CN116819508B - Radar positioning and ranging method based on TDR - Google Patents
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Abstract
The invention relates to the field of radar ranging, and discloses a radar positioning ranging method based on TDR. The method realizes radar positioning ranging by calculating the time delay between the detection signal and the reflection signal; calculating autocorrelation signals of the detection signal and the reflection signal respectively, and sampling the autocorrelation signals; by calculating an error function of the detected signalΓ(s) error function of the autocorrelation signal of said reflected signalE(k) Solving fitting vectors respectively satisfying partial differential equation 0sAndkto solve for the radar positioning ranging size. Compared with the prior art, the radar positioning and ranging method based on the TDR improves the radar positioning and ranging precision.
Description
Technical Field
The invention relates to the field of radar ranging, in particular to a radar positioning ranging method based on TDR.
Background
Radar, which is known as radio detection and ranging, as its name implies, is a tool that detects an observed scene by radio transmission and reception. Because the radar has the advantages of resisting natural bad weather conditions and the like and realizing all-weather observation, the radar is very important in academia and industry, and various composite information such as polarization, airspace position, azimuth and altitude, distance, radial speed and the like of a target can be obtained by observing a scene through a modern radar system in the period of accelerated development of recent decades. The radar is widely applied to military equipment, is widely used in the civil field, and plays a wide role in promoting economic development, assisting automatic driving, guaranteeing agricultural production and the like.
Radar positioning ranging is typically achieved using Time Domain Reflectometry (TDR), i.e. by calculating the time delay between a detected signal and a reflected signal. Therefore, measuring the time delay between the probe signal and the reflected signal is critical to radar location ranging accuracy. In the prior art, the time delay is usually calculated by comparing peak points of the detection signal and the reflection signal; however, the method is susceptible to factors such as waveform distortion, sampling clock jitter, channel interference and the like, so that the compared peak point is not an actual peak point, thereby causing delay measurement errors and causing errors in radar positioning and ranging. Further, in the prior art, the detection signal emitted by the radar positioning ranging is usually a narrow-band pulse modulation signal or a continuous carrier signal, the anti-interference capability of the system signal is weak, and the system signal is difficult to adapt to a complex electromagnetic environment, especially along with the development of radar theory and technology and the increasing complexity of the condition of the modern application electromagnetic environment, the existing system radar detection signal is easy to interfere and intercept, so that the detection signal is easy to distort, the true peak point of the detection signal and the reflected signal is difficult to capture, the positioning ranging error is increased, and the modern application requirements are difficult to meet.
Therefore, how to improve the positioning and ranging precision of the radar and enhance the anti-interference capability is a difficult problem to be solved in the radar detection field.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a TDR-based radar positioning ranging method, so as to improve the radar positioning ranging precision and enhance the distortion resistance of detection signals.
The technical scheme is as follows: in order to achieve the above purpose, the invention discloses a radar positioning and ranging method based on TDR, which comprises the following steps:
step one: respectively calculating an autocorrelation signal of the detection signal and an autocorrelation signal of the reflection signal, and respectively sampling the autocorrelation signal of the detection signal and the autocorrelation signal of the reflection signal;
using matricesXA sample matrix representing an autocorrelation signal of the probe signal as shown in equation one; by vectorsYA sample vector representing an autocorrelation signal of the probe signal as shown in the following formula two;
using matricesPA sample matrix representing an autocorrelation signal of the reflected signal as shown in equation three below; by vectorsQA sample vector representing an autocorrelation signal of the reflected signal as shown in equation four below;
equation one
Formula II
Formula III
Equation four
In the first formula of the present invention,a first of the autocorrelation signals representing the detection signaliThe sampling time points of the individual sampled data,a first of the autocorrelation signals representing the detection signaliSampling interval time of the individual sampling data; in formula II->A first of the autocorrelation signals representing the detection signaliAmplitude values; in formula III, < >>A first of the autocorrelation signals representing the reflected signaliSampling time points of the individual sampling data, +.>A first of the autocorrelation signals representing the reflected signaliSampling interval time of the individual sampling data; in formula IV->A first of the autocorrelation signals representing the reflected signaliAmplitude values;Nis the number of sampled data.
