CN116819470A - Method for compressing and transmitting pulse Doppler radar image signals - Google Patents
Method for compressing and transmitting pulse Doppler radar image signals Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
Abstract
The invention discloses a method for compressing and transmitting image signals of a pulse Doppler radar, which comprises the following steps: s1, acquiring pulse Doppler radar RD data, and performing CFAR operation on the RD data; s2, compressing the pulse Doppler radar RD data by using a CFAR operation result; s3, transmitting compressed pulse Doppler radar RD data; s4, forming an image formed by the recombined RD diagram and the map sub-frame through the pulse Doppler radar RD data. The invention can transmit the main information contained in the RD diagram by using smaller bandwidth under the condition of basically not losing the information of the RD diagram of the pulse Doppler radar.
Description
Technical Field
The invention relates to the technical field of signal processing, in particular to a method for compressing and transmitting a pulse Doppler radar image signal.
Background
The pulse Doppler radar signal processing system has the characteristics of high floating point calculation density, high parallelism, concentrated algorithm and the like, and the formed detection result mainly comprises information such as whether a detected target exists, distance, doppler speed, target reflected signal intensity and the like. The method is characterized in that whether a target exists or not and the extraction of target related information can be formed by judging an image of a range-Doppler (RD) domain of a radar signal, an RD diagram is the basis of pulse Doppler radar information judgment, the target position is usually directly obtained through CFAR (constant false alarm) algorithm judgment, and the radar information processing result is equivalent to the information of the position, doppler speed, intensity and the like of one or more points on the transmission RD diagram. Since the target patterns displayed by the RD map are various due to different forms of targets, manual observation of the RD map and pattern recognition of the follow-up RD map are also required, and the position of CFAR detection and the position of map reading may not be one place any more, so that transmission is required, and the need of storing the follow-up reprocessing is also required.
The existing compression algorithm for compressing and transmitting RD images generally adopts image processing, generally uses a basic function, also called a kernel function, used for compression as a correlation operation, stores correlation coefficients of the image and each order of basic function, and then uses the coefficients to multiply with the known each order of basic function for re-addition during subsequent restoration so as to restore the original image. The basis function may be selected from sine, cosine, wavelet, etc., and the low frequency information of the stored image is used as main component, which is ignored for the high frequency information properly, so as to store the main characteristic of the image. The RD image is not an image in the traditional sense, the common pixel points are not fixed points but floating points, the common basis functions are not necessarily suitable for the characteristics of the RD image, the saved part of the traditional compression algorithm is not necessarily required, and the compression effect is not necessarily required for the follow-up observation and processing of the RD image. Meanwhile, even if other lossless compression algorithms are not necessary for radar information processing, new logic or calculation resources are added to complete operation, and related operation of image information compression is complex and a rapid low-resource algorithm is not necessarily needed. An algorithm more suitable for the RD graph characteristics can be found, and the algorithm is fused with a radar algorithm to achieve a better effect.
Disclosure of Invention
Aiming at the defects in the prior art, the method for compressing and transmitting the pulse Doppler radar image signals solves the problem of compressing and transmitting the RD image.
In order to achieve the aim of the invention, the invention adopts the following technical scheme: a method of pulse doppler radar image signal compression and transmission comprising the steps of:
s1, acquiring pulse Doppler radar RD data, and performing CFAR operation on the RD data;
s2, compressing the pulse Doppler radar RD data through a CFAR operation result;
s3, transmitting compressed pulse Doppler radar RD data;
s4, forming an image formed by the recombined RD diagram and the map sub-frame through the pulse Doppler radar RD data.
Further: the step S1 specifically comprises the following steps:
s11, forming a plurality of pulse trains for the pulse Doppler radar after reflecting the electromagnetic pulse by using the target, and performing pulse compression operation on each pulse to finish the operation of the distance direction;
s12, doppler accumulation processing is carried out, doppler pulse accumulation is carried out through a plurality of pulse trains, and distance and Doppler accumulated data are arranged in a two-dimensional mode, so that RD images are formed;
and S13, performing CFAR operation, detecting whether the target point exists, if so, acquiring the distance direction position and Doppler speed of the target point, otherwise, judging whether the map sub-frame needs to be transmitted.
