresponding frequency output by the second mixer 9 according to a digital signal generated by the processing module 7 based on a fourth analog target parameter related to the detection target distance of the frequency modulation continuous wave radar detection target, then converting and mixing the signal with the corresponding frequency output by the low pass filter module 5, filtering out a low frequency signal part of the signal output by the second mixer through the high pass filter module 10, and retaining a low frequency signal part of the signal output by the second mixer 4, and sequentially amplifying the signal with a phase modulation signal of the second frequency signal through the second mixer 6 and an electromagnetic wave amplification circuit 13, and an amplitude-adjusting signal of the second signal is controlled to be in accordance with the amplitude of the detection target distance of the detection target signal;
Wherein, the frequency of the output signals of the first local oscillator generator 8 and the second local oscillator generator 9 is changed by setting the third simulation target parameter and the fourth simulation target parameter so as to generate the simulation target signal which accords with the frequency of the intermediate frequency beat signal of the detection target distance of the frequency modulation continuous wave radar.
Namely, in this embodiment, by changing the frequency parameters of the first local oscillator generator 8 and the second local oscillator generator 9, the first local oscillator generator 8 and the second local oscillator generator 9 output signals with frequencies that meet the detection target distance, so as to obtain analog target signals with intermediate frequency beat signal frequencies that meet the detection target distance, so that the fm continuous wave radar sensor obtains the corresponding detection target distance.
Further, the principle of simulating the detection target distance of the detection target of the frequency modulation continuous wave radar is as follows:
as shown in fig. 4, the signal sent by the fm continuous wave radar is reflected back after encountering the detected target and amplified and received by the radar, and the waveforms of the transmitted signal and the received signal are identical from the frequency-time relationship diagram, but differ by a delay τ, which is the time that the radar sends out an electromagnetic wave to the detected target and then the detected target is reflected back to the radar.
I.e.
Wherein R is the distance between the frequency modulation continuous wave radar and the detection target, and c is the propagation speed of the electromagnetic wave in vacuum. From this, it can be seen that knowing the delay τ, the detection target distance R can be calculated according to the above formula.
As shown in FIG. 5, after receiving and mixing the frequency modulated continuous wave radar receiving signal and the transmitting signal, two frequency signals fb and B-fb are obtained, wherein generally B is far greater than fb, and a low pass filter is used to filter out the B-fb signal, and only the fb signal remains. Then the proportional relation is utilized to obtain the delay tau, namely
Wherein T is the frequency modulation period of the frequency modulation continuous wave radar, B is the frequency modulation bandwidth of the frequency modulation continuous wave radar, and fb is the frequency of the intermediate frequency beat signal.
By combining the formula (8) and the formula (9), the relation between the frequency modulation continuous wave radar and the detection target distance R and the frequency fb of the medium frequency beat signal can be calculated, namely
Wherein T is the frequency modulation period of the frequency modulation continuous wave radar, c is the propagation speed of electromagnetic waves in vacuum, B is the frequency modulation bandwidth of the frequency modulation continuous wave radar, and fb is the frequency of the intermediate frequency beat signal of the frequency modulation continuous wave radar.
The frequency of the FM continuous wave radar transmission is changed with time modulation, but the frequency is fixed at a certain time point, and the radar signal at the time point is input into a target simulator RF in Can be simply defined asThe phase shift and delay and gain variation in the air and circuit transmission process are not considered for simplifying the description, and the scheme core content description is not affected. The output frequency of the first local oscillator generator 8 is simplified defined as +.>The output frequency of the second local oscillator generator 9 is simply defined as After gain control by the low noise amplifier 2 and the first attenuator 3, and the first local oscillator generator 8 output signal +.>The down-converted mixed signal through the first mixer 4 is: />
After passing through the low-pass filtering module 5, the high-frequency signal part is attenuated and filtered, and then the intermediate-frequency signal is:
intermediate frequency signal and output signal of second local oscillator generator 9The up-converted mixed signal through the second mixer 6 is:
after passing through the high-pass filtering module 10, the low-frequency signal part is filtered out, and the output signal is:
the signal is then gain controlled by a second attenuator 11 and a power amplifier 12Then, the phase is shifted by the phase control circuit 13 through the phase control circuit 13The frequency modulated continuous wave radar target simulator outputs a signal RF out The method comprises the following steps:
as shown in fig. 6, the fm continuous wave radar target simulator inputs the radar signal RF at a certain point in time in Frequency omega r Output signal RF of/2 pi out Frequency is (omega) r -ω 1 +ω 2 ) Output signal RF of/2 pi frequency modulation continuous wave radar target simulator out Compared with the input signal RF in The frequency offset is (-omega) 1 +ω 2 ) 2 pi. Similarly, other time points can be obtained, the frequency of the input signal of the frequency modulation continuous wave radar target simulator is different, but the frequency offset of the output signal compared with the input signal is the same as (-omega) 1 +ω 2 ) With frequency fb of intermediate frequency beat signal of analog FM continuous wave radar of (omega) 1 -ω 2 ) 2 pi. (wherein generally omega 1 >ω 2 )。
The control microprocessor is provided with a first local oscillator generator 8 and a second local oscillator generator 9 for adjusting cos (omega) 1 t) and cos (omega) 2 t) can simulate the target analog signals of different beat frequencies fb, i.e. by modifying the parameter ω 1 And omega 2 The echo signals of the frequency modulation continuous wave radar detection targets at different distances can be simulated, and corresponding simulated distance information can be calculated by the formula (10).
