CN117055038B - Traffic supervision radar speed measuring device and speed measuring method - Google Patents
Traffic supervision radar speed measuring device and speed measuring method Download PDFInfo
- Publication number
- CN117055038B CN117055038B CN202311317849.7A CN202311317849A CN117055038B CN 117055038 B CN117055038 B CN 117055038B CN 202311317849 A CN202311317849 A CN 202311317849A CN 117055038 B CN117055038 B CN 117055038B
- Authority
- CN
- China
- Prior art keywords
- signal
- signals
- target
- pulse
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 31
- 230000006835 compression Effects 0.000 claims abstract description 19
- 238000007906 compression Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000003321 amplification Effects 0.000 claims abstract description 12
- 238000002156 mixing Methods 0.000 claims abstract description 12
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 12
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims abstract description 6
- 230000000737 periodic effect Effects 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 23
- 239000011159 matrix material Substances 0.000 description 22
- 238000010586 diagram Methods 0.000 description 9
- 239000013598 vector Substances 0.000 description 6
- 208000004350 Strabismus Diseases 0.000 description 4
- 238000000354 decomposition reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000001914 filtration Methods 0.000 description 4
- 238000000691 measurement method Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000013078 crystal Substances 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000000342 Monte Carlo simulation Methods 0.000 description 2
- 230000001427 coherent effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000007781 pre-processing Methods 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 241000925028 Nitzschia sigma Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- ODKSFYDXXFIFQN-UHFFFAOYSA-M argininate Chemical compound [O-]C(=O)C(N)CCCNC(N)=N ODKSFYDXXFIFQN-UHFFFAOYSA-M 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The traffic supervision radar speed measuring device and the speed measuring method are applied to the technical field of traffic supervision and radar speed measuring. The radar speed measuring device includes: the clock module is used for generating a periodic trigger signal; the signal generation module generates a linear frequency modulation signal according to the triggering level of the triggering signal and performs power amplification processing on the linear frequency modulation signal; the transmitting module radiates the amplified linear frequency modulation signal to space to form a transmitting signal, wherein the transmitting signal is coupled through a coupler and also forms a reference signal; the receiving module is used for receiving multiple paths of echo signals returned by the transmitting signals through the target to be detected; the frequency mixing module is used for carrying out frequency mixing processing on the multipath echo signals and the reference signals coupled by the coupler to obtain multipath intermediate frequency signals; and the real-time processing module is used for carrying out pulse compression, target detection and angular flicker-Doppler frequency joint estimation operation on the multipath intermediate frequency signals to obtain the speed of the target to be measured, and realizing simultaneous high-precision measurement on multiple lanes and multiple vehicles.
Description
Technical Field
The invention relates to the technical field of traffic monitoring and radar speed measurement, in particular to a traffic monitoring radar speed measurement device and a speed measurement method.
Background
The existing traffic supervision radars are formally divided into: front-side/squint radar, single-channel/multi-channel radar. The technical proposal and the device at home and abroad have the following defects: the single-channel front-side view radar is arranged on the roadside, and the sight line center of the radar is perpendicular to the lane. Incoherent single-channel forward-looking radar determines the speed of a vehicle by combining the duration of the echo signal with the beamwidth of the antenna. The accuracy of the speed measurement by duration is low because it is difficult to know the length of the vehicle accurately in advance. The single-channel traffic radar using doppler phase modeling for speed measurement is also not highly accurate, because random scintillation phases have a great influence on speed measurement in a near-field application like that of traffic radar; and in the signal processing process, the parts of the vehicle entering and leaving the beam are required to be intercepted between radar pulses, and the part of the vehicle passing through the center of the radar sight is discarded, so that the interception position is difficult to determine, and the real-time processing is difficult to realize. The range migration curve and the track tracking in the one-dimensional range profile are used for high-precision speed measurement, and the radar is required to have a large bandwidth to perform the processing, so that the cost of the system radio frequency equipment and the sampler is obviously increased. The single-channel strabismus radar is installed on the roadside, and the line-of-sight center of the radar is kept at a certain angle with the lane instead of being perpendicular to the lane. Since the Doppler center of the radar is directly related to the velocity under squint conditions, velocity measurements can be made directly and inverse synthetic aperture imaging can be made. However, under oblique viewing conditions, the beam coverage of the far-end antenna increases, resulting in simultaneous beam entry by the front and rear vehicles, which cannot be separated. Therefore, single-channel strabismus radar is generally only used on narrow highways.
The multichannel front-side view radar is installed on the roadside, and the sight center of the radar is perpendicular to the lane. Due to the above-mentioned drawbacks of single-channel radars, multi-channel radars have recently been proposed for traffic monitoring. The traditional incoherent processing method obtains the vehicle speed by measuring the echo time differences of a plurality of channels and the distance between receiving antennas, but the accuracy of incoherent speed measurement depends on larger transceiving distance, and high-accuracy speed measurement is difficult to realize under the limited equipment volume. When a coherent method is used for velocity measurement, angular flicker information of a target is obtained by phase differences of a plurality of channels based on a multi-channel phase. The velocity inversion is a new method by utilizing the relation between the angular flicker information and the Doppler frequency, however, the relation between the angular flicker and the Doppler frequency is obviously reduced under the influence of the flicker noise and the thermal noise, and the velocity measurement accuracy is influenced.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the invention and thus may include information that does not form the prior art that is already known to those of skill in the art.
Disclosure of Invention
The invention aims to provide a traffic supervision radar speed measuring device and a speed measuring method, which aim to solve at least one part of the defects, and realize high-precision speed measurement of traffic vehicles through a multichannel coherent radar speed measuring device and a speed measuring method.