Further: the CFAR operation adopts a CA-CFAR algorithm or other algorithms, such as a G0-CFAR algorithm and an SO-CFAR WCA algorithm, and aims to give one or more signal points as target points or consider that no target exists, if the target exists, the reflection energy corresponding to the signal points reflected by the target on the RD image is obviously higher than surrounding points, and is higher than noise, and the ratio of the signal points to the noise is higher than a preset fixed value.
Further: the step S2 specifically comprises the following steps:
s21, using the number of targets in the RD map obtained by CFAR operation, setting the position of each target in the RD, and giving the range of the RD map associated with each target to form a plurality of CFAR key subframes;
s22, putting a plurality of CFAR key subframes into a transmission frame, if the transmission frame is not full, entering a step S23, and if the transmission frame is full, directly transmitting;
s23, judging whether the map sub-frame needs to be transmitted, if so, entering a step S24, otherwise, entering a step S25;
s24, extracting RD partial images with Doppler speed of 0 to form map subframes, putting the map subframes into transmission frames, directly transmitting if the transmission frames are full, and entering step S25 if the transmission frames are not full;
s25, the idle frames are put in the rest positions of the transmission frames in turn and then transmitted.
Further: the idle frame is the part of the RD image excluding the CFAR key sub-frame and the map sub-frame.
Further: the transmission frame consists of a frame header and data, wherein the frame header defines the size of a transmission packet, the number of CFAR key subframes contained in the transmission frame, the position of an RD diagram of each CFAR key subframe, wave bit information, CFAR key subframe data, whether map subframes are included, map subframe data, whether idle subframe positions are included, idle subframe position data and idle subframe data.
Further: the step S4 specifically includes: and restoring the RD image at the corresponding position of the CFAR key subframe through the obtained image of the CFAR key subframe, filling the RD image without the CFAR key subframe with the obtained idle subframe, setting the image data at the RD image to be zero if the idle subframe is not available, combining map subframes scanned in the azimuth direction into a map formed by reflecting a static object, and replacing the map subframe obtained before the map subframe is not obtained in the azimuth dimension if the map subframe is not obtained in the azimuth direction dimension, and setting the image data at the position to be zero if the map subframe is not available before the map subframe is not available.
The beneficial effects of the invention are as follows: the invention utilizes the CFAR related algorithm of radar target discovery to indicate the key information area in the RD diagram, and reduces the transmission of non-key information. And meanwhile, the transmission bandwidth resource is utilized as much as possible, and under the condition that the transmission quantity of key information is small, the information captured by other radar RD diagrams is transmitted, so that the bandwidth resource and the RD diagram information are fully utilized. The invention can transmit the main information contained in the RD diagram by using smaller bandwidth under the condition of basically not losing the information of the RD diagram of the pulse Doppler radar.
Drawings
FIG. 1 is a schematic diagram of a system overall;
FIG. 2 is a schematic diagram of the formation and transmission composition of RD diagram;
fig. 3 is a flow chart of the formation of a transmission frame;
fig. 4 is a format diagram of a transmission frame;
FIG. 5 is a RD diagram recovered in an embodiment;
fig. 6 is a stationary object "map" composed of map subframes in an embodiment.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
For a DSP+FPGA or GPU platform used in the radar system at present, a device unit for displaying and storing images is not generally located at the same position as a radar processing unit, a certain transmission process is needed, meanwhile, a display unit is generally required to display various information, information transmitted by a plurality of radar sensors is required to be transmitted by one radar, other sensors or share transmission bandwidth, as shown in figure 1, based on the characteristics of the platform, the invention adopts a basis function based on CFAR function guidance, so that the CFAR calculation process indicates the characteristics of RD images and simultaneously reserves partial RD image information according to the characteristics of radar detection, and information compression and transmission of RD images are realized.
The basis function processing mechanism used by the system saves the target Doppler information concerned by the pulse Doppler radar as much as possible, so that the characteristics of RD are extracted to a certain extent to fuse the radar processing flow, but the target description word is simply obtained. Thus, the observation of the target is richer, and the characteristics of the target displayed on the RD chart can be further analyzed on the follow-up processing including manual observation images or machine learning observation RD images. Meanwhile, the method can also provide assistance for environment detection, such as a pulse Doppler radar with general mechanical scanning or electronic phase scanning, if a radar carrier is stationary, a radar wave accumulation generation part with the speed of zero in an RD chart is generated by radar wave accumulation reflected by stationary objects in the environment, stationary object reflection data shown by RD on each wave position are recorded and transmitted as important data, and RD data of a moving object are added, so that a static radiation environment map can be formed, and the position and possible RD mode of the moving object can be obtained simultaneously.
