CN118011353A - Radar imaging method and device based on multi-antenna array - Google Patents
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Abstract
The disclosure provides a radar imaging method based on a multi-antenna array, which can be applied to the technical field of radar imaging. The method comprises the following steps: acquiring an initial echo signal obtained after a target broadband signal sent by a transmitting antenna array element of a target array is scattered in an imaging area; generating position information of equivalent array elements corresponding to the combination of the receiving antenna array elements according to the position information of the transmitting antenna array elements and the position information of the receiving antenna array elements; generating a wave path difference between the combination of the equivalent array element and the receiving and transmitting array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element, the position information of the equivalent array element and the position information of the scattering point; according to the wave path difference, carrying out phase compensation and dimension reduction processing on the initial echo signal to obtain a target echo signal; and processing the target echo signal to generate a target image. The disclosure also provides a radar imaging device based on the multi-antenna array.
Description
Technical Field
The disclosure relates to the technical field of radar imaging, and in particular relates to a radar imaging method and device based on a multi-antenna array.
Background
Radar imaging of Multiple-Input Multiple-Out-put (hereinafter MIMO array) antenna arrays may employ Range Migration Algorithm (hereinafter MIMO-RMA algorithm) and PHASE SHIFT scale (hereinafter MIMO-PSM algorithm). This conventional MIMO imaging method requires that the transmit-receive arrays be uniform and equal in length, and therefore, zero padding for the transmit-receive segments of the MIMO array to meet the equal length is a necessary step prior to imaging.
In the process of realizing the inventive concept, the inventor finds that the MIMO array imaging in the related art has the technical problems of large calculation amount and low imaging speed.
Disclosure of Invention
In view of the above, a radar imaging method based on a multi-antenna array.
According to a first aspect of the present disclosure, there is provided a radar imaging method based on a multi-antenna array, comprising:
Acquiring an initial echo signal obtained after a target broadband signal sent by a transmitting antenna array element of a target array is scattered in an imaging area; the target array comprises a plurality of transceiver antenna array element combinations, each transceiver antenna array element combination comprises a transmitting antenna array element and a receiving antenna array element, and each transceiver antenna array element combination corresponds to one scattering point in an imaging area; generating position information of equivalent array elements corresponding to the combination of the receiving antenna array elements according to the position information of the transmitting antenna array elements and the position information of the receiving antenna array elements; generating a wave path difference between the combination of the equivalent array element and the receiving and transmitting array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element, the position information of the equivalent array element and the position information of the scattering point; according to the wave path difference, carrying out phase compensation and dimension reduction processing on the initial echo signal to obtain a target echo signal; and processing the target echo signal to generate a target image.
According to an embodiment of the present disclosure, the position information of the transmitting antenna array element includes a first azimuth coordinate, a first elevation coordinate, and a first distance coordinate; the position information of the receiving antenna array element comprises a second azimuth coordinate, a second altitude coordinate and a second distance coordinate; generating the position information of the equivalent array element corresponding to the receiving and transmitting antenna array element combination according to the position information of the transmitting antenna array element and the position information of the receiving antenna array element, comprising: and generating the position information of the equivalent array element according to the first azimuth coordinate, the first elevation coordinate, the second azimuth coordinate and the second elevation coordinate.
According to an embodiment of the present disclosure, the position information of the equivalent array element includes an equivalent azimuth coordinate and an equivalent elevation coordinate; generating position information of the equivalent array element according to the first azimuth coordinate, the first elevation coordinate, the second azimuth coordinate and the second elevation coordinate, including: and calculating the average value of the first azimuth coordinate and the second azimuth coordinate to generate the equivalent azimuth coordinate of the equivalent array element.
According to an embodiment of the present disclosure, generating position information of an equivalent array element according to a first azimuth coordinate, a first elevation coordinate, a second azimuth coordinate, and a second elevation coordinate includes: and calculating the average value of the first height direction coordinates and the second height direction coordinates to generate the equivalent height direction coordinates of the equivalent array elements.