In one aspect, the invention provides a traffic supervision radar speed measurement device, which comprises: the clock module is used for generating a reference clock and a period trigger signal of the device; the signal generation module generates a linear frequency modulation signal according to the triggering level of the triggering signal and performs power amplification processing on the linear frequency modulation signal; the transmitting module radiates the amplified linear frequency modulation signal to space to form a transmitting signal, wherein the transmitting signal is coupled through a coupler and also forms a reference signal; the receiving module is used for receiving the multipath echo signals returned by the transmitting signals through the target to be detected; the frequency mixing module is used for carrying out frequency mixing processing on the multipath echo signals and the reference signals coupled by the coupler to obtain multipath intermediate frequency signals; and the real-time processing module is used for carrying out pulse compression, target detection and angular flicker-Doppler frequency joint estimation operation on the multipath intermediate frequency signals to obtain the speed of the target to be detected.
Optionally, the real-time processing module includes a pulse compressor, a target detector, and an estimator, where the pulse compressor performs pulse compression operation on the multiple paths of intermediate frequency signals to obtain multiple paths of pulse compression signals; the target detector detects targets of the multipath pulse compression signals, and marks targets corresponding to the multipath pulse compression signals larger than a threshold value as targets to be detected; and the estimator performs angle flicker-Doppler frequency joint estimation operation on the multipath pulse compression signals of the target to be detected to obtain the speed of the target to be detected.
Optionally, the transmitting module includes a transmitting antenna, the receiving module includes a plurality of receiving antennas, and the transmitting antenna and the plurality of receiving antennas adopt a high-integration low-profile microstrip antenna array design;
optionally, the transmitting antenna and the plurality of receiving antennas are coplanar and placed parallel to the lane to be tested.
Optionally, the transmission signal includes a plurality of repeated pulse signals, wherein the plurality of repeated pulse signals are high frequency pulse signals.
Optionally, the multiple echo signals are received by the multiple receiving antennas and transmitted to multiple channels respectively, and are sent to the real-time processing module after being sampled by the ADC, where the multiple echo signals are convolutions of the transmitting signal and the target to be measured.
Optionally, the pulse compressor performs pulse compression operation on the multiple intermediate frequency signals, including: and performing fast Fourier transform on all the repeated pulse signals.
Optionally, the performing a target detection operation on the multipath pulse compressed signal includes: pulse-compressing a time-series signal x of a first one of the plurality of channels 1,m And a time-series signal x pulse-compressed by the last channel of the plurality of channels P,m Performing product and modulo operation to obtain time sequence signalWherein P is the total number of the channels of the plurality of channels, and P is more than or equal to 2; x is x p,m M is the time sequence from first to last according to the time sequence, P is the space sequence from first to last according to the time sequence, the first channel P is equal to 1, and the last channel P is equal to P; and, for the time series z m And (3) performing threshold detection, and recording the target larger than the threshold A as a target to be detected.
Optionally, the threshold detection includes: continuously detecting targets of k pulses, when k is greater than or equal to A, marking the targets as targets to be detected, and recording corresponding time sequence numbers n, n-1, … and n-k+1 when the targets to be detected appear.
Optionally, the estimating unit performs an angular flicker-doppler frequency joint estimation operation on the multiple intermediate frequency signals, including:
according to the time-series signal x of two adjacent pulses of the p-th channel p,m And x p,m+1 Obtaining an interference value alpha between two adjacent pulses of the same channel, wherein the phase of the interference value alpha represents Doppler frequency:
wherein f c Is the center frequency, j is the imaginary unit, v is the target speed to be measured, theta m PRI is the pulse repetition period, c is the speed of light, x, for the angle of flicker when transmitting the mth pulse p,m A time-series signal of an mth pulse received for a p-th channel;
from time-series signals x of two pulses in any two of a plurality of different channels p1,m And x p2 , m Obtaining interference values beta of the two pulses in two different channels, wherein the phase of the interference values beta represents angular flicker,
,
wherein p1 and p2 are the spatial arrangement sequence numbers, x, of any two of the plurality of different channels p，m For the time sequence signal of the mth pulse received by the p-th channel, deltax is the distance between the equivalent phase centers of two adjacent receiving antennas;
and calculating the speed of the target to be measured according to the interference value alpha and the interference value beta.
Optionally, the calculating the speed of the target to be measured according to the interference value α and the interference value β includes: an echo matrix S of the two channels at different times is calculated, wherein,
，
wherein k is the time sequence number of the corresponding pulse signal when the detected target is detected to correspond to k pulses, n, n-1, …, n-k+1 is the time sequence number of the corresponding pulse signal when the detected target is detected to appear, and x p，n And P channels are respectively used as the time sequence signals of a plurality of pulses in the P-th channel corresponding to the time sequence number n.
Optionally, the calculating the speed of the target to be measured according to the interference value α and the interference value β further includes: and carrying out singular value decomposition on the echo matrix S to obtain a left singular vector Us of the echo matrix S.
Optionally, the calculating the speed of the target to be measured according to the interference value α and the interference value β further includes: the ESPRIT least square method is adopted to obtain a smooth value of the interference phase:
，
，
wherein,,/>
representing a P-order matrix of units,/->Representing Cronecker product, metropolyl>Representing a pseudo-inverse matrix representing a maximum value taking operation, < ->Is a row vector containing P-1 s.
Optionally, said step of determining said interference valueαAnd calculating the speed of the target to be measured by the interference value beta further comprises the steps of carrying out linear fitting on the phases of a plurality of groups of angles alpha and beta of the target, and calculating the speed of the target to be measured by the slope k1 of the linear fitting:
。
optionally, the traffic supervision radar speed measuring device further comprises a debugging interface, so that the radar speed measuring device can conveniently collect and debug data on line.
Optionally, the traffic supervision radar speed measuring device further comprises a storage module, which can be used for storing data of signals transmitted by the radar speed measuring device, data of signals received by the radar speed measuring device and various data processed in the middle.
Optionally, the traffic supervision radar speed measuring device further comprises a communication module which can be used for carrying out information interaction with the outside.
