CN117192509B - Method for inhibiting energy leakage in radar MVDR algorithm - Google Patents
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Abstract
The application relates to the field of data analysis, in particular to a method for inhibiting energy leakage in a radar MVDR algorithm. A method for inhibiting energy leakage in a radar MVDR algorithm comprises the following steps: establishing an actual distance azimuth heat map; constructing an energy set according to the actual distance azimuth heat map; updating signal energy values in the actual distance azimuth heat map; the actual range orientation heat map is highlighted. The invention updates the signal energy value of the actual distance azimuth heat map by establishing the average energy set, including clearing, maintaining and scaling the signal energy value of the unit cell, and inhibiting the angle dimensional energy leakage in the MVDR wave beam forming algorithm, thereby highlighting the target position and ensuring more accurate detection when detecting the object with intense movement.
Description
Technical Field
The application relates to the field of data analysis, in particular to a method for inhibiting energy leakage in a radar MVDR algorithm.
Background
MIMO (MultipleInputMultipleOutput) radar is an emerging active detection technology, and is now a research hotspot in the radar technology field, and the basic meaning of the radar is as follows: the radar adopts a plurality of transmitting antennas to simultaneously transmit mutually orthogonal signals to irradiate a target, then a plurality of receiving antennas are used for receiving target echo signals and comprehensively processing the target echo signals, and information such as the spatial position, the motion state and the like of the target is extracted.
The signals are output undistorted by MVDR with minimal beam output noise variance, which is commonly used for MIMO radar angular super resolution, but for moving objects its energy tends to spread over the angle around the distance, resulting in detection inaccuracies.
Disclosure of Invention
In view of the above problems, the application provides a method for inhibiting energy leakage in a radar MVDR algorithm, which updates signal energy values of an actual distance azimuth heat map by establishing an average energy set, including clearing, maintaining and scaling cell signal energy values, and inhibiting angle dimensional energy leakage in the MVDR beam forming algorithm, so that when detecting an object with intense movement, a target position is highlighted, and detection is more accurate.
The technical scheme of the application is as follows: a method for inhibiting energy leakage in a radar MVDR algorithm comprises the following steps:
k1, establishing an actual distance azimuth heat map;
acquiring an echo signal, and establishing an actual distance azimuth heat map based on the acquired echo signal;
the establishing of the actual distance azimuth heat map based on the acquired echo signals specifically comprises the following steps: mixing the echo signals and outputting multichannel intermediate frequency signals after high-frequency radar signal conversion; sending the multichannel intermediate frequency signals into a signal processing model for processing, calculating and analyzing, outputting a radar cube, and filtering static clutter of the radar cube; acquiring a radar cube for filtering static clutter, and performing MVDR processing to obtain an actual distance azimuth heat map; the dimension of the actual distance azimuth heat map is X multiplied by Y, wherein X is the length of the dimension of the actual distance azimuth heat map, Y is the width of the actual distance azimuth heat map, coordinates in the actual distance azimuth heat map are recorded as (X, Y), x=1, 2,3, X is the number corresponding to the distance units in the actual distance azimuth heat map, X is the total number of the distance units, y=1, 2,3, Y is the number corresponding to the angle units in the actual distance azimuth heat map, Y is the total number of the angle units, and the signal energy value corresponding to each coordinate (X, Y) in the actual distance azimuth heat map is recorded asNamely signal energy values corresponding to the x-th distance unit and the y-th angle unit;
k2, constructing an energy set according to the actual distance azimuth heat map;
selecting distance units x in the actual distance azimuth heat map one by one, and acquiring the maximum signal energy value on the distance units x according to the selected distance units xAnd minimum signal energy value +.>，/>，，/>；
When all distance units x in the actual distance azimuth heat map are traversed, an energy set is built；
K3, updating signal energy values in the actual distance azimuth heat map;
based on the actual range-azimuth heat map, the energy set T and the average energy set P to the signal energy values in the actual range-azimuth heat mapUpdating, wherein an average energy set P is established based on echo signals in a non-target state, and the average energy set P is stored in a form of +.>，/>The background distance azimuth heat map is based on average energy corresponding to distance unit x in the background distance azimuth heat mapEstablishing a quantity set P;
k4, highlighting the actual distance azimuth heat map;
and matching the updated actual distance azimuth heat map with the background distance azimuth heat map, highlighting the target which is not matched with the background distance azimuth heat map in the actual distance azimuth heat map, and returning to K1.