According to an embodiment of the present disclosure, the position information of the scattering point includes a third azimuth coordinate, a third elevation coordinate, and a third distance coordinate; generating a wave path difference between the combination of the equivalent array element and the receiving and transmitting antenna array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element, the position information of the equivalent array element and the position information of the scattering point, comprising: generating a first single-pass distance between the transmitting antenna array element and the corresponding scattering point and a second single-pass distance between the receiving antenna array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element and the position information of the scattering point; generating an equivalent single-pass distance between the equivalent array element and the corresponding scattering point according to the position information of the equivalent array element and the position information of the scattering point; and generating the wave path difference between the equivalent array element and the transceiver antenna array element combination and the corresponding scattering point according to the first single-path distance, the second single-path distance and the equivalent single-path distance.
According to an embodiment of the present disclosure, performing phase compensation and dimension reduction processing on an initial echo signal according to a wave path difference to obtain a target echo signal, including: obtaining a first phase compensation factor of an initial echo signal according to the wave path difference; and carrying out phase compensation and dimension reduction processing on the initial echo signal based on the first phase compensation factor to obtain a target echo signal.
According to an embodiment of the present disclosure, processing a target echo signal to obtain a target image includes: performing two-dimensional fast Fourier transform on the target echo signal to obtain a spatial frequency domain spectrum of the target echo signal; performing inverse fast fourier transform on the spatial frequency domain spectrum of the target echo signal to obtain the spatial spectrum of the target echo signal; obtaining a second phase compensation factor according to the spatial spectrum of the target echo signal; and obtaining a target scattering function corresponding to the target echo signal according to the second phase compensation factor and the spatial spectrum of the target echo signal.
According to an embodiment of the present disclosure, performing a two-dimensional fast fourier transform on a target echo signal includes: and performing two-dimensional fast Fourier transform on the target echo signal in the azimuth direction and the elevation direction.
According to an embodiment of the present disclosure, performing inverse fast fourier transform on a spatial frequency domain spectrum of a target echo signal, includes: defining a matched filtering function, and moving the spatial frequency spectrum of the target echo signal to the center of an imaging area; and performing fast Fourier transform on the spatial frequency spectrum of the target echo signal in the distance direction.
A second aspect of the present disclosure provides a radar imaging apparatus based on a multi-antenna array, comprising:
The acquisition module is used for acquiring an initial echo signal obtained after a target broadband signal sent by a transmitting antenna array element of the target array is scattered in an imaging area; the target array comprises a plurality of transceiver antenna array element combinations, each transceiver antenna array element combination comprises a transmitting antenna array element and a receiving antenna array element, and each transceiver antenna array element combination corresponds to one scattering point in an imaging area;
The first generation module is used for generating the position information of the equivalent array element corresponding to the receiving and transmitting antenna array element combination according to the position information of the transmitting antenna array element and the position information of the receiving antenna array element;
The second generation module is used for generating the wave path difference between the equivalent array element and the receiving and transmitting array element combination and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element, the position information of the equivalent array element and the position information of the scattering point;
The obtaining module is used for carrying out phase compensation and dimension reduction on the initial echo signal according to the wave path difference to obtain a target echo signal;
and the third generation module is used for processing the target echo signal and generating a target image.
A third aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method described above.
A fourth aspect of the present disclosure also provides a computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the above-described method.
A fifth aspect of the present disclosure also provides a computer program product comprising a computer program which, when executed by a processor, implements the above method.
According to the radar imaging method based on the multi-antenna array, array element equivalence is carried out by combining array elements of a transmitting antenna and a receiving antenna in the target antenna array, phase compensation and dimension reduction are carried out on an initial echo signal by calculating the wave path difference from an actual array element and an equivalent array element to a corresponding scattering point of an imaging area, a target echo signal with lower dimension is obtained and is processed to obtain a target imaging result, and the dimension reduction is carried out on the initial echo signal, so that zero padding number is reduced to a certain extent, the processing is simpler and more convenient, and the imaging speed of the target antenna array is improved.