In another aspect, the present invention provides a method for measuring speed using the traffic surveillance radar speed measuring device according to any one of the above, comprising: generating a reference clock and a periodic trigger signal of the device; generating a linear frequency modulation signal according to the triggering level of the triggering signal and performing power amplification processing on the linear frequency modulation signal; radiating the linear frequency modulation signal subjected to power amplification to space to form a transmitting signal, wherein the transmitting signal is coupled through a coupler to form a reference signal; receiving a plurality of paths of echo signals returned by the transmitting signals through the target to be detected; mixing the multipath echo signals with the reference signals coupled by the coupler to obtain multipath intermediate frequency signals; and performing pulse compression, target detection and angular flicker-Doppler frequency joint estimation operation on the multipath intermediate frequency signals to obtain the speed of the target to be detected.
Through the high-precision radar speed measuring device and the speed measuring method based on the angle flicker-Doppler frequency joint estimation, the capacity of the traffic radar in near field operation is improved, the high-precision speed measurement can be realized under the condition of low signal to noise ratio, the observation lane range of the radar speed measuring device can be improved, the problem that the speed of a narrower highway can only be measured in the prior art is avoided, the application range is improved, the method can be applied to a wide highway bidirectional multi-lane scene, and the simultaneous high-precision measurement of multiple lanes and multiple vehicles can be realized. In addition, the traffic supervision radar speed measuring device can store and debug the collected data and communicate with the outside, can feed back traffic conditions in real time, and can assist a traffic management system in regulating and controlling traffic conditions in real time.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following description of embodiments of the invention with reference to the accompanying drawings, in which:
FIG. 1A is a schematic diagram of a radar speed measuring device according to some embodiments of the present invention;
FIG. 1B is a schematic diagram of a transmit module according to some embodiments of the invention;
FIG. 2 is a flowchart of the operation of a radar speed measuring device according to some embodiments of the present invention;
FIG. 3A is a schematic diagram of a radar speed measuring device according to some embodiments of the present invention;
FIG. 3B is a schematic flow chart of RF signal generation and acquisition in some radar speed measuring devices according to the present invention;
FIG. 4 is a schematic diagram of the structure of a real-time processing module according to some embodiments of the invention;
FIG. 5 is a schematic diagram of a transmitting antenna, a receiving antenna, and lane positions of a radar speed measuring device according to some embodiments of the present invention;
FIG. 6A is a schematic diagram of relative movement of an object under test and a radar speed measuring device according to some embodiments of the present invention;
FIG. 6B is a schematic diagram of the front projection of the radar speed measuring device in FIG. 6A on the XY plane and the relative position of the target to be measured;
FIG. 7 is a schematic diagram of relative movement of an object to be measured and a radar speed measuring device according to further embodiments of the present invention;
FIG. 8 is a flowchart of the operation of a radar speed measuring device according to further embodiments of the present invention;
FIG. 9 is a schematic diagram of the main steps of estimating the target speed to be measured of a radar speed measuring device according to some embodiments of the present invention;
FIG. 10 is a schematic view of a radar speed measuring device according to other embodiments of the present invention;
fig. 11 is a flow chart of a radar speed measurement method according to some embodiments of the present invention.
It is noted that the dimensions of layers, structures or regions may be exaggerated or reduced in the figures for describing embodiments of the present invention for clarity, i.e., the figures are not drawn to actual scale.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
It is noted that in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or description. As such, the dimensions and relative dimensions of the various elements are not necessarily limited to those shown in the figures. In the description and drawings, the same or similar reference numerals refer to the same or similar parts.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items.
In this document, unless specifically stated otherwise, directional terms such as "upper," "lower," "left," "right," "inner," "outer," and the like are used to refer to an orientation or positional relationship shown based on the drawings, and are merely for convenience in describing the present invention, rather than to indicate or imply that the devices, elements, or components referred to must have a particular orientation, be configured or operated in a particular orientation. It should be understood that when the absolute positions of the described objects are changed, the relative positional relationship they represent may also be changed accordingly. Accordingly, these directional terms should not be construed to limit the present invention.
In some embodiments of the present invention, referring to fig. 1A and 1B in combination, a traffic surveillance radar speed measuring device 100 may include: a clock module 1; a signal generation module 2; a transmitting module 3, wherein the transmitting module 3 may comprise a transmitting antenna 301 and a coupler 32; the radar speed measuring device 100 may further include a receiving module 4; the mixing module 5 and the real-time processing module 6.
In this embodiment, referring to fig. 2, a workflow of a traffic regulatory radar speed measuring device 100 may include:
s01, powering up the radar speed measuring device 100;
s02, the clock module 1 generates a periodic trigger signal;
s03, generating a linear frequency modulation signal by a signal generating module 2 according to the triggering level of the triggering signal and performing power amplification processing on the linear frequency modulation signal;
s04, the transmitting module 3 radiates the amplified linear frequency modulation signal to space to form a transmitting signal;
s05, coupling the transmitting signals by a coupler 32 in the transmitting module 3 to obtain a reference signal;
s06, the receiving module 4 receives the multipath echo signals returned by the transmitting signals through the target to be detected;
s07, a frequency mixing module 5 carries out frequency mixing processing on the multipath echo signals and the reference signals to obtain multipath intermediate frequency signals;
s08, the real-time processing module 6 carries out pulse compression, target detection and angle flicker-Doppler frequency joint estimation operation on the multipath intermediate frequency signals to obtain the speed of the target to be detected.