Step two: calculating an error function of an autocorrelation signal of the detection signalThe following formula five shows; calculating an error function of an autocorrelation signal of said reflected signal>Solving the error function +.>Satisfy->Fitting vector +.>Let error function +.>Satisfy->Fitting vector +.>；
Formula five
In the fifth formula, the first formula is,srepresenting the fitting vector and，s 0 ，s 1 ，s 2 representing fitting vectors, respectivelysThe 1 st element, the 2 nd element, and the 3 rd element;
formula six
In the sixth formula, the first formula is,krepresenting the fitting vector and，k 0 ，k 1 ，k 2 representing fitting vectors, respectivelykThe 1 st element, the 2 nd element, and the 3 rd element;
step three: calculating the radar positioning distance measurementdAs shown in formula seven, in whichvAs the propagation velocity of the electromagnetic wave,τis time-delayed andτas shown in formula eight, whereins 0 ，s 1 ，s 2 ，k 0 ，k 1 ，k 2 Solving the obtained value in the second step;
equation seven
Equation eight
Preferably, the error function is madeSatisfy->Fitting vector +.>The calculation method of (1) is shown in a formula nine;
formula nine
Wherein the superscript T denotes the matrix transpose and the superscript-1 denotes the inverse of the matrix.
Preferably, the error function is made to satisfyFitting vector +.>The calculation method of (1) is shown in a formula ten;
formula ten
Wherein the superscript T denotes the matrix transpose and the superscript-1 denotes the inverse of the matrix.
Preferably, the detection signal is a broadband detection signal, and the broadband detection signal is:
，
wherein,r(t) In order to shape the pulse(s),δfor shaping the pulser(t) Is used for the time width of (a),c j for the number of chipsMPseudo-random sequence of (c)jThe amplitude of the individual chips is determined,T s for the repetition period time of the broadband probe signal,irepresent the firstiA number of repetition periods of the time period,f c representing the carrier frequency of the wideband probe,f m representing the modulation frequency of the broadband probe signal,Bindicating the frequency offset range of the wideband probe modulation.
Preferably, the shaped pulser(t) Is a gaussian pulse.
Compared with the prior art, the radar positioning and ranging method based on the TDR has the following technical effects:
(1) And the positioning and ranging precision is improved.
In the prior art, the positioning distance is usually obtained by directly comparing peak points of the detection signal and the reflection signal to calculate the transmission delay; however, the method is susceptible to waveform distortion, sampling clock jitter, channel interference and other factors, so that the compared peak point is not a real peak point, thereby causing delay measurement errors and causing errors in radar positioning and ranging. In the technical scheme disclosed by the invention, firstly, the difficulty of peak value capturing during signal comparison is reduced by solving the autocorrelation signals of the detection signal and the reflection signal; then, by sampling the autocorrelation signal, constructing an error function, and solving a fitting vector value of a discrete fitting equation when the error function is equal to zero in a matrix operation mode; and finally, calculating the time delay and the positioning distance by the fitting vector value of the detection signal and the fitting vector value of the reflection signal. According to the technical scheme disclosed by the invention, the peak value point of the autocorrelation signals of the detection signal and the reflection signal can be accurately captured by adopting a numerical calculation mode, and the method is less influenced by sampling clock jitter and waveform distortion. Compared with the prior art, the technical scheme disclosed by the invention improves the accuracy of radar positioning and ranging.
(2) The waveform distortion resistance is improved.