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The foregoing and other objects, features and advantages of the disclosure will be more apparent from the following description of embodiments of the disclosure with reference to the accompanying drawings, in which:
Fig. 1 schematically illustrates a flow chart of a multi-antenna array based radar imaging method according to an embodiment of the present disclosure;
Fig. 2 schematically illustrates a schematic diagram of an imaging scenario of a target antenna array according to an embodiment of the present disclosure;
Fig. 3 schematically illustrates a schematic diagram of a transmit antenna element, a receive antenna element, and an equivalent element according to an embodiment of the present disclosure;
fig. 4 schematically illustrates a schematic diagram of position information of an equivalent array element according to an embodiment of the present disclosure;
FIG. 5 (a) schematically illustrates an imaging scenario diagram of a MIMO-RMA algorithm according to an embodiment of the disclosure;
fig. 5 (b) schematically illustrates an imaging scenario diagram of a MIMO-PSM algorithm according to an embodiment of the present disclosure;
FIG. 5 (c) schematically illustrates an imaging scenario diagram of a radar imaging method according to an embodiment of the present disclosure;
fig. 6 schematically illustrates a block diagram of a multi-antenna array based radar imaging apparatus in accordance with an embodiment of the present disclosure; and
Fig. 7 schematically illustrates a block diagram of an electronic device of a multi-antenna array based radar imaging method according to an embodiment of the disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a convention should be interpreted in accordance with the meaning of one of skill in the art having generally understood the convention (e.g., "a system having at least one of A, B and C" would include, but not be limited to, systems having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
In the technical scheme of the invention, related user information (including but not limited to user personal information, user image information, user equipment information, such as position information and the like) and data (including but not limited to data for analysis, stored data, displayed data and the like) are information and data authorized by a user or fully authorized by all parties, and the related data are collected, stored, used, processed, transmitted, provided, disclosed, applied and the like, all conform to the related laws and regulations and standards of related areas, necessary security measures are adopted, no prejudice to the public order is made, and a corresponding operation entrance is provided for the user to select authorization or rejection.
The radar imaging method of the MIMO antenna array can be simply divided into two main types, namely a time domain coherent imaging method and a frequency domain imaging method. The most representative of the time domain coherent imaging methods is a Back Projection Algorithm (BPA), which acquires a three-dimensional reconstruction image by coherent superposition of an array aperture and a frequency dimension, has high imaging precision and simple operation, but because multiple integration is required, the calculation load is heavy, the time consumption is huge, and the application possibility in a real-time imaging scene is very small.
For the frequency domain imaging method, a MIMO-RMA algorithm and a MIMO-PSM algorithm are commonly used, the MIMO-RMA distributes distance wave numbers uniformly through Stolt interpolation, and three-dimensional reconstruction of an imaging area is realized through Fast Fourier Transform (FFT) and Inverse Fast Fourier Transform (IFFT); the MIMO-PSM realizes three-dimensional reconstruction through a superposition operation on a distance domain and FFT and IFFT operations of azimuth angles. The imaging speeds of MIMO-RMA and MIMO-PSM may be different at different sampling frequencies.
For a common MIMO array, the receiving and transmitting channels are separated, and the number of required zero padding is very large in general, compared with all channels for imaging when the zero padding is not performed, the calculation cost after the zero padding is greatly increased, and if the observation scene is further increased, the number of required zero padding for receiving and transmitting can be increased to a larger extent.
Based on this, the inventors found that the imaging of the MIMO array in the related art has a technical problem of slow imaging speed due to complicated operation and large calculation amount.
In view of this, an embodiment of the present disclosure provides a radar imaging method based on a multi-antenna array, including:
Acquiring an initial echo signal obtained after a target broadband signal sent by a transmitting antenna array element of a target array is scattered in an imaging area; the target array comprises a plurality of transceiver antenna array element combinations, each transceiver antenna array element combination comprises a transmitting antenna array element and a receiving antenna array element, and each transceiver antenna array element combination corresponds to one scattering point in an imaging area;
Generating position information of equivalent array elements corresponding to the combination of the receiving antenna array elements according to the position information of the transmitting antenna array elements and the position information of the receiving antenna array elements;
Generating a wave path difference between the combination of the equivalent array element and the receiving and transmitting array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element, the position information of the equivalent array element and the position information of the scattering point;
According to the wave path difference, carrying out phase compensation and dimension reduction processing on the initial echo signal to obtain a target echo signal;
and processing the target echo signal to generate a target image.
The radar imaging method based on the multi-antenna array of the disclosed embodiment will be described in detail below with reference to fig. 1 to 5.