In some embodiments of the present invention, referring to fig. 1A and 3A in combination, radar speed measuring device 100 may include a crystal oscillator chip 101, a radar chip 102, a phase detector 103, a multi-channel AD chip 104, a CPLD chip 105, and an industry-established DSP chip 106. Different functional modules may use one or more chips alone and/or multiple different functional modules may share one or more chips to perform their desired functions. For example, the crystal oscillator chip 101 provides a synchronous clock signal of the whole radar speed measuring device, so as to perform clock synchronization on each module chip of the radar speed measuring device. The CPLD chip 105 is used as a lower computer control core of the radar speed measuring device, and generates time sequences and control signals required by the radar speed measuring device to control the radar speed measuring device to work and transmit data. The radar chip 102 generates and receives radio frequency signals and intermediate frequency signals required by the radar speed measuring device. The phase detector 103 may control and modulate a Voltage Controlled Oscillator (VCO) within the chip to generate a desired chirped continuous wave signal (LFMVW) for supporting subsequent target detection and signal processing operations of the radar speed measuring device 100. The multichannel AD chip 104 collects multichannel echo data, and transmits the multichannel echo data to the DSP chip 106 for preprocessing and real-time processing of radar signals.
Fig. 3B is a flow chart of rf signal generation and acquisition in some radar speed measuring devices according to the present invention. The basic flow of radio frequency signals generated, amplified by a power amplifier, transmitted by a transmit antenna to space, and received by a multi-channel receive antenna is shown. Illustratively, a receive channel may include a receive antenna 401, an LNA (low noise amplifier) 402, a mixer 403, a set of filter amplifiers 404, and an AD sampler 405, with equal spacing between adjacent receive antenna elements.
Illustratively, referring to fig. 4, the real-time processing module 6 includes a pulse compressor 601, a target detector 602, and an estimator 603, where the pulse compressor 601 performs a pulse compression operation on the multiple intermediate frequency signals to obtain multiple pulse compressed signals; the target detector 602 performs threshold detection on the multi-path pulse compressed signal, and marks a target corresponding to the multi-path pulse compressed signal larger than a threshold as a target to be detected; the estimator 603 performs an angle flicker-doppler frequency joint estimation operation on the multipath pulse compression signal of the target to be measured, so as to obtain the speed of the target to be measured.
Illustratively, referring to fig. 5, the transmitting module may include a transmitting antenna 301 and the receiving module may include a plurality of receiving antennas 401, wherein the transmitting antenna 301 is coplanar with the plurality of receiving antennas 401 and is disposed parallel to the lane M to be measured. The number of the plurality of receiving antennas may be 2 or 3 or more.
The antenna front end design of the radar speed measuring device can adopt a microstrip antenna array scheme with high integration level and low profile to realize the performances of low side lobe narrow beam and high gain of the multichannel receiving antenna 401 in azimuth, and meanwhile, the beam width of the transmitting antenna 301 in azimuth is wider, so that the beam coverage of electromagnetic wave signals in azimuth into space can be realized.
By the design of the microstrip antenna array of the radar speed measuring device, the multi-element linear array is further subjected to Taylor weighting through the azimuth passive feed network, so that the radar antenna has excellent performance indexes.
The transmission signal may include a plurality of repeated pulse signals, wherein the plurality of repeated pulse signals are high frequency pulse signals.
For example, referring to fig. 6A and 6B in combination, the radar speed measuring device may be installed at a position having a Z-axis height H, and the object 200 to be measured moves at a constant speed against the Y-axis direction. The distance between the phase center of the radar speed measuring device and the target to be measured at the position A is R 0 . θ, ψ and R t Respectively the azimuth angle and pitch angle of the target 200 to be measured at any position B and the distance between the target and the radar speed measuring device at the time of target travel t. Assume that a transmitted chirped (LFM) signal is as follows:
⑴
wherein,express fast time, f c For the center frequency +.>For linear frequency modulation rate, +.>And j is an imaginary unit for pitch angle.
Assuming that the time required for the object to be measured to travel from the reference point a to B is η and c is the speed of light, the output of the receiving module may be expressed as:
⑵
illustratively, the signal form of the output of the receiving module after pulse compression may be expressed as:
⑶
wherein F represents the fast Fourier transform,the distance from the target to be measured to the radar speed measuring device is set. Since the beam of the radar is very narrow, the length L of the beam coverage is usually much smaller than the distance of the target to the radar speed measuring device>I.e. vη is much smaller than R 0 The above equation (3) can thus be expressed approximately as:
⑷
the theoretical echo signal generated by the target to be measured by the radar beam should be, for example, a convolution of the tangential profile of the target to be measured and the antenna pattern. For example, two echo signals in the two-channel radar speed measuring device are respectively received by two receiving antennas, and are sent to a real-time processing module after being sampled by an ADC, where the two echo signals are convolutions of the transmitting signal and the target to be measured, and the convolutions may be expressed as:
（5）
for example, the echo of the object under test may be considered as a superposition of a series of chirped signals. Due to the complexity of the target vehicle under test, the echo signals may be weighted reflections of various parts of the vehicle. Referring to fig. 7, the object to be measured travels in the X direction, and when the object to be measured approaches the radar speed measuring device, a scattering center is generally located at the head 201 of the object to be measured. When the target to be measured is far from the radar speed measuring device, scattering centers appear at the rear 202 of the target to be measured. The change in scattering center can cause significant flicker noise to occur in the doppler phase. Therefore, in near field application scenarios such as traffic monitoring, the doppler phase curve of the radar is usually not a straight line. The inventor finds that, because the multi-channel interference angle measurement algorithm reflects the positions of scattering centers, when the transmitting antenna and the receiving antenna are far away, the scattering centers observed in the two-phase centers are different, so that the measurement result of the interference angle is affected. When the transmit and receive antennas are close in distance, there is a significant correlation between the interference phase and the doppler phase.
Optionally, for the time series z m Performing threshold detection, and recording the target larger than the threshold A as a target to be detected, wherein the method comprises the following steps: continuously detecting targets of k pulses, when k is greater than or equal to A, marking the targets as targets to be detected, and recording corresponding time sequence numbers n, n-1, … and n-k+1 when the targets to be detected appear. The threshold value a may be obtained by a fixed threshold value or an adaptive threshold value. The fixed threshold is directly set according to the background noise and experience of the system; the self-adaptive threshold value is obtained by setting a protection unit near a detected unit, regarding an average value of a region in a certain range outside the protection unit as noise power, and then obtaining a current detection threshold value A according to expected false alarm probability noise power according to a Naman-Pearson criterion.