The method comprises RD complete data acquisition and key data screening and transmission of the pulse Doppler radar. The flow is shown in fig. 2. The main processing procedures comprise:
(1) Acquisition of pulse Doppler radar RD data and CFAR operation
Firstly, a plurality of pulse trains are formed for the pulse Doppler radar after the electromagnetic pulse is reflected by the target, and each pulse is subjected to pulse compression operation to finish the operation of the distance direction. And then Doppler accumulation processing is carried out, doppler pulse accumulation is carried out through a plurality of sum pulses, and the distance and Doppler accumulated data are arranged in a two-dimensional mode, so that an RD image is formed.
And secondly, CFAR operation is carried out, whether the target exists or not is detected, and the distance direction position and the Doppler speed of the target are obtained. The CFAR process may take a number of forms including using CA-CFAR or other algorithms such as G0 (great of) -CFAR, SO (small of) -CFAR WCA (weighted cell-averaging), etc., the purpose of the CFAR operation is to give one or more points that generally have a corresponding reflected energy on the RD image that is significantly higher than surrounding points, while being significantly higher than noise, the ratio of signal point to noise being higher than a set fixed value that is generally associated with a fixed false alarm rate and false alarm rate. For a given target point, and surrounding points, a certain mode is formed, typically if the target point is reflected, an intensity distribution in the form of a SINC function is formed in both the range and doppler dimensions, and if the distribution deviates significantly from the SINC function, the target may roll over, multiple small targets gather, or other moving parts behind the target.
(2) Pulse Doppler radar RD data compression
The location of the target point in the RD map given by the CFAR operation, and its surrounding points, are typically areas of the target's characteristic set. The output CFAR operation gives the RD map information around the point, i.e. compression of the RD map is achieved. The target point position of the CFAR output can be seen as the origin position of a radial basis function, and the principal function range of the basis function can be defined by the window function range of distance and doppler velocity in pulsed doppler processing. The form of the base function can be a form of a window function or other forms, if a rectangular window function is used, the correlation operation result of the image function and the base function is the image function in the window, no special operation is needed, the operation of common compression is simplified, and the part outside the window is noise information, no care is needed, zero can be directly set, and calculation and transmission are not needed. Since the higher order part of the basis function has little meaning for the RD image, it can be used without calculation. For more than one target, the image values in a plurality of windows can be extracted, in general, in the actual scene of pulse Doppler radar application, the targets detected by CFAR in one frame of RD map are not a plurality of targets, or the situation that most image points in the RD map are targets is generally not generated, so that the coverage range of the basis function window is far smaller than the range of the whole RD image, and the method realizes the compression of the RD map. On the basis, the RD image is compressed, namely a part of the RD image is selected, the selection method is that the result given by using the CFAR operation indicates the central position of the part to be selected, and the selected range can also be given by the CFAR operation or according to the target to be detected by the radar and the parameters of the radar, such as partial pixel points around the central point, such as 16 points around, or 32 points around, or just the central point. After selecting a part of RD image, the part can be directly transmitted or the sub-part image is subjected to traditional image compression, and compared with the image compression, the method is a feasible method because the data volume of the selected part is small, and more calculation resources are not required to be invoked for direct transmission.
Characteristics of the object, such as the fly object pose roll, or the object's behavior with small moving parts thereon, may be observed and analyzed by observing the RD map to derive more relevant information, relative to transmitting only a portion of the RD map around the center point given by the CFAR. This is the sense of transmitting RD pictures. The CFAR points and their surrounding points are referred to as "CFAR key subframes" of the RD map in the following.
For ground radars observing near-ground targets, due to small observation elevation angles, or perhaps overhead observations, the reflected signals of ground stationary or quasi-stationary environmental objects are usually clutter filtered out by doppler accumulation for CFAR processing, but the information acquired for the whole radar may be beneficial, and it may be considered that a window is opened at the doppler direct current (signal reflected by the stationary object) of the RD diagram, and the RD domain doppler direct current signal of multiple scanning wave positions can form the outline of a ground stationary object, so as to analyze the relationship among the radar, the target and the environment. And this part is not the area pointed out by the pulse CFAR. The set of points of the doppler dc signal in the RD map is referred to as the "map subframe" of the RD map. In contrast to the "CFAR key subframe", the "map subframe" is a "CFAR key subframe" in which the doppler direct current of the graph in the RD is fixedly selected as a "center point", but the "center point" is a straight line in the RD graph, and represents a signal reflected by a stationary object, and the area selected during compression is a strip-shaped area near the doppler direct current image in the RD graph, and usually only one straight line is selected.