In one embodiment, the method for simulating the target speed of the frequency modulated continuous wave radar detection target comprises the following steps:
changing, by the first local oscillator generator 8, a signal with a corresponding phase by using a digital signal generated by the processing module 7 based on a fifth analog target parameter related to a detection target speed of a frequency modulation continuous wave radar detection target, where the signal is output by the first local oscillator generator 8 and the signal output by the first attenuator 3 are converted to an intermediate frequency signal by using the first mixer 4, a high-frequency signal part of the signal output by the first mixer 4 is filtered by using a low-pass filter module 5 and a low-frequency signal part is reserved, the signal with a corresponding phase is changed by using the first local oscillator generator 8 by using a digital signal generated by the processing module 7 based on a sixth analog target parameter related to a target speed of the frequency modulation continuous wave detection target, and the signal with a corresponding phase output by the preset parameter of the second generator 9 is converted and mixed with the signal output by the low-pass filter module 5, the low-frequency signal part of the signal output by using the high-pass filter module 10 is filtered by using the low-pass filter module 4 and the high-frequency signal part of the signal output by the first mixer 4 is reserved, then the signal with a high-frequency signal part of the second mixer 6 is sequentially amplified by using the second mixer 6, and the signal with a frequency signal corresponding to be amplified by using the second mixer 6, and the amplitude of the signal is sequentially regulated by using the second mixer 12, and the signal is sequentially amplified by using the second mixer to control the amplitude of the target amplitude;
The phase parameters of the phase control circuit 13 are set to generate a simulated target signal corresponding to the phase of the intermediate frequency beat signal according to the target speed, so as to generate a simulated target signal according to the target speed of the frequency modulation continuous wave radar detection target.
Namely, in the embodiment, by changing the phase parameters of the first local oscillator generator 8, the second local oscillator generator 9 and the phase control circuit 13, an analog target signal which accords with the phase of the intermediate frequency beat signal of the detection target distance is obtained, so that the frequency modulation continuous wave radar sensor can obtain a corresponding target speed.
Further, the principle of simulating the target speed of the frequency modulation continuous wave radar detection target is as follows:
principle of frequency modulated continuous wave radar detection of target speed. The beat frequency fb detected between the chirp of the fm continuous wave radar will have a trend of a certain frequency shift due to the change of the detection distance caused by the motion of the detection target, and generally, the change of the distance caused by the motion is very tiny due to the very short inter-chirp time, the change of fb frequency is very small and indistinguishable, but the phase change of fb is very obvious.
Defining the motion speed of the detection target as v, and the chirp modulation period as T, the motion distance of the detection target between two chirp is deltad as follows:
Δd＝v·T； (16)
defining the phase change of the beat frequency fb between two chirps asFrom phase change and wavelength relationship
Where λ=c/fc, c is the propagation speed of light in vacuum, and fc is the starting frequency of the fm continuous wave radar transmission.
From formulas (16) and (17), the sum v can be obtainedThe relation of (2) is that
From equation (18), simulate a differentDifferent speed information v of the detection target can be simulated. />Indicating that the direction of movement of the detection target is far from the radar direction, +.>Representing a probeThe moving direction of the measuring object faces the radar direction.
From equation (15),the analog signal of the detection target corresponding to the signal is
Echo analog signalAmplified and received by frequency modulation continuous wave radar and local oscillation signal +.>After mixing, the intermediate frequency beat frequency fb is obtained
Filtering out high frequency components by an intermediate frequency low pass filter module
From the formula (21), the frequency modulation continuous wave radar receives the phase of the intermediate frequency beat frequency fb corresponding to the echo signal generated by the simulator asOnly output signal phase of the first local oscillator generator 8>The second local oscillator generator 9 outputs the signal phase +.>Phase control circuit 13 phase- >Correlation, and phase of FM continuous wave radar signal +.>Uncorrelated. Then by controlling One or more values of which allow the phase difference of the beat frequency fb between the chirps to be +.>And (3) satisfying the formula (18), namely simulating the speed information v corresponding to the detection target.