Fig. 1 schematically illustrates a flow chart of a multi-antenna array based radar imaging method according to an embodiment of the present disclosure.
As described in fig. 1, this embodiment 100 includes operations S110 to S250.
In operation S110, an initial echo signal obtained after a target broadband signal sent by a transmitting antenna array element of a target array is scattered in an imaging area is acquired.
According to an embodiment of the present disclosure, a target array may characterize a MIMO array, where the target array includes a plurality of transceiver antenna element combinations, each transceiver antenna element combination including a transmit antenna element and a receive antenna element, each transceiver antenna element combination corresponding to one scattering point in an imaging region.
According to an embodiment of the disclosure, the receiving antenna array element is configured to receive an initial echo signal obtained after scattering a target broadband signal in an imaging area.
According to an embodiment of the present disclosure, the excitation frequency of the target broadband signal is a Frequency Modulated Continuous Wave (FMCW) signal.
According to an embodiment of the present disclosure, the expression of the acquired initial echo signal is shown in the following formula (1):
s(xt,yt,xr,yr,k)＝∫∫∫o(x,y,z)exp[-j(k0+k)(RT+RR)]dxdydz (1)
wherein o (x, y, z) is a target reflectivity function to be solved in the imaging region; k 0＝2πf0/c is the wave number corresponding to the center frequency, k=2pi f/c is the wave number corresponding to the baseband frequency with bandwidth B, and the sampling interval of the fm continuous wave is defined as Δf, where the wave number sampling interval may be expressed as Δk=2pi Δf/c, and j is an imaginary unit.
In operation S120, position information of an equivalent array element corresponding to the combination of the transmitting antenna array elements and the receiving antenna array elements is generated according to the position information of the transmitting antenna array elements and the position information of the receiving antenna array elements.
According to the embodiment of the disclosure, each transmitting antenna element and each receiving antenna element can form a transceiver antenna element combination, and each transceiver antenna element combination corresponds to an equivalent element.
According to an embodiment of the present disclosure, the position information of the antenna elements in the MIMO array may be represented by coordinates, where the transmitting antenna elements and the receiving antenna elements are located in the same plane in the same coordinate system.
In operation S130, a wave path difference between the combination of the equivalent array element and the transmitting and receiving array element and the corresponding scattering point is generated according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element, the position information of the equivalent array element, and the position information of the scattering point.
According to an embodiment of the present disclosure, the wave path difference between the equivalent array element and the transceiver array element combination and the corresponding scattering point may be generated according to the following formula (2).
Where R T may represent a first single pass distance between a transmitting antenna element and a corresponding scattering point, R R may represent a second single pass distance between a receiving antenna element and a corresponding scattering point,The target single pass distance of the equivalent array element to the corresponding scattering point may be represented.
In operation S140, according to the wave path difference, the initial echo signal is subjected to phase compensation and dimension reduction processing to obtain a target echo signal.
According to the embodiment of the disclosure, the initial echo signal is a multi-static high-dimensional signal, and a single static low-dimensional signal, namely a target echo signal, can be obtained through phase compensation and array rearrangement.
In operation S150, a target echo signal is processed to generate a target image.
According to the embodiment of the disclosure, the interpolation and accumulation operation of the traditional MIMO-RMA algorithm or the MIMO-PSM algorithm can be replaced by adopting the fast inverse Fourier transform operation through reasonable approximation, so that the fast three-dimensional reconstruction is realized.
According to the embodiment of the disclosure, array element equivalence is performed by combining array elements of a transmitting antenna and a receiving antenna in a target antenna array, phase compensation and dimension reduction are performed on an initial echo signal by calculating the wave path difference from an actual array element and an equivalent array element to a corresponding scattering point of an imaging area, a target echo signal with a lower dimension is obtained and processed to obtain a target imaging result, and the dimension reduction is performed on the initial echo signal, so that zero padding number is reduced to a certain extent, the processing is simpler and more convenient, and the imaging speed of the target antenna array is improved.
Fig. 2 schematically illustrates a schematic diagram of an imaging scenario of a target antenna array according to an embodiment of the present disclosure.
As shown in fig. 2, this embodiment 200 includes a target antenna array 210 and an imaging region 220.