For the situation that no CFAR target is detected, a part of the RD image can be sequentially transmitted, and the radar has a certain scanning speed, so that the whole RD image can be obtained through a certain time, although all parts of the RD image are not images of the same frame, the partial updating of the RD image outside a CFAR pointing window is possible during manual observation, reflectors which are ignored by some CFAR algorithms can be possibly found, and meanwhile, for the parts outside a non-CFAR key subframe and a map subframe, hereinafter referred to as idle frames, the updating of the idle frames can obtain dynamic RD images so as to facilitate manual observation.
The transmission frame forming flow is shown in fig. 3, and specifically includes:
s21, using the number of targets in the RD map obtained by CFAR operation, setting the position of each target in the RD, and giving the range of the RD map associated with each target to form a plurality of CFAR key subframes;
s22, putting a plurality of CFAR key subframes into a transmission frame, if the transmission frame is not full, entering a step S23, and if the transmission frame is full, directly transmitting;
s23, judging whether the map sub-frame needs to be transmitted, if so, entering a step S24, otherwise, entering a step S25;
s24, extracting RD partial images with Doppler speed of 0 to form map subframes, putting the map subframes into transmission frames, directly transmitting if the transmission frames are full, and entering step S25 if the transmission frames are not full;
s25, the idle frames are put in the rest positions of the transmission frames in turn and then transmitted.
(3) Transmission pulse Doppler radar RD data compression
The transmission and updating of the three partial RD diagrams can be adjusted according to the transmission capacity of an actual system, and certain weight is set to ensure the richness of acquired information. The update area as indicated by CFAR, i.e. CFAR key subframes, typically have the highest priority, if the transmission bandwidth is not full, the map subframes may be updated, and finally the idle frames without targets updated and transmitted. The transmission may be via a common transmission means or line such as ethernet, serial bus, wireless channel transmission means, etc. A fixed transmission frame format may be formed at the time of transmission. Consists of frame header and data. The frame header defines the size of the transmission packet, the number of CFAR key subframes included, the position of the RD map where each CFAR key subframe is located, wave position information, CFAR key subframe data, whether map subframes are included, map subframe data, whether idle subframe positions are included, idle subframe position data, and idle subframe data. The format of a transmission frame is shown in fig. 4. According to the characteristics of the radar system, the size of a whole frame and the transmission frequency of the frame are specified, the transmission frequency of the whole frame is generally the same as the frequency of radar wave position change, the size of the whole frame is jointly determined by the transmission bandwidth and the frequency which can be provided by the system, and according to the number of targets of the CFAR and whether map subframes need to be transmitted, the rest part is filled with idle frames in sequence, so that the transmission can be realized.
(4) Cognition of transmitted images
And restoring the RD image at a corresponding position through the obtained image of the current CFAR key subframe, filling the PD image without data with the previously obtained idle subframe, and setting the image data at the position to zero if the idle subframe data is not available. Map sub-frames scanned in the azimuth direction are combined into a map formed by reflecting a static object, if the map sub-frame in the azimuth dimension is not obtained currently, the map sub-frame obtained last time is replaced by the map sub-frame obtained last time, and if the map sub-frame is not obtained previously, the image at the position is zeroed. The image forms formed by the reorganized RD map and map sub-frames are shown in FIGS. 5 and 6.
Example 1
A frame of full pulse doppler radar RD map contains 2048×512 pixels, where the distance is 2048, the doppler velocity is 512, each pixel contains 32 bits of data, 40 frames of data are generated per second, if 160MB/s of bandwidth is required for all transmission, the CFAR key subframe is set to contain 16×16 pixels, assuming that the CFAR detects less than 10 targets in each full RD map, and the CFAR key frames are all transmitted, the transmission bandwidth only needs 400KB/s. If the CFAR does not detect the target, outputting a map sub-frame and two idle frames in each RD map can be completed under the bandwidth of 400KB/s, and updating a complete RD map after 51.2 seconds by the idle frames.