In one embodiment, the method for simulating the target amplitude of the modulated continuous wave radar detection target comprises the following steps: the amplitude of the signal is adjusted by setting one or more of the parameters of the low noise amplifier 2, the first attenuator 3, the second attenuator 11 and the power amplifier 12, so as to generate an analog target signal of the output power which meets the target amplitude.
The output power of the radar target simulator can be controlled by adjusting the parameters of the low noise amplifier 2, the first attenuator 3, the second attenuator 11, the power amplifier 12 and the like, so that the aim of simulating the target amplitude (RCS) of the frequency modulation continuous wave radar detection target is fulfilled, and the use scenes of target simulation of various different input powers and different output powers can be flexibly met.
In one embodiment, as shown in fig. 7 and 8, the signal receiving module 1 includes: a built-in circularly polarized receiving antenna 101, a first radio frequency switch 102 and a receiving radio frequency head 103; the first radio frequency switch 102 can select the built-in circularly polarized receiving antenna 101 or the receiving radio frequency head 103 and the external receiving antenna to receive electromagnetic wave signals emitted by the radar;
Wherein, the built-in circularly polarized receiving antenna 101 is used for receiving electromagnetic wave signals in orthogonal directions;
the receiving rf head 103 is configured to be externally connected to a receiving antenna, so as to receive an electromagnetic wave signal through the receiving antenna; the receiving antenna is set according to the requirement.
The first rf switch 102 is connected to the internal circularly polarized receiving antenna 101 and the receiving rf head 103, and is configured to control a receiving antenna externally connected to the internal circularly polarized receiving antenna 101 or the receiving rf head 103 to correspondingly receive an electromagnetic wave signal, so as to input the electromagnetic wave signal to the low noise amplifier 2.
In one embodiment, as shown in fig. 7 and 8, the signal transmitting module 14 includes: a built-in circularly polarized transmitting antenna 141, a second radio frequency switch 142 and a transmitting radio frequency head 143; according to the method, the second radio frequency switch 142 can select the built-in circularly polarized transmitting antenna 141 or the transmitting radio frequency head 143 plus the external transmitting antenna to transmit the analog target signal to the radar sensor;
wherein, the built-in circularly polarized transmitting antenna 141 is used for transmitting the analog target signal in the form of circularly polarized electromagnetic wave;
the transmitting rf head 143 is configured to be externally connected to a transmitting antenna, so as to transmit the analog target signal through the transmitting antenna; the transmitting antenna is set according to the requirements.
The radio frequency switch 142 is connected to the built-in circularly polarized transmitting antenna 141 and the transmitting radio frequency head 143, and is used for controlling the transmitting antenna externally connected with the built-in circularly polarized transmitting antenna 141 or the transmitting radio frequency head 143 to transmit the analog target signal.
In an embodiment, in order to prevent the problem of large difference in analog signal amplitude caused by different polarization directions of antennas of radar products, the problem of large signal difference between polarized deflection individuals caused by difference in spatial arrangement positions of the tested products when multiple tested radar products are measured is reduced.
And adopting the built-in circular polarization receiving antenna and the built-in circular polarization transmitting antenna to receive and transmit signals.
The built-in circular polarization receiving antenna and the built-in circular polarization transmitting antenna are respectively embedded in the front surface (antenna surface) of the simulator circuit board, and the back surface (feed network surface) of the simulator circuit board is respectively provided with a feed network which is matched with the built-in circular polarization receiving antenna and the built-in circular polarization transmitting antenna; the built-in circular polarization receiving antenna and the built-in circular polarization transmitting antenna are respectively provided with a first feeding point and a second feeding point, and the first feeding point and the second feeding point connect the antennas with the corresponding feeding network in a metal via way; the first feeding point and the second feeding point are equal in distance from the geometric center of the corresponding antenna, and connecting lines of the two feeding points to the geometric center are orthogonal to each other;
The built-in circularly polarized receiving antenna is combined with a corresponding feed network to acquire a received electromagnetic wave signal sent by the radar sensor; and the built-in circularly polarized transmitting antenna is combined with a corresponding feed network to transmit the generated simulated target signal to the radar sensor in a circularly polarized electromagnetic wave mode.