Optionally, the estimating unit performs an angular flicker-doppler frequency joint estimation operation on the multiple intermediate frequency signals, including:
according to the time-series signal x of two adjacent pulses of the p-th channel p,m And x p，m+1 Obtaining the obtainedAn interference value alpha between two adjacent pulses of the same channel, wherein the phase of the interference value alpha represents Doppler frequency:
（6）
wherein f c Is the center frequency, j is the imaginary unit, v is the target speed to be measured, theta m PRI is pulse repetition period, and c is light speed;
time-series signal x of two pulses in any two of a plurality of different channels p1,m And y p2 , m Obtaining interference values beta of two pulses in the two different channels, wherein the phase of the interference values beta represents angular flicker,
（7）
wherein p1 and p2 are the spatial arrangement sequence numbers, x, of any two of the plurality of different channels p，m For the time sequence signal of the mth pulse received by the p-th channel, deltax is the distance between the equivalent phase centers of two adjacent receiving antennas;
for example, when the receiving channel is two channels, in order to estimate the velocity of the object to be measured using the multidimensional ESPRIT method, the echo matrix S of the two channels at different times may be expressed as:
（8）
wherein,
（9）
（10）
wherein k is the time sequence number of the corresponding pulse signal when the detected target is detected to correspond to k pulses, n, n-1, …, n-k+1 is the time sequence number of the corresponding pulse signal when the detected target is detected to appear, and x 1,n And x 2,n Respectively time sequence signals of two pulses in two channels corresponding to the time sequence number n, sigma i Indicating the back scattering coefficient of the whole equivalent of the ith observation target, +..
According to the multidimensional ESPRIT algorithm, a signal subspace needs to be used. For example, singular value decomposition is performed on the echo matrix S, where Us represents the left singular vector of the echo matrix S.
Alternatively, since the signal subspace Us is a subspace of the full space into which the observation matrix a is stretched. The submatrix of a can thus be used to analyze its rotational invariance. The same method can be used to select feature vectors using the features to jointly estimate the flicker and doppler of the target. A set of row selection matrices is defined to obtain a sub-matrix of a.
（11）
（12）
Wherein I is 2 Representing a second order unit array,representing the kronecker product.
The following characteristics of rotation invariants can be obtained by combining equations (8-10):
（13）
（14）
since Us is a subspace of the full space formed by the observation matrix a, a in the two relations of formulas (13) and (14) can be replaced by Us to describe the rotation invariance of the echo matrix S, and the following formulas (15) and (16) can be obtained by pseudo-inverting the last two terms on the right side of formulas (13) and (14) to the left side:
， （15）
， （16）
wherein,representing the pseudo-inverse matrix.
Once the estimation is only performed on k pulses, the process needs to be performed sliding over a slow time. If a total of M pulses (M is greater than k) are obtained from one observation, the time series signal n of two pulses in the two channels needs to traverse from k to M, together acquiring the values of M-k+1 sets α and β.
For example, when the receiving channel is a three-channel, in order to estimate the velocity of the object to be measured using the multi-dimensional ESPRIT method, the echo matrix S at different times may be expressed as:
（17）
wherein,
（18）
（19）
wherein k is the time sequence number of the corresponding pulse signal when the detected target is detected to correspond to k pulses, n, n-1, …, n-k+1 is the time sequence number of the corresponding pulse signal when the detected target is detected to appear, and x 1，n ，x 2，n， And x 3，n And the time sequence signals are respectively time sequence signals of three pulses in three channels corresponding to the time sequence number n. Sigma (sigma) i Indicating the overall equivalent backscattering coefficient of the ith observation, as indicated by the Hadamard integral. k may also be referred to as the order of the present algorithm.
According to the multidimensional ESPRIT algorithm, a signal subspace needs to be used. For example, singular value decomposition is performed on the echo matrix S, where Us represents the left singular vector of the echo matrix S.
Alternatively, since the signal subspace Us is a subspace of the full space into which the observation matrix a is stretched. The submatrix of a can thus be used to analyze its rotational invariance. The same method can be used to select feature vectors using the features to jointly estimate the flicker and doppler of the target. A set of row selection matrices is defined to obtain a sub-matrix of a.
（20）
（21）
Wherein I is 3 Representing a three-order unit array,representing the kronecker product.
The following characteristics of rotation invariants can be obtained by combining equations (17-19):
（22）
（23）
since Us is a subspace of the full space formed by the observation matrix a, a in the two relations of the formulas (22) and (23) can be replaced by Us to describe the rotation invariance of the echo matrix S, and the following formulas (24) and (25) can be obtained by pseudo-inverting the last two terms on the right side of the formulas (22) and (23) to the left side:
， （24）
， （25）
wherein,representing the pseudo-inverse matrix.
Once the estimation is only performed on k pulses, the process needs to be performed sliding over a slow time. If a total of M pulses (M is greater than k) are obtained from one observation, the time series signal n of two pulses in any two of the three channels needs to traverse from k to M, and the values of M-k+1 sets α and β are obtained altogether.
Optionally, the multidimensional ESPRIT algorithm is performed slidingly in slow time and performs a linear fit to the phases arg { α } and arg { β } of the acquired M-k+1 set of angles α and β, and the speed of the object to be measured can be estimated by the slope k1 of the fit:. Wherein the linear fit may include arg { α } and arg { β }, wherein arg { } represents a phase-taking operation.
In practical radar speed measuring device designs, in addition to the antenna configuration and receiver connections described above
Besides the method, the signal to noise ratio is also considered, and the signal to noise ratio directly determines the detection precision of the radar speed measuring device and also relates to the design of parameters such as bandwidth, power, noise coefficient and the like.