Further optimizing scheme, for signal energy value in actual distance azimuth heat mapThe specific steps for updating are as follows:
selecting distance units x in the actual distance azimuth heat map one by one, and acquiring maximum signal energy value corresponding to the selected distance units x from the energy set T aiming at the selected distance units xAnd minimum signal energy value +.>Minimum signal energy value +.>Average energy corresponding to distance element x in average energy set P>Judging ifSatisfy->The corresponding distance unit x in the actual distance azimuth heat map is corresponding toAll assigned 0, if->Satisfy->Then the corresponding distance cell x in the actual distance azimuth heat map is corresponding +.>All remain the original values if +.>Satisfy the following requirementsThen the corresponding distance cell x in the actual distance azimuth heat map is corresponding +.>Updating is performed according to the following formula: />Where F is the scaling factor and where,。
further optimizing the scheme, the specific steps of establishing the average energy set P are as follows:
b1, acquiring echo signals in a K group of non-target states, and establishing a K frame non-target distance azimuth heat map, wherein the size of the non-target distance azimuth heat map is consistent with the size of an actual distance azimuth heat map, and the establishment mode of the target distance azimuth heat map is consistent with the establishment mode of the actual distance azimuth heat map;
b2: let k=1, k be used for the no target distance azimuth heat map;
b3: selecting the kth non-target distance azimuth heat map W k Selecting the non-target distance azimuth heatmap W one by one k A middle distance unit x, for the selected distance unit x, calculating a single frame average energy value on the distance unit xWherein->Is the kth non-target distance azimuth heat map W k An xth distance cell and a ythSignal energy value corresponding to the angle unit;
b4, judging whether 'K < K' is met, if 'K < K' is met, assigning k+1 to K, returning to B3, otherwise, entering B5;
b5: obtaining average energy value of all single framesSelecting the non-target distance azimuth heatmap W one by one k For the distance unit x selected, calculating the average energy corresponding to the distance unit x>，Then according to the k non-target distance azimuth heatmaps W k Establishing an average energy set:。
further optimizing scheme, the background distance azimuth heat map is established based on the average energy set P, and specifically comprises the following steps:
establishing a background distance azimuth heat map, wherein the size of the background distance azimuth heat map is consistent with that of the actual distance azimuth heat map, and recording signal energy values corresponding to each coordinate (x, y) in the background distance azimuth heat map asAnd meet the following，/>。
Further optimizing the scheme, matching the updated actual distance azimuth heat map with the background distance azimuth heat map, specifically comprising:
selecting coordinates (x, y) from the actual distance azimuth heat map one by one, and acquiring signals corresponding to the coordinates (x, y) in the actual distance azimuth heat map according to the selected coordinates (x, y)Energy valueSignal energy value +.>Calculate->And->Difference between->Judging->If it is, epsilon is the set safe energy threshold, if +.>If true, there is no operation, if->If not, the corresponding coordinates (x, y) in the background distance azimuth heat map are displayed in red.
The invention has the following advantages:
1. the invention updates the signal energy value of the actual distance azimuth heat map by establishing the average energy set, including clearing, maintaining and scaling the signal energy value of the unit cell, and inhibiting the angle dimensional energy leakage in the MVDR wave beam forming algorithm, thereby highlighting the target position when detecting the object with intense movement, and ensuring more accurate detection;
2. according to the method, the multi-frame non-target distance azimuth heat map is subjected to joint calculation, the background distance azimuth heat map with high reliability is obtained through twice averaging, and the detected moving object is more accurately highlighted.