Each feed network is provided with a power divider and a resistor; one end of the power divider is connected with a first feeding point and a second feeding point of the corresponding antenna, and the other end of the power divider is connected with the low-noise amplifier 2 or the power amplifier 12 or the phase control circuit 13 which are arranged on the simulator circuit board; the resistor bridges the first specific position and the second specific position which are respectively arranged on the transmission sections from the first feeding point and the second feeding point to the power divider, and the resistance value of the resistor is twice the impedance value of the transmission microstrip line.
If the feed network is arranged corresponding to the built-in circular polarization receiving antenna, one end of the feed network is connected with a first feed point and a second feed point of the built-in circular polarization receiving antenna; the other end is connected with the low noise amplifier 2 after being combined by a power divider. If the feed network is arranged corresponding to the built-in circular polarization transmitting antenna, one end of the feed network is connected with a first feed point and a second feed point of the built-in circular polarization transmitting antenna; the other end is connected with a power amplifier 12 or a phase control circuit 13 after being combined through a power divider; preferably, the power divider is a one-to-one second-power divider.
Preferably, the length of each section of transmission line of the feed network has special requirements. In order to synthesize an accurate circularly polarized electromagnetic wave, the transmission section length L between the first specific position A and the first feeding point 1 A1 And a transmission segment length L between the second specific position B and the second feeding point 2 B2 The first length relation is satisfied; and corresponds to the transmission section length L between the first specific position A and the power divider D DA And a transmission section length L between the second specific position B and the power divider D DB The second length relation is met to ensure that the phase difference relation of the two feed points is 90 degrees accurately, the power is equal, and the accurate circularly polarized electromagnetic wave is synthesized. A transmission section length L corresponding to the first specific position A to the second specific position B through a resistor R ARB And a transmission section length L corresponding to the first specific position A passing through the power divider D and then reaching the second specific position B ADB The third length relationship is satisfied.
Wherein the first length relationship comprises:
and wherein lambda is the wavelength of electromagnetic wave in air at the radar working frequency, epsilon is the dielectric constant of the circuit board, and N is a natural number.
And the second length relation is corresponding to the transmission section length L between the first specific position A and the power divider D DA And a transmission section length L between the second specific position B and the power divider D DB Equal.
At this time, the phase difference between the two feeding points is 90 °, the power is equal, the electromagnetic waves excited respectively are a pair of linear polarized waves orthogonal to each other, and the synthesized wave form is a circular polarized wave.
The third length relationship includes:
and wherein L ARB For the transmission section length L from the first specific position A to the second specific position B through the resistor R ADB And for the length of a transmission section from the first specific position A to the second specific position B through the power divider D, lambda is the wavelength of electromagnetic waves in air at the radar working frequency, epsilon is the dielectric constant of a circuit board, and N is a natural number.
The feeding circuit in one embodiment may additionally employ a bridge, balun, phase shifter, etc.; the implementation of the built-in circular polarization receiving and transmitting antenna can additionally adopt other schemes such as antenna corner cutting, slotting and the like.
In an embodiment, the radar target simulator based on the frequency mixing mode is connected with an upper computer control end; further, as shown in fig. 1 and 3, the processing module 7 is connected to the upper computer control terminal 15, and is configured to set the simulation target parameters based on a control instruction of the upper computer control terminal 15, and generate a digital signal according with the simulation target characteristics.
Preferably, the radar target simulator based on the frequency mixing mode is connected with the upper computer control end 15 through a USB interface, the upper computer control end 15 identifies a serial port of the radar target simulator based on the frequency mixing mode through the connected USB interface, the internal parameters of the processing module 7 can be modified through the serial port to adjust the simulation target characteristics, the parameter modification takes effect in real time and can be powered down and stored as required, and the upper computer can not be used for modifying the target parameters if the simulation target parameters are not required to be modified next time. In the implementation process of the scheme, the low-power consumption design is considered, the USB of the control end of the upper computer can be used for supplying power, and the cost of a direct-current power supply is not required to be increased additionally.
The embodiment of the invention provides a microwave radar sensing test system.
The system comprises: the radar sensors are respectively arranged on the tool plane of the fixed tool;
the radar target simulator is installed in the normal direction along the tool plane;
the radar target simulator simulates the detection target based on the received electromagnetic wave signals emitted by the radar sensors and the simulation target parameters related to the detection target, and returns each simulation target signal conforming to the detection target to the corresponding radar sensor.
For a better description of the microwave radar sensing test system, a description will now be given with reference to specific embodiments.
For a microwave radar sensing test system for doppler radar, fig. 9 shows an application test environment schematic diagram of the microwave radar sensing test system for doppler radar in an embodiment of the invention.