Example 2
In the hybrid updating mode, the radar completes 360-degree mechanical circumference scanning in 4 seconds, the target pitch angle is measured through the antenna and the differential beam, if the radar is not moving, the map sub-frame is not updated in real time after the radar completes the circumference scanning, and the time for updating a complete RD map by the idle frame can be further shortened. Or the idle frame extraction is concentrated on the RD graph in a direction of important attention and interest, so that the information of the RD graph has more reference significance.
Example 3
When the distribution of CFAR points is concentrated or is specially distributed in the speed dimension or the distance dimension, if the spread of the target on the RD graph is obviously different from that of the target of the common point, the range of the key frame can be changed to form 32×32, 16×32, 32×16, and the like. The obtained key frame can better reflect the characteristics of the target.
Claims (7)
1. A method for compression and transmission of pulsed doppler radar image signals, comprising the steps of:
s1, acquiring pulse Doppler radar RD data, and performing CFAR operation on the RD data;
s2, compressing the pulse Doppler radar RD data through a CFAR operation result;
s3, transmitting compressed pulse Doppler radar RD data;
s4, forming an image formed by the recombined RD diagram and the map sub-frame through the pulse Doppler radar RD data.
2. The method for compressing and transmitting pulse doppler radar image signals according to claim 1, wherein said step S1 is specifically:
s11, forming a plurality of pulse trains for the pulse Doppler radar after reflecting the pulse trains by using a target, and performing pulse compression operation on each pulse to finish the operation of the distance direction;
s12, doppler accumulation processing is carried out, doppler pulse accumulation is carried out through a plurality of pulse trains, and distance and Doppler accumulated data are arranged in a two-dimensional mode, so that RD images are formed;
and S13, performing CFAR operation, detecting whether the target point exists, if so, acquiring the distance direction position and Doppler speed of the target point, otherwise, judging whether the map sub-frame needs to be transmitted.
3. A method of pulse doppler radar image signal compression and transmission according to claim 2, characterized in that the CFAR operation uses a CA-CFAR algorithm or other algorithms, such as G0-CFAR, SO-CFAR WCA algorithm, the purpose of which CFAR operation is to give one or more signal points as target points, or to consider that there is no target, if there is a target, the signal points reflected by the target correspond to a significantly higher reflected energy on the RD image than surrounding points, and simultaneously higher than noise, the ratio of signal points to noise being higher than a preset fixed value.
4. The method for compressing and transmitting pulse doppler radar image signals according to claim 1, wherein said step S2 is specifically:
s21, using the number of targets in the RD map obtained by CFAR operation, setting the position of each target in the RD, and giving the range of the RD map associated with each target to form a plurality of CFAR key subframes;
s22, putting a plurality of CFAR key subframes into a transmission frame, if the transmission frame is not full, entering a step S23, and if the transmission frame is full, directly transmitting;
s23, judging whether the map sub-frame needs to be transmitted, if so, entering a step S24, otherwise, entering a step S25;
s24, extracting RD partial images with Doppler speed of 0 to form map subframes, putting the map subframes into transmission frames, directly transmitting if the transmission frames are full, and entering step S25 if the transmission frames are not full;
s25, the idle frames are put in the rest positions of the transmission frames in turn and then transmitted.
5. The method of claim 4, wherein the idle frame is a portion of the RD image excluding CFAR key subframes and map subframes.
6. The method according to claim 4, wherein the transmission frame is composed of a frame header and data, the frame header defining a size of a transmission packet, a number of CFAR key subframes included, a position of an RD map in which each CFAR key subframe is located, wave position information, CFAR key subframe data, whether map subframes are included, map subframe data, whether idle subframe position data, and idle subframe data.
7. The method for compressing and transmitting pulse doppler radar image signals according to claim 1, wherein said step S4 is specifically: and restoring the RD image at the corresponding position of the CFAR key subframe through the obtained image of the CFAR key subframe, filling the RD image without the CFAR key subframe with the obtained idle subframe, setting the image data at the RD image to be zero if the idle subframe is not available, combining map subframes scanned in the azimuth direction into a map formed by reflecting a static object, and replacing the map subframe obtained before the map subframe is not obtained in the azimuth dimension if the map subframe is not obtained in the azimuth direction dimension, and setting the image data at the position to be zero if the map subframe is not available before the map subframe is not available.
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