Alternatively, in some exemplary embodiments of the present invention, the relationship between the speed measurement error, the determination coefficient, and the signal-to-noise ratio may also be demonstrated by a number of Monte Carlo experiments. For example, the relationship between the speed measurement error, the determination coefficient and the signal-to-noise ratio is demonstrated by 100 monte carlo experiments. For example, the experiment may be performed based on a target with a motion speed of 15m/s and a distance of 40m from the radar, while adding gaussian white noise to the echo signal. The comparison method comprises the following steps: the alpha and beta are estimated directly by using the formulas (6) and (7), and the acquired multiple groups of alpha and beta are subjected to mean value filtering or median filtering among the veins. Wherein the order of the mean filtering or the median filtering is 3.
Increasing the signal-to-noise ratio parameter can further improve the accuracy of the target speed to be measured by the estimation algorithm.
Alternatively, in some exemplary embodiments of the present invention, referring to fig. 8, the workflow of the radar speed measuring device may include steps as shown in S001-S009:
in step S001, the device system starts to power up the radar, and the system self-checks (resumes the last shutdown parameter setting);
in step S002, the crystal oscillator provides clocks for each module of the system;
in step S003, the CPLD sends a preset timing sequence and an instruction to the phase discriminator and the radar chip;
in step S004, the radar chip generates a chirp signal, and outputs the chirp signal to the transmitting antenna through amplification;
in step S005, the receiving antenna receives the multipath echo signals, mixes the multipath echo signals and outputs the multipath echo signals to the ADC chip;
in step S006, the ADC chip collects multiple paths of intermediate frequency signals and outputs the signals to the DSP chip;
in step S007, the DSP chip performs fft preprocessing and then transmits the data to DDR2 for temporary storage;
in step S008, the DSP chip reads the DDR2 temporary data to perform signal processing, for example, post-processing of CFAR, clustering, etc.;
in step S009, the DSP chip outputs the real-time processing result to the nonvolatile memory, for example, the 4G module, and may also upload the processing result to the cloud.
Alternatively, in some exemplary embodiments of the present invention, referring to fig. 9, after the multi-channel signal is pulse-compressed, the effect of ground clutter is removed by a clutter canceller at a slow time, and the clutter-suppressed history data is stored in the DDR; meanwhile, after multiplying and modulo the slow time signals received at the same moment, performing target detection, taking out the slow time of the target existing in the multi-antenna receiving beam at the same time, and retrieving historical data from the DDR according to the slow time; and (3) composing a data matrix form expressed by the equation (8) or (17). After singular value decomposition, the combination of equations (8), (15) and (16) or (17), (24) and (25) performs angular flicker and Doppler estimation, which is performed in a sliding manner in the slow time dimension of the historical data; and obtaining the Doppler history and the angular flicker history, and then obtaining the speed according to the slope value of the linear fitting of the Doppler history and the angular flicker history.
It should be noted that the above embodiment exemplarily shows an embodiment in which the receiving channels are two channels and three channels, but the radar speed measuring device of the present invention is not limited thereto. In fact, when the receiving channel is four channels or more, the radar speed measuring device of the present invention is also applicable.
The multichannel radar responds to the flicker effect of the traffic radar in the near field through the space diversity technology, has better noise suppression performance and flicker suppression performance, and can improve the speed measurement precision of the traffic supervision radar speed measurement device.
Illustratively, referring to fig. 10, the radar speed measuring device 100 may further include a debug interface 107 to facilitate online collection and debugging of data by the radar speed measuring device.
By way of example, with continued reference to fig. 10, the radar speed measuring device 100 may further comprise a storage module 108, which may be used to store data of the transmitted signal, data of the received signal and various data of the intermediate process of the radar speed measuring device. The memory module may include, but is not limited to, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical memory device, a magnetic memory device, or any suitable combination of the foregoing.
By way of example, with continued reference to fig. 10, the radar speed measuring device 100 may further comprise a communication module 109, where the communication module 109 may be configured to interact with external information, for example, the communication module 109 may transmit the tested data to a traffic management center for road management by the traffic management center.
Through the high-precision speed measuring device based on the angle flicker-Doppler frequency joint estimation, the capability of the traffic radar in near field work is improved, the high-precision speed measuring device has better noise smoothing effect, the high-precision speed measuring can be realized under the low signal to noise ratio, the observation lane range of the radar speed measuring device can be improved, the problem that the speed of a narrower highway can only be observed and measured in the prior art is avoided, the application range is improved, the device can be applied to a two-way multi-lane scene of a wide highway, and the simultaneous high-precision measurement of multiple lanes and multiple vehicles can be realized. In addition, the traffic supervision radar speed measuring device can store and debug the collected data and communicate with the outside, can feed back traffic conditions in real time, and can assist a traffic management system in regulating and controlling traffic conditions in real time.
Exemplary, the embodiment of the invention also provides a traffic supervision radar speed measurement method, referring to fig. 11, the radar speed measurement method includes steps S10-S70:
in step S10, generating a base reference clock and a periodic trigger signal;
in the step S20, generating a linear frequency modulation signal according to the triggering level of the triggering signal and performing power amplification processing on the linear frequency modulation signal;
in the step S30, radiating the linear frequency modulation signal subjected to power amplification treatment to space to form a transmitting signal;
in step S40, the transmitting signals are coupled through a coupler to form a reference signal;
in the step S50, receiving a plurality of paths of echo signals returned by the transmitting signals through the target to be detected;
in step S60, mixing the multiple echo signals with the reference signals coupled by the coupler to obtain multiple intermediate frequency signals;
in step S70, pulse compression, target detection, and angular flicker-doppler frequency joint estimation operation are performed on the multiple intermediate frequency signals, so as to obtain the speed of the target to be measured.
It should be appreciated that the radar speed measuring method has the same advantageous effects as the radar speed measuring device provided by the foregoing embodiment.
Although a few embodiments of the present general inventive concept have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the claims and their equivalents.