The radar target simulator based on the frequency mixing mode can be applied to target simulation of a single radar sensor product, such as test analysis of the signal processing capability of the radar sensor product in the research and development process; the method can also be simultaneously applied to target simulation of a plurality of radar sensor products, such as production test of a plurality of radar sensor products;
the system is in an external environment built by wave absorbing materials, comprising:
one or more doppler radar sensors 91 mounted on the tooling plane of the fixed tooling 01;
a radar target simulator 92 based on a frequency mixing mode, which is installed in a normal direction along the tool plane, is used as a target simulator of the test system; note that, the radar target simulator 92 based on the mixing mode may implement all functions of the radar target simulator based on the mixing mode as shown in fig. 1 and 7, which will not be described in detail. In addition, the radar target simulator 92 based on the frequency mixing mode is also connected with the control end of the upper computer through a USB interface by using a USB power supply serial communication line.
It should be noted that, in the tool design for testing the doppler radar sensor 91, a mode of spreading along a plane is adopted in most cases, and the target simulator is arranged in a normal direction of the plane, so that the difference of the simulation results of the detected targets is small. However, the spreading form of the doppler radar sensor 91 is not limited to equidistant spreading, and in theory, the doppler radar sensor 91 may be spaced apart from each other by a certain distance, and there is no requirement on the regularity of orientation and arrangement.
The radar target simulator 92 simulates the target speed and the target amplitude of the simulation target based on the received electromagnetic waves emitted by the doppler radar sensors 91 and the simulation target parameters related to the simulation target, and returns the simulation target signals corresponding to the target speed and the target amplitude of the simulation target to the corresponding doppler radar sensors 91.
Because the mounting position of the Doppler radar sensor has non-negligible dislocation relative to the target simulator, signal receiving and transmitting are not strictly transmitted according to the normal direction, so that polarization deflection exists; according to the scheme, the radar target simulator 92 based on the frequency mixing mode can transmit and receive signals to and from any deflection Doppler radar sensor in a mode of reducing half power, so that the radar target simulator 92 based on the frequency mixing mode corresponds to a plurality of Doppler radar sensors, and signals with consistent amplitudes can be transmitted and received.
In one embodiment, as shown in fig. 9, the radar target simulator 91 based on the mixing mode is installed in a normal direction along the tool plane, and is spaced from the tool plane by a distance d. D satisfies a fixed distance relationship;
wherein the fixed distance relationship comprises:
and D is the diagonal length of the Doppler radar sensor fixing tool, and lambda is the wavelength in the air corresponding to the electromagnetic wave under the radar working frequency.
In a specific embodiment, 9 Doppler radar sensors and a radar target simulator based on a mixing mode are adopted for testing, and the 9 Doppler radar sensors are installed on a fixed tool and are spread out in a nine-grid plane as shown in fig. 10; the target simulator adopts a radar target simulator based on a frequency mixing mode, and is arranged in the normal direction along the plane of the tool, the distance from the tool is d, and the d value meets the corresponding formula (24);
according to the principle of a circular polarization antenna, a circular polarization signal can be equivalently decomposed into any two signals which are orthogonally polarized, have equal amplitude and have 90-degree phase difference, so that the circular polarization antenna used by the radar target simulator can be always decomposed into a signal with the same polarization direction as that of the microwave radar sensor antenna and a signal with the same polarization direction as that of the microwave radar sensor antenna regardless of the arrangement of the polarization directions of the measured microwave radar sensor antenna. Therefore, regardless of the antenna polarization direction of the microwave radar sensor, the radar target simulator of the scheme can always transmit and receive microwave signals with the same amplitude with the detected microwave radar sensor, and the test result cannot be interfered because the antenna polarization direction of the microwave radar sensor is inconsistent with the antenna polarization direction of the circular polarization antenna test equipment.
In the general circular polarization design, the ratio of the magnitudes of two linear polarizations after the circular polarization is split into two orthogonal linear polarizations is called an axial ratio. When the axial ratio is less than or equal to 3dB, the circular polarization design requirement is considered to be met. While fig. 11 shows the axial ratio index of the target simulator in the present embodiment at each main direction angle, it can be seen that the axial ratio index in the present embodiment is basically kept below 1dB, and the circular polarization stringency is higher than the general standard.
For a microwave radar sensing test system for a frequency modulated continuous wave radar, fig. 12 shows a schematic view of an application test environment of the microwave radar sensing test system for a frequency modulated continuous wave radar in an embodiment of the invention.