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For a clearer description of embodiments of the present application or of the solutions of the prior art, the drawings that are required to be used in the description of the embodiments or of the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the present application, and that other drawings may be obtained, without the need for inventive effort, from the structures illustrated in these drawings, for a person skilled in the art;
fig. 1 is a schematic flow chart of a method for suppressing energy leakage in a radar MVDR algorithm provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, some embodiments of the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. However, those of ordinary skill in the art will understand that in the various embodiments of the present application, numerous technical details have been set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
Examples
The technical scheme of the application is as follows: as shown in fig. 1, a method for suppressing energy leakage in a radar MVDR algorithm includes:
k1, establishing an actual distance azimuth heat map;
every time radar display is refreshed, echo signals are acquired, an actual distance azimuth heat map is established based on the acquired echo signals, and the following needs to be added: the transmitted signal is an electromagnetic wave transmitted by a radar antenna, usually a high-frequency radio frequency signal, and is determined by the design and the working mode of a radar system, and the echo signal is a signal received by the radar when the transmitted signal interacts with a target or other objects and is reflected back;
the establishing of the actual distance azimuth heat map based on the acquired echo signals specifically comprises the following steps: mixing the transmitting signal with the echo signal, and outputting high-frequency radar signalThe multi-channel intermediate frequency signal is obtained; sending the multichannel intermediate frequency signals into a signal processing model for processing, calculating and analyzing, outputting a radar cube, and filtering static clutter of the radar cube; acquiring a radar cube for filtering static clutter, and performing MVDR processing to obtain an actual distance azimuth heat map; the dimension of the actual distance azimuth heat map is X multiplied by Y, wherein X is the length of the dimension of the actual distance azimuth heat map, Y is the width of the actual distance azimuth heat map, coordinates in the actual distance azimuth heat map are recorded as (X, Y), x=1, 2,3, X is the number corresponding to the distance units in the actual distance azimuth heat map, X is the total number of the distance units, y=1, 2,3, Y is the number corresponding to the angle units in the actual distance azimuth heat map, Y is the total number of the angle units, and the signal energy value corresponding to each coordinate (X, Y) in the actual distance azimuth heat map is recorded asThat is, the signal energy values corresponding to the x-th distance unit and the y-th angle unit, for example, the actual distance azimuth heat map size is 6×6, and the signal energy value corresponding to the coordinates (2, 6) is recorded as +.>And->And->，，/>，/>，/>。
The supplementary ones are: the signal processing model is processed, calculated and analyzed, and the specific steps are as follows:
acquiring a multichannel intermediate frequency signal, sampling the multichannel intermediate frequency signal through an ADC (analog-to-digital converter), and acquiring a discrete digital signal after continuous analog signal conversion; the sampled digital signal is divided into different distance dimensions, and an FFT is performed for each distance dimension: acquiring a time domain signal, converting the time domain signal into a frequency domain signal, extracting frequency components of echo signals with different distance dimensions, analyzing to obtain distance information of a target, and jointly outputting a frequency-distance graph according to the frequency domain signal and the distance information;
and combining the frequency-distance graphs of the plurality of distance dimensions to output a radar cube map.
Eliminating the influence of static clutter, adopting a phase average value cancellation algorithm, and specifically detecting the static clutter comprises the following steps:
obtaining a Chirp signal, separating each Chirp signal, and separating each Chirp signal C n Decomposing into samples in a time domain, wherein n=1, 2, 3.N is the total number of Chirp signal data after separation, averaging the samples to obtain a reference Chirp signal CP, updating the Chirp signal, and updating the formula to C n =C n CP, thus eliminating the signal of a stationary object, while a moving object is substantially unchanged, thus corresponding to highlighting a moving object.
K2, constructing an energy set according to the actual distance azimuth heat map:
selecting distance units x in the actual distance azimuth heat map one by one, and acquiring the maximum signal energy value on the distance units x according to the selected distance units xAnd minimum signal energy value +.>For example +.>，，/>The method comprises the steps of carrying out a first treatment on the surface of the E.g., {3,4,8, 11,9,7}, the maximum signal energy value +.>Minimum signal energy value +.>After all distance units x in the actual distance azimuth heat map are traversed, an energy set is built:。
k3, updating signal energy values in the actual distance azimuth heat map:
based on the actual range-azimuth heat map, the energy set T and the average energy set P to the signal energy values in the actual range-azimuth heat mapUpdating, wherein an average energy set P is established based on echo signals in a non-target state, and the average energy set P is stored in a form of +.>，/>For the average energy corresponding to the distance unit x in the background distance azimuth heat map, the background distance azimuth heat map is established based on the average energy set P;
for signal energy values in an actual range-azimuth heat mapThe specific steps for updating are as follows:
selecting distance units x in the actual distance azimuth heat map one by one, and acquiring maximum signal energy value corresponding to the selected distance units x from the energy set T aiming at the selected distance units xAnd minimum signal energy value +.>Minimum signal energy value +.>Average energy corresponding to distance element x in average energy set P>Judging ifSatisfy->The corresponding distance unit x in the actual distance azimuth heat map is corresponding toAll assigned 0, if->Satisfy->Then the corresponding distance cell x in the actual distance azimuth heat map is corresponding +.>All remain the original values if +.>Satisfy the following requirementsThen the corresponding distance cell x in the actual distance azimuth heat map is corresponding +.>Updating is performed according to the following formula:
where F is the scaling factor and where,i.e. when->The value is unchanged whenFor->Update to greater than average energy +.>When->Update->。
And K4, highlighting the actual distance azimuth heat map:
and matching the updated actual distance azimuth heat map with the background distance azimuth heat map, highlighting the target which is not matched with the background distance azimuth heat map in the actual distance azimuth heat map, and returning to K1.