Claims (11)
1. A traffic surveillance radar speed measuring device, comprising:
the clock module is used for generating a reference clock and a period trigger signal of the device;
the signal generation module is used for generating a linear frequency modulation signal according to the triggering level of the triggering signal and carrying out power amplification processing on the linear frequency modulation signal;
a transmitting module for radiating the chirped signal subjected to power amplification to a space to form a transmitting signal, wherein,
the transmitting module comprises a coupler, and the transmitting signals are coupled through the coupler to form a reference signal;
the receiving module is used for receiving the multipath echo signals returned by the transmitting signals through the target to be detected;
the frequency mixing module is used for carrying out frequency mixing processing on the multipath echo signals and the reference signals coupled by the coupler to obtain multipath intermediate frequency signals; and
the real-time processing module is used for carrying out pulse compression, target detection and angle flicker-Doppler frequency joint estimation operation on the multipath intermediate frequency signals to obtain the speed of the target to be detected,
the angle flicker-Doppler frequency joint estimation operation comprises:
according to the time-series signal x of two adjacent pulses of the p-th channel p,m And x p,m+1 Obtaining an interference value alpha between two adjacent pulses in the same channel, wherein the phase of the interference value alpha represents Doppler frequency:
wherein f c Is the center frequency, j is the imaginary unit, v is the target speed to be measured, theta m PRI is the pulse repetition period, c is the speed of light, x, for the angle of flicker when transmitting the mth pulse p,m A time-series signal of an mth pulse received for a p-th channel;
from time-series signals x of two pulses in any two of a plurality of different channels p1,m And x p2 , m Obtaining interference values beta of the two pulses in two different channels, wherein the phase of the interference values beta represents angular flicker,
,
wherein p1 and p2 are the spatial arrangement sequence numbers, x, of any two of the plurality of different channels p，m For the time sequence signal of the mth pulse received by the p-th channel, deltax is the distance between the equivalent phase centers of two adjacent receiving antennas; and
based on the interference valueαAnd calculating the velocity of the target includes linearly fitting the phases of the multiple sets of angles α and β of the target, the slope passing through the linear fitThe rate k1 calculates the speed of the object to be measured:。
2. the apparatus of claim 1, wherein the real-time processing module comprises a pulse compressor, a target detector, and an estimator, wherein,
the pulse compressor is used for carrying out pulse compression operation on the multipath intermediate frequency signals to obtain multipath pulse compression signals;
the target detector is used for detecting targets of the multipath pulse compressed signals and marking targets corresponding to the multipath pulse compressed signals larger than a threshold value as targets to be detected;
the estimator is used for carrying out angle flicker-Doppler frequency joint estimation operation on the multipath pulse compression signals of the target to be detected to obtain the speed of the target to be detected.
3. The apparatus of claim 2, wherein the transmitting module comprises a transmitting antenna and the receiving module comprises a plurality of receiving antennas, the transmitting antenna and the plurality of receiving antennas being of microstrip antenna array design.
4. The apparatus of claim 3, wherein the transmit antenna is coplanar with the plurality of receive antennas and is positioned parallel to a lane under test.
5. The apparatus of claim 2, wherein the transmit signal comprises a plurality of repeated pulse signals, the plurality of repeated pulse signals being high frequency pulse signals.
6. The apparatus of claim 4, wherein the multiple echo signals are received by the multiple receiving antennas and transmitted to multiple channels, respectively, and are sampled by an ADC and sent to the real-time processing module, wherein the multiple echo signals are convolutions of the transmission signal and the target to be measured.
7. The apparatus of claim 5, wherein said pulse compressing said multiplexed intermediate frequency signal comprises:
and performing fast Fourier transform on all the repeated pulse signals.
8. The apparatus of claim 6, wherein said performing object detection on said multiplexed pulse compressed signal comprises:
pulse-compressing a time-series signal x of a first one of the plurality of channels 1,m And a time-series signal x pulse-compressed by the last channel of the plurality of channels P,m Performing product and modulo operation to obtain time sequence signalWherein, the method comprises the steps of, wherein,
p is the total number of the channels, P is more than or equal to 2, x p,m M is the time sequence from first to last according to the time sequence, P is the space sequence from first to last according to the time sequence, the first channel P is equal to 1, and the last channel P is equal to P; the method comprises the steps of,
for the time series signal z m And (3) performing threshold detection, and marking the target larger than the threshold A as a target to be detected.
9. The apparatus of any of claims 1-8, wherein the apparatus further comprises a debug interface for online collection and debugging of data.
10. The apparatus of any one of claims 1-8, wherein the apparatus further comprises a storage module and a communication module, wherein,
the communication module is used for carrying out information interaction with the outside.