The frequency modulation continuous wave radar target simulator is applied to target simulation of a single radar sensor product, such as radar sensor product signal processing capability test analysis in the research and development process and the like;
the system is in an external environment built by wave absorbing materials, comprising:
a frequency modulated continuous wave radar sensor 121 mounted on a tooling plane of the fixed tooling 01;
a frequency modulation continuous wave radar target simulator 122 which is arranged along the normal direction of the tool plane and adopts a radar target simulator based on a frequency mixing mode is used as a target simulator of a test system, namely the frequency modulation continuous wave radar target simulator; it should be noted that the target simulator 122 may implement all the functions of the radar target simulators based on the mixing mode in fig. 2 and fig. 8 in the above embodiments, which will not be described in detail. In addition, the radar target simulator 122 is also connected with the control end of the upper computer through a USB interface by using a USB power supply serial communication line.
It should be noted that, as shown in fig. 13, the tool design for testing the fm continuous wave radar sensor 121 is mostly placed along a plane, and the target simulator is placed in a direction normal to the plane, so that the difference between the detected target simulation results is small.
The radar target simulator 122 simulates the detected target distance, target speed and target amplitude of the detected target based on the received electromagnetic wave emitted by the frequency modulation continuous wave radar sensor 121 and the simulated target parameter related to the detected target, and returns the simulated target signal conforming to the detected target distance, target speed and target amplitude of the detected target to the corresponding radar sensor, so that the radar sensor obtains the detected target distance, target speed and target amplitude of the detected target based on the received simulated target signal.
In one embodiment, as shown in fig. 12, the radar target simulator 122 is mounted in a direction normal to the tool plane at a distance d from the tool plane. D satisfies a fixed distance relationship;
wherein the fixed distance relationship comprises:
and D is the diagonal length of the fixture for fixing the frequency modulation continuous wave radar sensor, and lambda is the wavelength in the air corresponding to the electromagnetic wave under the radar working frequency.
In the general circular polarization design, the ratio of the magnitudes of two linear polarizations after the circular polarization is split into two orthogonal linear polarizations is called an axial ratio. When the axial ratio is less than or equal to 3dB, the circular polarization design requirement is considered to be met. While fig. 14 shows the axial ratio index of the target simulator in the present embodiment at each main direction angle, it can be seen that the axial ratio index in the present embodiment is basically kept below 1dB, and the circular polarization stringency is higher than the general standard.
Thus, compared with the prior art, the invention has the following advantages:
1. based on the technical scheme of the invention, the microwave radar testing scheme is more economical and flexible, has better scene repeatability and controllability, is changed from the previous qualitative measurement of a random target scene to the quantitative measurement of fixed target information, and plays an important role in the research and development of the radar, the problem analysis and the production process.
2. The technical scheme provided by the invention comprises a design of the built-in circularly polarized antenna, so that the harsh requirement on the polarization direction of the antenna of the radar product is reduced in the use process, and the problem of large performance difference of the simulation target caused by improper placement of the polarization direction of the antenna of the radar product is solved. In a batch radar product testing scene, the problem of large performance difference of simulation targets caused by position difference of batch radar products is also reduced, and the consistency of results of batch testing is improved.
3. Based on the technical scheme of the invention, the high-integration and miniaturized design is adopted, the portable and portable shielding device is convenient to carry and install, no obstacle is caused when the portable and miniaturized shielding device is used in a narrow environment, the relative size of the corresponding shielding environment can be relatively small, and the space and cost of the shielding environment are saved.
4. Based on the technical scheme of the invention, the USB interface of the upper computer can meet the power supply requirement in consideration of low-power consumption design, and the USB interface of the upper computer does not need to occupy the direct current power supply additionally, thereby being convenient to use and saving the cost of purchasing the direct current power supply.
In summary, according to the radar target simulator and the microwave radar sensing test system based on the mixing mode, the circuit of the radar target simulator based on the mixing mode is used for generating and returning the echo signal containing the detection target information to the radar sensor after receiving the electromagnetic wave signal of the radar sensor, and whether the function of the radar in an actual scene can meet the use requirement is deduced through the processing capability of the radar on the echo signal. Target characteristic information of radar echo signals is accurately set, so that microwave radar testing is more economical and flexible, and scene repeatability and controllability are better.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.