In the prior art, the detection signal emitted by radar positioning ranging is usually a narrow-band pulse modulation signal or a continuous carrier signal, the anti-interference capability of the system signal is weak, and the system signal is difficult to adapt to a complex electromagnetic environment, especially, along with the development of radar theory and technology and the increasing complexity of the condition of the modern applied electromagnetic environment, the detection signal of the existing system radar is easy to interfere and intercept, so that the detection signal is easy to distort, the true peak points of the detection signal and the reflected signal are difficult to capture, and the positioning ranging error is increased. In the technical scheme disclosed by the invention, the detection signal emitted by the radar is a sine wave modulation broadband detection signal, and Gaussian pulse is used as a shaping pulse, so that the problem of poor energy aggregation of the traditional rectangular shaping pulse is solved, the power efficiency of the detection signal is improved, and the waveform distortion caused by band-pass devices such as antenna filtering and the like is reduced; further, in order to improve the reliability of the detection signal in the channel transmission process, a pseudo-random sequence with good autocorrelation characteristics is adopted, so that the energy of the broadband detection signal is expanded to a wider frequency spectrum range, and the concealment capability of the radar detection signal is improved; furthermore, the pseudo-random sequence enables the autocorrelation signals of the detection signal and the reflection signal to have sharp peak characteristics, so that the peak time point of the autocorrelation signals is easier to capture, the time delay of the detection signal and the reflection signal can be accurately calculated, and the radar positioning and ranging precision is improved. Compared with the prior art, the technical scheme disclosed by the invention ensures that the radar detection signal has stronger waveform distortion resistance and interference resistance, and is beneficial to improving the radar positioning and ranging precision.
Additional advantages and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following and practice of the invention.
Detailed Description
The present invention is described in further detail below with reference to examples to enable those skilled in the art to practice the same by referring to the description.
In the prior art, the positioning distance is usually obtained by directly comparing peak points of the detection signal and the reflection signal to calculate the transmission delay; however, the method is susceptible to waveform distortion, sampling clock jitter, channel interference and other factors, so that the compared peak point is not a real peak point, thereby causing delay measurement errors and causing errors in radar positioning and ranging.
In order to solve the problems in the prior art, the embodiment of the invention discloses a radar positioning and ranging method based on TDR. In the method, radar positioning ranging is realized by calculating the time delay between the detection signal and the reflection signal, and the difficulty of peak value capturing during comparison of the signals is reduced by solving the autocorrelation signals of the detection signal and the reflection signal; then, by sampling the autocorrelation signal, constructing an error function, and solving a fitting vector value of a discrete fitting equation when the error function is equal to zero in a matrix operation mode; and finally, calculating the time delay and the positioning distance by the fitting vector value of the detection signal and the fitting vector value of the reflection signal. Specifically, the method comprises the following steps:
step one: respectively calculating an autocorrelation signal of the detection signal and an autocorrelation signal of the reflection signal, which are used for reducing the difficulty of peak capture when comparing signals, and then respectively sampling the autocorrelation signal of the detection signal and the autocorrelation signal of the reflection signal;
using matricesXA sample matrix representing an autocorrelation signal of the probe signal as shown in equation one; by vectorsYA sample vector representing an autocorrelation signal of the probe signal as shown in the following formula two;
using matricesPA sample matrix representing an autocorrelation signal of the reflected signal as shown in equation three below; by vectorsQA sample vector representing an autocorrelation signal of the reflected signal as shown in equation four below;
equation one
Formula II
Formula III
Equation four
In the first formula of the present invention,a first of the autocorrelation signals representing the detection signaliThe sampling time points of the individual sampled data,a first of the autocorrelation signals representing the detection signaliSampling interval time of the individual sampling data; in formula II->A first of the autocorrelation signals representing the detection signaliAmplitude values; in formula III, < >>A first of the autocorrelation signals representing the reflected signaliSampling time points of the individual sampling data, +.>A first of the autocorrelation signals representing the reflected signaliSampling interval time of the individual sampling data; in formula IV->A first of the autocorrelation signals representing the reflected signaliAmplitude values;Nis the number of sampled data.
Step two: calculating an error function of the autocorrelation signal of the detection signal based on the sampling matrix and vectorThe following formula five shows; solving for the error function>Satisfy->Fitting vector at time. I.e. by rational setting of the fitting vector +.>The value of (2) is such thatXsAnd (3) withYThe difference of (2) approaches zero at this timeXsThe sampled amplitude of the autocorrelation signal can be accurately fitted.