According to the method, the average energy set is established, the signal energy value of the actual distance azimuth heat map is updated, the unit cell signal energy value is cleared, maintained and scaled, the angle dimensional energy leakage in the MVDR beam forming algorithm is restrained, and therefore when the object with intense movement is detected, the target position is highlighted, and the detection is more accurate.
Further optimizing the scheme, the specific steps of establishing the average energy set P are as follows:
b1, acquiring echo signals in K groups of non-target states, and establishing a K-frame non-target distance azimuth heat map, wherein the size of the non-target distance azimuth heat map is consistent with that of an actual distance azimuth heat map, the establishing mode of the target distance azimuth heat map is consistent with that of the actual distance azimuth heat map, for example, 6 frames of radar scanning are required to establish an average energy set P, and K=6;
b2: let k=1, k be used for the no target distance azimuth heat map;
b3: selecting the kth non-target distance azimuth heat map W k Now the 5 th non-target distance azimuth heat map W is selected 5 Selecting the non-target distance azimuth heatmap W one by one 5 A middle distance unit x, for the selected distance unit x, calculating a single frame average energy value on the distance unit xWherein->Is the kth non-target distance azimuth heat map W k The signal energy value corresponding to the x-th distance unit and the y-th angle unit in the system is also recorded as +.>The x-th distance unit corresponds to 6 signal energy values of {3,4,8, 11,9,7}, then；
B4, judging whether 'K < K' is satisfied, if 'K < K' is satisfied, assigning k+1 to K, returning to B3, otherwise, entering B5, wherein 5 is<6, so go back to B3 to complete onceIs obtained;
b5: obtaining average energy value of all single framesSelecting the non-target distance azimuth heatmap W one by one k For the distance unit x selected, calculating the average energy corresponding to the distance unit x>，For example, no target distance for 6 framesAzimuth heat map W k Every time the 2 nd distance unit corresponds +.>{6,6,7,6,7,7}, then ∈>Then according to the k non-target distance azimuth heatmaps W k Establishing an average energy set: />。
Further optimizing scheme, the background distance azimuth heat map is established based on the average energy set P, and specifically comprises the following steps:
establishing a background distance azimuth heat map, wherein the size of the background distance azimuth heat map is consistent with that of the actual distance azimuth heat map, and recording signal energy values corresponding to each coordinate (x, y) in the background distance azimuth heat map asAnd meet the following。
Further optimizing the scheme, matching the updated actual distance azimuth heat map with the background distance azimuth heat map, specifically comprising:
selecting coordinates (x, y) from the actual distance azimuth heat map one by one, and acquiring signal energy values corresponding to the coordinates (x, y) in the actual distance azimuth heat map according to the selected coordinates (x, y)Signal energy value +.>Calculate->And->Difference between->Judging->If it is, epsilon is the set safe energy threshold, if +.>If true, there is no operation, if->If not, then the corresponding coordinates (x, y) in the background distance azimuth heat map are shown in red, e.g. difference +.>And->The coordinate is required to be displayed in red.
It should be noted that the difference matching table is set to have a range of the difference δ, so that highlighting of different colors, for example, deep blue, light green, deep green, yellow, orange, red, pink and purple, can be performed, and the energy of the recognition target can be intuitively seen according to the colors, so that the recognition target can be more intuitively found.
According to the method, the multi-frame non-target distance azimuth heat map is subjected to joint calculation, the background distance azimuth heat map with high reliability is obtained through twice averaging, and the detected moving object is highlighted more accurately.
It will be understood that modifications and variations will be apparent to those skilled in the art from the foregoing description, and it is intended that all such modifications and variations be included within the scope of the following claims. Parts of the specification not described in detail belong to the prior art known to those skilled in the art.
Claims (4)
1. The method for inhibiting the energy leakage in the radar MVDR algorithm is characterized by comprising the following steps:
k1, establishing an actual distance azimuth heat map
Acquiring an echo signal, and establishing an actual distance azimuth heat map based on the acquired echo signal;
the establishing of the actual distance azimuth heat map based on the acquired echo signals specifically comprises the following steps: mixing the echo signals and outputting multichannel intermediate frequency signals after high-frequency radar signal conversion; sending the multichannel intermediate frequency signals into a signal processing model for processing, calculating and analyzing, outputting a radar cube, and filtering static clutter of the radar cube; acquiring a radar cube for filtering static clutter, and performing MVDR processing to obtain an actual distance azimuth heat map; the dimension of the actual distance azimuth heat map is X multiplied by Y, wherein X is the length of the dimension of the actual distance azimuth heat map, Y is the width of the actual distance azimuth heat map, coordinates in the actual distance azimuth heat map are recorded as (X, Y), x=1, 2,3, X is the number corresponding to the distance units in the actual distance azimuth heat map, X is the total number of the distance units, y=1, 2,3, Y is the number corresponding to the angle units in the actual distance azimuth heat map, Y is the total number of the angle units, and the signal energy value corresponding to each coordinate (X, Y) in the actual distance azimuth heat map is recorded asNamely signal energy values corresponding to the x-th distance unit and the y-th angle unit;
k2, constructing an energy set according to the actual distance azimuth heat map
Selecting distance units x in the actual distance azimuth heat map one by one, and acquiring the maximum signal energy value on the distance units x according to the selected distance units xAnd minimum signal energy value +.>，/>，，/>The method comprises the steps of carrying out a first treatment on the surface of the When all distance units x in the actual distance azimuth heat map are traversed, an energy set T=is constructed；
K3, updating signal energy value in actual distance azimuth heat map
Based on the actual range-azimuth heat map, the energy set T and the average energy set P to the signal energy values in the actual range-azimuth heat mapUpdating, wherein an average energy set P is established based on echo signals in a non-target state, and the average energy set P is stored in a form of +.>，/>，/>For the average energy corresponding to the distance unit x in the background distance azimuth heat map, the background distance azimuth heat map is established based on the average energy set P;
k4 highlighting the actual range orientation heatmap
Matching the updated actual distance azimuth heat map with the background distance azimuth heat map, highlighting the target which is not matched with the background distance azimuth heat map in the actual distance azimuth heat map, and returning to K1;
for signal energy values in an actual range-azimuth heat mapThe specific steps for updating are as follows:
selecting distance units x in the actual distance azimuth heat map one by one, and acquiring maximum signal energy value corresponding to the selected distance units x from the energy set T aiming at the selected distance units xAnd minimum signal energy value +.>Minimum signal energy value +.>Average energy corresponding to distance element x in average energy set P>Judging if->Satisfy'", corresponding distance cell x in the actual distance azimuth heat map +.>All assigned 0, if->Satisfy%>", corresponding distance cell x in the actual distance azimuth heat map +.>All remain the original values if +.>Satisfy%>", corresponding distance cell x in the actual distance azimuth heat map +.>Updating is performed according to the following formula: />Wherein F is a scaling factor, ">。
2. The method for suppressing energy leakage in a radar MVDR algorithm according to claim 1, wherein the specific step of establishing the average energy set P is:
b1, acquiring echo signals in a K group of non-target states, and establishing a K frame non-target distance azimuth heat map, wherein the size of the non-target distance azimuth heat map is consistent with the size of an actual distance azimuth heat map, and the establishment mode of the target distance azimuth heat map is consistent with the establishment mode of the actual distance azimuth heat map;
b2: let k=1, k be used for the no target distance azimuth heat map;
b3: selecting the kth non-target distance azimuth heat map W k Selecting the non-target distance azimuth heatmap W one by one k A middle distance unit x, for the selected distance unit x, calculating a single frame average energy value on the distance unit x，/>Wherein->For the kth no purposeTarget distance azimuth heat map W k Signal energy values corresponding to the x-th distance unit and the y-th angle unit;
b4, judging whether 'K < K' is met, if 'K < K' is met, assigning k+1 to K, returning to B3, otherwise, entering B5;
b5: obtaining average energy value of all single framesSelecting the non-target distance azimuth heatmap W one by one k For the distance unit x selected, calculating the average energy corresponding to the distance unit x>，/>Then according to the k non-target distance azimuth heatmaps W k Establishing an average energy set。
3. The method for suppressing energy leakage in a radar MVDR algorithm according to claim 2, wherein the background distance azimuth heat map is built based on an average energy set P, specifically comprising:
establishing a background distance azimuth heat map, wherein the size of the background distance azimuth heat map is consistent with that of the actual distance azimuth heat map, and recording signal energy values corresponding to each coordinate (x, y) in the background distance azimuth heat map asAnd satisfy->，。
4. The method for suppressing energy leakage in a radar MVDR algorithm according to claim 3, wherein the matching the updated actual range azimuth heat map with the background range azimuth heat map specifically includes:
selecting coordinates (x, y) from the actual distance azimuth heat map one by one, and acquiring signal energy values corresponding to the coordinates (x, y) in the actual distance azimuth heat map according to the selected coordinates (x, y)Signal energy value +.>Calculate->And->And judging whether the difference delta is smaller than epsilon or not, wherein epsilon is a set safety energy threshold value, if delta is smaller than epsilon, no operation is performed, and if delta is smaller than epsilon, the corresponding coordinates (x, y) in the background distance azimuth heat map are displayed in red.
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