Claims (12)
1. A radar target simulator based on a mixing mode, for simulating a detected target, the target simulator comprising:
the device comprises a signal receiving module, a low noise amplifier, a first attenuator, a low pass filter module, a first mixer, a second mixer, a processing module, a first local oscillator generator, a second local oscillator generator, a high pass filter module, a second attenuator, a power amplifier and a signal transmitting module;
the signal receiving module, the low noise amplifier, the first attenuator, the first mixer, the low-pass filtering module, the second mixer, the high-pass filtering module, the second attenuator and the power amplifier are sequentially connected in series; the first mixer is connected with the first local oscillator generator, and the second mixer is connected with the second local oscillator generator; the processing module is respectively connected with the first local oscillator generator and the second local oscillator generator;
The signal receiving module receives an electromagnetic wave signal sent by a radar sensor, and then sequentially amplifies the electromagnetic wave signal and adjusts the amplitude of the electromagnetic wave through the low-noise amplifier and the first attenuator; the signal output by the first local oscillator generator, which is set with preset parameters based on the corresponding set simulation target parameters by the processing module, and the signal output by the first attenuator are converted to an intermediate frequency signal by the first mixer, the high frequency signal part of the signal output by the first mixer is filtered by the low-pass filtering module, the low frequency signal part is reserved, the signal output by the second local oscillator generator, which is set with preset parameters based on the corresponding set simulation target parameters by the processing module, and the signal output by the low-pass filtering module are subjected to frequency conversion and frequency mixing, the low frequency signal part of the signal output by the second mixer is filtered by the high-pass filtering module, the high frequency signal part is reserved, the signal is amplified and electromagnetic wave amplitude is regulated by the second attenuator and the power amplifier sequentially, and the signal transmitting module returns the simulation target signal conforming to the simulation target to the radar sensor.
2. The hybrid-based radar target simulator of claim 1, wherein the radar target simulator is configured to simulate a target speed and a target amplitude of a doppler radar detection target for returning a simulated target signal that corresponds to the doppler radar detection target to a corresponding doppler radar sensor.
3. The radar target simulator based on the mixing method according to claim 2, wherein the method of simulating the target speed of the doppler radar detection target comprises:
changing a signal with a corresponding frequency by the first local oscillator generator according to a digital signal generated by the processing module based on a first analog target parameter related to the target speed of the Doppler radar detection target, outputting the signal with the corresponding frequency by the first local oscillator generator, converting the signal output by the first local oscillator generator and the signal output by the first attenuator into an intermediate frequency signal by the first mixer, filtering a high-frequency signal part of the signal output by the first mixer by a low-pass filtering module, reserving a low-frequency signal part, changing the signal with the corresponding frequency by the second local oscillator generator according to a digital signal generated by the processing module based on a second analog target parameter related to the target speed of the Doppler radar detection target by the second mixer, carrying out frequency conversion and frequency mixing on the signal with the corresponding frequency output by the second local oscillator generator and the signal output by a low-pass filtering module, filtering a low-frequency signal part of the signal output by the second mixer, reserving the high-frequency signal part, and amplifying the signal with a power amplifier in sequence, and amplifying the signal with the power amplifier to generate an electromagnetic wave according to the target speed of the Doppler radar detection target;
The method comprises the steps of setting a first simulation target parameter and a second simulation target parameter, and generating a simulation target signal which accords with the target speed of a Doppler radar detection target by changing the frequency of output signals of a first local oscillator generator and a second local oscillator generator.
4. The radar target simulator based on the mixing method according to claim 2, wherein the method for simulating the target amplitude of the doppler radar detection target by the target simulator comprises:
and adjusting the amplitude of the signal by setting one or more of parameters of a low noise amplifier, a first attenuator, a second attenuator and a power amplifier, and generating an analog target signal of the output power which accords with the target amplitude.
5. The mixed mode based radar target simulator of claim 1, further comprising: a phase control circuit connected between the power amplifier and the signal transmitting module; the radar target simulator is used for simulating the detection target distance, the target speed and the target amplitude of the detection target of the frequency modulation continuous wave radar so as to return the simulated target signal which accords with the detection target of the frequency modulation continuous wave radar to the corresponding frequency modulation continuous wave radar sensor.
6. The radar target simulator based on a mixing scheme according to claim 5, wherein the scheme for simulating the detection target distance of the detection target of the modulated continuous wave radar comprises:
changing a signal with a corresponding frequency by the first local oscillator generator according to a digital signal generated by the processing module based on a third analog target parameter related to the detection target distance of a frequency modulation continuous wave radar detection target, outputting the signal with the corresponding frequency by the preset parameter of the first local oscillator generator, converting the signal output by the first local oscillator generator and the signal output by the first attenuator to an intermediate frequency signal by the first mixer, filtering a high-frequency signal part of the signal output by the first mixer by a low-pass filter module, reserving a low-frequency signal part, changing the signal with the corresponding frequency by the first local oscillator generator according to a digital signal generated by the processing module based on a fourth analog target parameter related to the detection target distance of the frequency modulation continuous wave radar detection target by the second mixer, carrying out frequency conversion frequency mixing on the signal with the corresponding frequency output by the low-pass filter module, filtering a low-frequency signal part of the signal output by the second mixer, reserving a high-frequency signal part, sequentially amplifying the signal with the second mixer, and controlling the amplitude, and adjusting the amplitude of the signal to be consistent with the detection target distance of the target, and generating an electromagnetic wave signal;
The frequency of the signals output by the first local oscillator generator and the second local oscillator generator is changed by setting the third simulation target parameter and the fourth simulation target parameter so as to generate a simulation target signal which accords with the intermediate frequency beat signal frequency of the detection target distance, and then the simulation target signal which accords with the detection target distance of the frequency modulation continuous wave radar detection target is generated.
7. The radar target simulator based on a mixing scheme according to claim 5, wherein the scheme for simulating the target speed of the modulated continuous wave radar detection target comprises:
changing a signal with a corresponding phase by the first local oscillator generator according to a received digital signal generated by the processing module based on a fifth analog target parameter related to the detection target speed of the frequency modulation continuous wave radar detection target, outputting the signal with the corresponding phase by the first local oscillator generator and the signal output by the first attenuator through the first mixer, converting the signal output by the first local oscillator generator and the signal output by the first attenuator into an intermediate frequency signal, filtering a high-frequency signal part of the signal output by the first mixer through a low-pass filter module, reserving a low-frequency signal part, changing the signal with the corresponding phase by the second local oscillator generator according to the received digital signal generated by the processing module based on a sixth analog target parameter related to the target speed of the frequency modulation continuous wave radar detection target through the second mixer, converting and mixing the signal with the corresponding phase output by the low-pass filter module, filtering a low-frequency signal part of the signal output by the second mixer and reserving a high-frequency signal part, amplifying the signal with the second mixer and the power in turn, amplifying the signal with the second mixer and the phase, amplifying the signal with the power, and controlling the amplitude, and adjusting the amplitude of the signal to be consistent with the target speed of the target speed, and generating an electromagnetic wave signal according to the detection target speed;
The method comprises the steps of setting fifth simulation target parameters and sixth simulation target parameters to change phases of output signals of a first local oscillator generator and a second local oscillator generator, and setting phase parameters of a phase control circuit to generate a simulation target signal corresponding to an intermediate frequency beat signal phase conforming to a target speed so as to generate a simulation target signal conforming to a target speed of a frequency modulation continuous wave radar detection target.
8. The radar target simulator based on a mixing scheme according to claim 5, wherein the scheme for simulating the target amplitude of the modulated continuous wave radar detection target comprises:
and adjusting the amplitude of the signal by setting one or more of parameters of a low noise amplifier, a first attenuator, a second attenuator and a power amplifier, and generating an analog target signal of the output power which accords with the target amplitude.
9. The radar target simulator based on a mixing scheme according to claim 1, wherein the signal receiving module comprises: a circular polarization receiving antenna, a first radio frequency switch and a receiving radio frequency head are arranged in the antenna;
the built-in circularly polarized receiving antenna is used for receiving electromagnetic wave signals in the orthogonal direction;
The receiving radio frequency head is used for externally connecting a receiving antenna so as to receive electromagnetic wave signals through the receiving antenna;
the first radio frequency switch is connected with the built-in circularly polarized receiving antenna and the receiving radio frequency head and is used for controlling the built-in circularly polarized receiving antenna or the receiving antenna externally connected with the receiving radio frequency head to correspondingly receive electromagnetic wave signals so as to input the electromagnetic wave signals to the low noise amplifier.
10. The radar target simulator based on a mixing scheme according to claim 1, wherein the signal transmitting module comprises: a circular polarization transmitting antenna, a second radio frequency switch and a transmitting radio frequency head are arranged in the antenna;
the built-in circularly polarized transmitting antenna is used for transmitting a simulated target signal in the form of circularly polarized electromagnetic waves;
the transmitting radio frequency head is used for being externally connected with a transmitting antenna so as to transmit the analog target signal through the transmitting antenna;
the second radio frequency switch is connected with the built-in circular polarization transmitting antenna and the transmitting radio frequency head and is used for controlling the built-in circular polarization transmitting antenna or the transmitting antenna externally connected with the transmitting radio frequency head to transmit the simulation target signal.
11. The radar target simulator based on the mixing mode according to claim 1, wherein the processing module is configured to set the simulation target parameter based on a control instruction of a host computer control terminal connected to the radar target simulator, and generate a digital signal according to a characteristic of the simulation target.
12. A microwave radar sensing test system, the system comprising:
the radar sensors are respectively arranged on the tool plane of the fixed tool;
the radar target simulator of any of claims 1 to 11, mounted in a direction normal to a tool plane;
the radar target simulator simulates the detection target based on the received electromagnetic wave signals emitted by the radar sensors and the simulation target parameters related to the detection target, and returns each simulation target signal conforming to the detection target to the corresponding radar sensor.
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