Formula five
In the fifth formula, the first formula is,srepresenting the fitting vector and，s 0 ，s 1 ，s 2 representing fitting vectors, respectivelysThe 1 st element, the 2 nd element, and the 3 rd element. According to the operation rule of the matrix, < >>And (3) transforming to obtain:
the following derivation and solution causes the error function to be obtainedSatisfy->Fitting vector +.>Is a value of (2).
Further, let theThere is the following formula nine, where the superscript T denotes the transpose of the matrix and the superscript-1 denotes the inverse of the matrix.
Formula nine
Calculating an error function of an autocorrelation signal of the reflected signalThe following formula six shows; solving for error function->Satisfy->Fitting vector +.>In the sixth formula, the first and second formulas,krepresenting the fitting vector and，k 0 ，k 1 ，k 2 representing fitting vectors, respectivelykThe 1 st element, the 2 nd element, and the 3 rd element.
Formula six
By the same method, the error function can be calculatedFitting vector +.>As shown in formula ten, the description is omitted here.
Formula ten
Step three: calculating the radar positioning distance measurementdAs shown in formula seven, in whichvAs the propagation velocity of the electromagnetic wave,τis time-delayed andτas shown in formula eight, whereins 0 ，s 1 ，s 2 ，k 0 ，k 1 ，k 2 And (3) solving the obtained value in the step two.
Equation seven
Equation eight
According to the technical scheme disclosed by the embodiment of the invention, the peak value point of the autocorrelation signals of the detection signal and the reflection signal can be more accurately captured by adopting a numerical calculation mode, and the method is less influenced by sampling clock jitter and waveform distortion. Compared with the prior art, the technical scheme disclosed by the embodiment of the invention improves the accuracy of radar positioning and ranging.
In the prior art, the detection signal emitted by radar positioning ranging is usually a narrow-band pulse modulation signal or a continuous carrier signal, the anti-interference capability of the system signal is weak, and the system signal is difficult to adapt to a complex electromagnetic environment, especially, along with the development of radar theory and technology and the increasing complexity of the condition of the modern applied electromagnetic environment, the detection signal of the existing system radar is easy to interfere and intercept, so that the detection signal is easy to distort, the true peak points of the detection signal and the reflected signal are difficult to capture, and the positioning ranging error is increased.
In order to solve the problems in the prior art and improve the distortion resistance of radar detection signals, in the technical scheme disclosed by the embodiment of the invention, the detection signals are broadband detection signals, and the broadband detection signals are:
，
wherein,r(t) In order to shape the pulse(s),δfor shaping the pulser(t) Is used for the time width of (a),c j for the number of chipsMPseudo-random sequence of (c)jThe amplitude of the individual chips is determined,T s for the repetition period time of the broadband probe signal,irepresent the firstiA number of repetition periods of the time period,f c representing the carrier frequency of the wideband probe,f m representing the modulation frequency of the broadband probe signal,Bindicating the frequency offset range of the wideband probe modulation.
In the prior art, a detection signal emitted by a radar is generally taken as a shaping pulse, the shaping pulse has larger side lobe amplitude, and when the shaping pulse passes through band-pass devices such as an antenna filter, the filtered side lobe can cause the detection signal to generate larger waveform distortion, so that a reflected signal can also generate larger distortion, the difficulty is brought to capturing the peak points of the detection signal and the reflected signal, and a delay measurement error is easy to form, thereby causing radar positioning range error. In order to solve the problems in the prior art, in the technical scheme disclosed by the embodiment of the invention, a detection signal emitted by a radar is a sine wave modulation broadband detection signal, a Gaussian function is adopted as a shaping pulse, the problem of poor energy aggregation of the traditional rectangular shaping pulse is solved, the power efficiency of the detection signal is improved, and waveform distortion caused by band-pass devices such as antenna filtering is reduced; further, in order to improve the reliability of the detection signal in the channel transmission process, a pseudo-random sequence with good autocorrelation characteristics is adopted, so that the energy of the broadband detection signal is expanded to a wider frequency spectrum range, and the concealment capability of the radar detection signal is improved; typically, the pseudo-random sequence is a barker code sequence.