11. A method of measuring speed using the traffic surveillance radar speed measuring device according to any one of claims 1 to 10, comprising:
generating a reference clock and a periodic trigger signal of the device;
generating a linear frequency modulation signal according to the triggering level of the triggering signal and performing power amplification processing on the linear frequency modulation signal;
radiating the chirped signal subjected to power amplification to space to form a transmission signal, wherein,
the transmitting signals are coupled through a coupler to form a reference signal;
receiving a plurality of paths of echo signals returned by the transmitting signals through the target to be detected;
mixing the multipath echo signals with the reference signals coupled by the coupler to obtain multipath intermediate frequency signals; and
performing pulse compression, target detection and angular flicker-Doppler frequency joint estimation operation on the multipath intermediate frequency signals to obtain the speed of the target to be detected, wherein,
the angle flicker-Doppler frequency joint estimation operation comprises:
according to the time-series signal x of two adjacent pulses of the p-th channel p,m And x p,m+1 Obtaining an interference value alpha between two adjacent pulses in the same channel, wherein the phase of the interference value alpha represents Doppler frequency:
wherein f c Is the center frequency, j is the imaginary unit, v is the target speed to be measured, theta m PRI is the pulse repetition period, c is the speed of light, x, for the angle of flicker when transmitting the mth pulse p,m A time-series signal of an mth pulse received for a p-th channel;
from time-series signals x of two pulses in any two of a plurality of different channels p1,m And x p2 , m Obtaining interference values beta of the two pulses in two different channels, wherein the phase of the interference values beta representsThe angle of the flash is changed to a flash,
,
wherein p1 and p2 are the spatial arrangement sequence numbers, x, of any two of the plurality of different channels p，m For the time sequence signal of the mth pulse received by the p-th channel, deltax is the distance between the equivalent phase centers of two adjacent receiving antennas; and
based on the interference valueαCalculating the speed of the target to be measured by the interference value beta comprises the steps of performing linear fitting on the phases of a plurality of groups of angles alpha and beta of the target to be measured, and calculating the speed of the target to be measured through the slope k1 of the linear fitting:。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311317849.7A CN117055038B (en) | 2023-10-12 | 2023-10-12 | Traffic supervision radar speed measuring device and speed measuring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311317849.7A CN117055038B (en) | 2023-10-12 | 2023-10-12 | Traffic supervision radar speed measuring device and speed measuring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117055038A CN117055038A (en) | 2023-11-14 |
| CN117055038B true CN117055038B (en) | 2023-12-19 |
Family
ID=88654024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311317849.7A Active CN117055038B (en) | 2023-10-12 | 2023-10-12 | Traffic supervision radar speed measuring device and speed measuring method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117055038B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5117230A (en) * | 1991-04-12 | 1992-05-26 | The United States Of America As Represented By The Secretary Of The Army | Electronic target radar simulator |
| CN112305530A (en) * | 2020-11-02 | 2021-02-02 | 上海神添实业有限公司 | Target detection method for unmanned aerial vehicle group, electronic equipment and storage medium |
| CN112436905A (en) * | 2021-01-27 | 2021-03-02 | 西南交通大学 | Communication radar combined system |
| CN113109776A (en) * | 2021-02-24 | 2021-07-13 | 西安电子科技大学 | Angular flicker suppression method based on rearrangement time-frequency analysis |
| CN113504522A (en) * | 2021-07-06 | 2021-10-15 | 北京航空航天大学 | Space-time decoupling and super-resolution angle measurement method based on random switching of transmitting antennas |
| WO2023142272A1 (en) * | 2022-01-29 | 2023-08-03 | 南京隼眼电子科技有限公司 | Velocity ambiguity resolution method and apparatus for moving target, electronic device, and storage medium |
-
2023
- 2023-10-12 CN CN202311317849.7A patent/CN117055038B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5117230A (en) * | 1991-04-12 | 1992-05-26 | The United States Of America As Represented By The Secretary Of The Army | Electronic target radar simulator |
| CN112305530A (en) * | 2020-11-02 | 2021-02-02 | 上海神添实业有限公司 | Target detection method for unmanned aerial vehicle group, electronic equipment and storage medium |
| CN112436905A (en) * | 2021-01-27 | 2021-03-02 | 西南交通大学 | Communication radar combined system |
| CN113109776A (en) * | 2021-02-24 | 2021-07-13 | 西安电子科技大学 | Angular flicker suppression method based on rearrangement time-frequency analysis |
| CN113504522A (en) * | 2021-07-06 | 2021-10-15 | 北京航空航天大学 | Space-time decoupling and super-resolution angle measurement method based on random switching of transmitting antennas |
| WO2023142272A1 (en) * | 2022-01-29 | 2023-08-03 | 南京隼眼电子科技有限公司 | Velocity ambiguity resolution method and apparatus for moving target, electronic device, and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117055038A (en) | 2023-11-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Vasanelli et al. | Calibration and direction-of-arrival estimation of millimeter-wave radars: A practical introduction | |
| CN110073237B (en) | MIMO radar sensor for motor vehicles | |
| CN110520750B (en) | Method and system for wireless detection of objects using MIMO radar | |
| US9829568B2 (en) | Radar using hermetic transforms | |
| US11454702B2 (en) | Synthetic aperture radar method and synthetic aperture radar device | |
| KR20180060342A (en) | Radar Apparatus and Antenna Apparatus therefor | |
| CN111856449A (en) | Radar apparatus and method for detecting radar target | |
| KR20180060341A (en) | Radar Apparatus and Antenna Apparatus therefor | |
| RU2704789C1 (en) | Method for adaptive signal processing in survey coherent-pulse radar stations | |
| US11971492B2 (en) | Radio frequency (RF) ranging in propagation limited RF environments utilizing aerial vehicles | |
| CN109655819A (en) | A kind of clutter recognition three-D imaging method based on real aperture Doppler beam sharpening | |
| CN113009473B (en) | Multi-beam staring radar low elevation target height measurement method, device and medium | |
| CN112136057B (en) | Arrival wave number estimating device and arrival wave number arrival direction estimating device | |
| CN113189554B (en) | Processing method of radar measured echo data, electronic equipment and storage medium | |
| US10101435B1 (en) | Radio frequency (RF) ranging in RF-opaque environments | |
| CN108490425B (en) | Angle measuring method of bistatic MIMO radar | |
| CN117055038B (en) | Traffic supervision radar speed measuring device and speed measuring method | |
| US20230333238A1 (en) | Radio frequency (rf) ranging in propagation limited rf environments | |
| CN108508413B (en) | Target detection method based on probability statistics under low signal-to-noise ratio condition | |
| Bordoni et al. | Performance investigation on scan-on-receive and adaptive digital beam-forming for high-resolution wide-swath synthetic aperture radar | |
| CN117055039B (en) | Traffic supervision radar speed measuring method | |
| Zhao et al. | Multiple-target localization by millimeter-wave radars with trapezoid virtual antenna arrays | |
| Zhao et al. | A high precision direction-finding method based on multi-baseline for target rescue | |
| Gierull | Analysis of the multimode feedhorn concept for multichannel SAR-GMTI | |
| Zheng et al. | Uav direction estimation in high-speed railway environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |