CN117784077B - Weak and small target detection method, terminal and medium based on frequency accumulation - Google Patents
Weak and small target detection method, terminal and medium based on frequency accumulation Download PDFInfo
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Abstract
The application discloses a weak and small target detection method, a terminal and a medium based on frequency accumulation, wherein the method comprises the following steps: the millimeter wave radar realizes the transmission of Linear Frequency Modulation Continuous Wave (LFMCW) through a Doppler multiple access mode, each transmitting antenna simultaneously transmits signals, and each transmitting antenna sets frequency offset; the echo sampling data of the millimeter wave radar is subjected to distance fast Fourier transform FFT and speed fast Fourier transform FFT to obtain two-dimensional FFT processing result data which is data_FFT2D; performing non-coherent accumulation on a two-dimensional FFT processing result data_FFT2D; the results of the non-coherent accumulation are divided into fractions according to the Doppler dimension. The application utilizes the MIMO transmitting mechanism of Doppler multiple access to carry out frequency secondary accumulation on the basis of non-coherent accumulation, thereby improving the target SNR, being more beneficial to the detection of weak and small targets, reducing the false alarm rate and laying a foundation for the follow-up angle measurement and target cluster tracking.
Description
Technical Field
The application relates to the technical field of vehicle millimeter wave radar signal processing, in particular to a method, a terminal and a medium for detecting a weak and small target based on frequency accumulation.
Background
Compared with the traditional infrared, laser, ultrasonic and other sensors, the millimeter wave radar has the characteristics of small influence on environment, high resolution in the aspects of ranging, speed measurement and angle measurement and the like, and has unique use value and wide application prospect in the target detection direction.
Currently, millimeter wave radar detection is widely applied to the fields of unmanned driving, traffic road safety, intelligent home, security detection, military reconnaissance and the like, and the object information acquisition essence is to extract Doppler information, time frequency information and the like by comparing differences between radar echoes and emission waves.
Millimeter wave radar transmitters often employ multiple-input multiple-output (MIMO) forms, whereas traditional time division multiple access-multiple-input multiple-output (TDMA-MIMO) transmission forms do not fully utilize transmission resources, resulting in low target signal-to-noise ratio (SNR), thereby affecting detection results, especially for detection of small and weak targets (e.g., people, bicycles, etc.).
Disclosure of Invention
The application provides a weak and small target detection method, a terminal and a medium based on frequency accumulation, which utilize a MIMO transmission mechanism of Doppler multiple access to carry out frequency secondary accumulation on the basis of non-coherent accumulation, thereby improving target SNR, being more beneficial to the detection of the weak and small target, reducing the false alarm rate and laying a foundation for subsequent angle measurement and target cluster tracking.
The technical scheme of the application is as follows:
in one aspect, the application provides a method for detecting a weak and small target based on frequency accumulation, comprising the following steps:
the millimeter wave radar realizes the transmission of Linear Frequency Modulation Continuous Wave (LFMCW) through a Doppler multiple access mode, each transmitting antenna simultaneously transmits signals, and each transmitting antenna sets frequency offset;
the echo sampling data of the millimeter wave radar is subjected to distance fast Fourier transform FFT and speed fast Fourier transform FFT to obtain two-dimensional FFT processing result data which is data_FFT2D;
Performing non-coherent accumulation on a two-dimensional FFT processing result data_FFT 2D;
Dividing the result of non-coherent accumulation into Doppler dimensions Parts by weight.
Further, the frequency offset on different transmit antennas is achieved by applying different phase rotations between the chirp signals, while the phase of the signals within the chirp signals is unchanged;
Assuming a total of Root transmit antenna, then for transmit antenna/>Phase shift applied at adjacent chirps/>Is determined by the following formula:
wherein, ，/>The representation is rounded up,/>Representation is greater than/>And is closest/>To the integer power of 2.
The echo sampling data of the millimeter wave radar is subjected to distance fast Fourier transform FFT and speed fast Fourier transform FFT to obtain two-dimensional FFT processing result data which is data_FFT2D;
Performing non-coherent accumulation on a two-dimensional FFT processing result data_FFT 2D;
Dividing the result of non-coherent accumulation into Doppler dimensions Parts by weight.
Further, the frequency offset on different transmit antennas is achieved by applying different phase rotations between the chirp signals, while the phase of the signals within the chirp signals is unchanged;
Further, the two-dimensional FFT processing result data_FFT2D has the data dimension of Wherein/>Representing the number of antenna reception channels,/>Represents the distance FFT point number,/>Indicating the number of doppler FFT points.
Further, the non-coherent accumulation of the two-dimensional FFT processing result data_fft2d is as follows:
wherein, ，/>Representing the number of receive channels,/>Representing the non-coherent accumulation result with the dimension of/>。
Further, the non-coherent accumulation results are divided into parts according to the Doppler dimension and frequency accumulation is carried out:
wherein, I.e. Doppler points/>Is divided into/>Length of parts,/>For the frequency accumulation result, its dimension is/>。
In another aspect, the present application provides a radar signal processing terminal, including a processor and a memory, where the memory stores a computer program, and when the computer program is called by the processor, the method for detecting a weak and small target based on frequency accumulation as described in the above scheme is executed.
In another aspect, the present application provides a medium having stored therein a computer program which, when called by a computer, performs the frequency accumulation-based dim target detection method as described in the above schemes.
In summary, the beneficial effects of the application are as follows: the MIMO transmitting mechanism of Doppler multiple access is utilized to carry out frequency secondary accumulation on the basis of non-coherent accumulation, thereby improving the target SNR, being more beneficial to the detection of weak and small targets, reducing the false alarm rate and laying a foundation for the follow-up angle measurement and target cluster tracking.
Drawings
Figure 1 is a schematic diagram of the doppler multiple access principle in the present application;
FIG. 2 is a schematic diagram of a two-dimensional FFT result in accordance with an embodiment of the application;
FIG. 3 is a schematic diagram of a result of non-coherent accumulation of two-dimensional FFT result data according to an embodiment of the application;
FIG. 4 is a schematic diagram of the result of frequency accumulation of two-dimensional FFT result data according to an embodiment of the application;
FIG. 5 is a schematic diagram of a distance dimension profile of two-dimensional FFT result data after non-coherent accumulation in an embodiment of the application;
FIG. 6 is a schematic diagram of a distance dimension profile of two-dimensional FFT result data after frequency accumulation according to an embodiment of the application.
Detailed Description
The following describes in detail the embodiments of the present application with reference to the drawings.
Embodiment one: a weak and small target detection method based on frequency accumulation comprises the following steps:
The millimeter wave radar realizes the transmission of Linear Frequency Modulation Continuous Wave (LFMCW) in a Doppler multiple access mode, effectively utilizes transmission resources, improves the target SNR through non-coherent accumulation and frequency accumulation, greatly improves the detection capability of weak and small targets, reduces the alarm missing rate, and lays a foundation for subsequent angle measurement and target cluster tracking.
In Time Division Multiple Access (TDMA) transmission conditions, each transmit antenna is individually transmitting, while in doppler multiple access transmission conditions, the transmit antennas can transmit signals simultaneously, effectively utilizing the transmit gain. Each antenna is offset by a specific frequency, and each transmitting antenna is set with a frequency offset; by this artificially set frequency shift, the signals of the different transmit antennas can be separated in range-doppler. The frequency offset on different transmit antennas is achieved by applying different phase rotations between the chirps, while the phase of the signal is unchanged within the chirps.
As shown in fig. 1, assume that there is a total ofRoot transmit antenna, then for transmit antenna/>Phase shift applied at adjacent chirps/>Is determined by the following formula:
wherein, ，/>The representation is rounded up,/>Representation is greater than/>And is closest/>To the integer power of 2.
The echo sampling data of the millimeter wave radar is subjected to distance fast Fourier transform FFT and speed fast Fourier transform FFT to obtain two-dimensional FFT processing result data which is data_FFT2D; the two-dimensional FFT processing result data_FFT2D has the data dimension ofWherein/>Representing the number of antenna reception channels,/>Represents the distance FFT point number,/>Indicating the number of doppler FFT points. Suppose that the Doppler dimension is divided into/>The FFT point number corresponding to one Doppler is/>Note here/>Is a whole of/>A kind of electronic device.
Based on the two-dimensional FFT processing result, the algorithm is described, and the specific steps are as follows:
The non-coherent accumulation of the two-dimensional FFT processing result data_FFT2D is as follows:
wherein, ，/>Representing the number of receive channels,/>Representing the non-coherent accumulation result with the dimension of/>。
Dividing the result of non-coherent accumulation into Doppler dimensionsFrequency accumulation is carried out in parts:
wherein, I.e. Doppler points/>Is divided into/>Length of parts,/>For the frequency accumulation result, its dimension is/>。
After the frequency accumulation, the target SNR can be promoted again on the basis of non-coherent accumulation, and the detection of weak and small targets is facilitated.
According to the weak and small target detection method based on frequency accumulation, a Doppler multiple access transmission mode is adopted, transmission gain is fully utilized, target SNR is promoted again through secondary accumulation of frequency, target detection distance is increased, and weak detection capability of a traditional radar on weak and small targets (such as people and the like) is promoted.
In one embodiment, the verification is as follows: in this embodiment, the transmitting antenna is 6, the receiving antenna is 8, the radar echo two-dimensional FFT result is that the dimension is 8×512×128, i.e. the number of receiving channels is 8, the number of distance dimension FFT is 512, the number of Doppler dimension FFT is 128, doppler multiple accessParts by weight.
The results after the two-dimensional FFT are shown in fig. 2.
The non-coherent accumulation results are shown in FIG. 3.
The frequency accumulation results are shown in fig. 4.
The non-coherent accumulation versus frequency accumulation distance dimension profile results are shown in fig. 5 and 6. 3 targets of the non-coherent accumulation result can be seen to be submerged in noise and cannot be detected; after the frequency is accumulated, the noise is smoothed and the weak 3 targets can be detected.
Embodiment two: a radar signal processing terminal comprising a processor and a memory storing a computer program which, when called by the processor, performs the frequency accumulation-based dim target detection method according to embodiment one.
Embodiment III: a medium having stored therein a computer program which, when called by a computer, performs the frequency accumulation-based dim target detection method according to embodiment one.
The foregoing is merely a preferred embodiment of the present application, and it should be noted that modifications and improvements could be made by those skilled in the art without departing from the inventive concept, which falls within the scope of the present application.
Claims (5)
1. The weak and small target detection method based on frequency accumulation is characterized by comprising the following steps of:
the millimeter wave radar realizes the transmission of linear frequency modulation continuous waves in a Doppler multiple access mode, each transmitting antenna simultaneously transmits signals, and each transmitting antenna sets frequency offset; the frequency offset on different transmit antennas is achieved by applying different phase rotations between the chirps, while the phase of the signal is unchanged within the chirps;
Assuming a total of Root transmit antenna, then for transmit antenna/>Phase shift applied at adjacent chirps/>Is determined by the following formula:
；
wherein, ，/>The representation is rounded up,/>Representation is greater than/>And is closest/>An integer power of 2;
the echo sampling data of the millimeter wave radar is subjected to distance fast Fourier transform FFT and speed fast Fourier transform FFT to obtain two-dimensional FFT processing result data which is data_FFT2D;
Performing non-coherent accumulation on a two-dimensional FFT processing result data_FFT 2D;
Dividing the result of non-coherent accumulation into Doppler dimensions A part(s);
the result of non-coherent accumulation is divided into Doppler dimensions Frequency accumulation is carried out in parts:
；
wherein, I.e. Doppler points/>Is divided into/>Length of parts,/>For the frequency accumulation result, its dimension is/>。
2. The method for detecting a weak and small target based on frequency accumulation as claimed in claim 1, wherein the two-dimensional FFT processing result data_fft2d has a data dimension ofWherein/>Representing the number of antenna reception channels,/>Represents the distance FFT point number,/>Indicating the number of doppler FFT points.
3. The method for detecting a weak and small target based on frequency accumulation according to claim 2, wherein the performing non-coherent accumulation on the two-dimensional FFT processing result data_fft2d is:
；
wherein, ，/>Representing the number of receive channels,/>Representing non-coherent accumulation results with dimensions of。
4. A radar signal processing terminal, characterized by comprising a processor and a memory, the memory storing a computer program which, when called by the processor, performs the frequency accumulation based dim target detection method according to any one of claims 1-3.
5. A medium having stored therein a computer program which, when called by a computer, performs the frequency accumulation based dim target detection method according to any one of claims 1-3.
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