Further, in the technical scheme disclosed by the embodiment of the invention, the pseudo-random sequence enables the autocorrelation signals of the detection signal and the reflection signal to have sharp peak characteristics, so that the peak time point of the autocorrelation signals is easier to capture, the time delay of the detection signal and the reflection signal can be accurately calculated, and the accuracy of radar positioning and ranging is improved. Compared with the prior art, the technical scheme disclosed by the invention ensures that the radar detection signal has stronger waveform distortion resistance and interference resistance, and is beneficial to improving the radar positioning and ranging precision.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The radar positioning and ranging method based on the TDR is characterized by comprising the following steps of:
step one: respectively calculating an autocorrelation signal of the detection signal and an autocorrelation signal of the reflection signal, and respectively sampling the autocorrelation signal of the detection signal and the autocorrelation signal of the reflection signal;
using matricesXA sample matrix representing an autocorrelation signal of the probe signal as shown in equation one; by vectorsYA sample vector representing an autocorrelation signal of the probe signal as shown in the following formula two;
using matricesPA sample matrix representing an autocorrelation signal of the reflected signal as shown in equation three below; by vectorsQA sample vector representing an autocorrelation signal of the reflected signal as shown in equation four below;
equation one
Formula II
Formula III
Equation four
In the first formula of the present invention,a first of the autocorrelation signals representing the detection signaliSampling time points of the individual sampling data, +.>A first of the autocorrelation signals representing the detection signaliSampling interval time of the individual sampling data; in formula II->A first of the autocorrelation signals representing the detection signaliAmplitude values; in formula III, < >>A first of the autocorrelation signals representing the reflected signaliSampling time points of the individual sampling data, +.>A first of the autocorrelation signals representing the reflected signaliSampling interval time of the individual sampling data; in formula IV->A first of the autocorrelation signals representing the reflected signaliAmplitude values;Nthe number of the sampling data;
step two: calculating an error function of an autocorrelation signal of the detection signalThe following formula five shows; calculating an error function of an autocorrelation signal of said reflected signal>Solving the error function +.>Satisfy the following requirementsFitting vector +.>Let error function +.>Satisfy->Fitting vector at time；
Formula five
In the fifth formula, the first formula is,srepresenting the fitting vector and，s 0 ，s 1 ，s 2 representing fitting vectors, respectivelysThe 1 st element, the 2 nd element, and the 3 rd element;
formula six
In the sixth formula, the first formula is,krepresenting the fitting vector and，k 0 ，k 1 ，k 2 representing fitting vectors, respectivelykThe 1 st element, the 2 nd element, and the 3 rd element;
step three: calculating the radar positioning distance measurementdAs shown in formula seven, in whichvAs the propagation velocity of the electromagnetic wave,τis time-delayed andτas shown in the equation eight,s 0 ，s 1 ，s 2 ，k 0 ，k 1 ，k 2 solving the obtained value in the second step;
equation seven
Formula eight.
2. The TDR-based radar localization ranging method of claim 1, wherein the error function is caused toSatisfy->Fitting vector +.>The calculation method of (1) is shown in a formula nine;
formula nine
Wherein the superscript T denotes the matrix transpose and the superscript-1 denotes the inverse of the matrix.
3. The TDR-based radar localization ranging method according to claim 2, wherein the error function is made to satisfyFitting vector +.>The calculation method of (1) is shown in a formula ten;
formula ten
Wherein the superscript T denotes the matrix transpose and the superscript-1 denotes the inverse of the matrix.
4. The TDR-based radar localization ranging method according to claim 3, wherein the probe signal is a wideband probe signal, the wideband probe signal being:，
wherein,r(t) In order to shape the pulse(s),δfor shaping the pulser(t) Is used for the time width of (a),c j for the number of chipsMPseudo-random sequence of (c)jThe amplitude of the individual chips is determined,T s for the repetition period time of the broadband probe signal,irepresent the firstiA number of repetition periods of the time period,f c representing the carrier frequency of the wideband probe,f m representing the modulation frequency of the broadband probe signal,Bindicating the frequency offset range of the wideband probe modulation.
5. The TDR based radar localization ranging method of claim 4, wherein theShaping pulsesr(t) Is a gaussian pulse.
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