In accordance with embodiments of the present disclosure, for ease of computation, the plane in which the target antenna array is located may be located at the location of z=0. The target antenna array 210 may be a "notch" array, that is, in the target antenna array, the transmitting antenna array elements 211 are located at the upper and lower ends, the receiving antenna array elements 212 are located at the left and right ends, and the receiving antenna array elements are uniformly arranged.
According to an embodiment of the present disclosure, the imaging region 220 includes scattering points 221, the coordinates of which may be defined as (x, y, z).
According to an embodiment of the present disclosure, the position information of the transmitting antenna array element includes a first azimuth coordinate, a first elevation coordinate, and a first distance coordinate; the position information of the receiving antenna array element comprises a second azimuth coordinate, a second altitude coordinate and a second distance coordinate; generating the position information of the equivalent array element corresponding to the receiving and transmitting antenna array element combination according to the position information of the transmitting antenna array element and the position information of the receiving antenna array element, comprising:
and generating the position information of the equivalent array element according to the first azimuth coordinate, the first elevation coordinate, the second azimuth coordinate and the second elevation coordinate.
According to an embodiment of the present disclosure, the position information of any one of the transmitting antenna elements in the target antenna array may be expressed in the form of coordinates of (x t,yt, 0), wherein the first azimuth coordinate may be expressed as xt, and the first elevation coordinate may be expressed as yt.
According to an embodiment of the present disclosure, the position information of any one of the receiving antenna elements in the target antenna array may be represented as a coordinate form of (x r,yr, 0), wherein the second azimuth coordinate may be represented as x r, and the second elevation coordinate may be represented as y r.
According to an embodiment of the present disclosure, a transceiver antenna array element combination formed by each receiving antenna array element and each transmitting antenna array element in the target antenna array corresponds to one equivalent array element.
According to an embodiment of the present disclosure, the position information of the equivalent array element includes an equivalent azimuth coordinate and an equivalent elevation coordinate; generating position information of the equivalent array element according to the first azimuth coordinate, the first elevation coordinate, the second azimuth coordinate and the second elevation coordinate, including: and calculating the average value of the first azimuth coordinate and the second azimuth coordinate to generate the equivalent azimuth coordinate of the equivalent array element.
According to embodiments of the present disclosure, the position information of the equivalent array element may be expressed asIn terms of coordinates, the equivalent azimuthal coordinate may be expressed as/>The equivalent altitude-to-coordinate may be expressed as/>
According to an embodiment of the present disclosure, the equivalent azimuthal coordinate of the equivalent array element may be generated by the following formula (3).
According to an embodiment of the present disclosure, generating position information of an equivalent array element according to a first azimuth coordinate, a first elevation coordinate, a second azimuth coordinate, and a second elevation coordinate includes: and calculating the average value of the first height direction coordinates and the second height direction coordinates to generate the equivalent height direction coordinates of the equivalent array elements.
According to an embodiment of the present disclosure, the equivalent height direction coordinates of the equivalent array elements may be generated by the following formula (4).
Fig. 3 schematically illustrates a schematic diagram of a transmit antenna element, a receive antenna element, and an equivalent element according to an embodiment of the present disclosure.
As shown in fig. 3, in this embodiment 300, "×" may represent transmit antenna elements, "+x" may represent receive antenna elements, and "·" may represent equivalent elements.
According to the embodiment of the present disclosure, the embodiment 300 includes 32 transmitting antenna elements and 32 receiving antenna elements, which may form 1024 transceiver antenna element combinations, corresponding to 1024 equivalent array elements.
Fig. 4 schematically illustrates a schematic diagram of position information of an equivalent array element according to an embodiment of the present disclosure.
As shown in fig. 4, this embodiment 400 includes a transmit antenna element 410, a receive antenna element 420, and an equivalent element 430.
According to an embodiment of the present disclosure, d x may represent a difference between a first azimuth coordinate and a second azimuth coordinate in a transceiver antenna element combination, and d y may represent a difference between a first elevation coordinate and a second elevation coordinate in the transceiver antenna element combination.
According to an embodiment of the present disclosure, the relationship between the first azimuth coordinate and the second azimuth coordinate in the combination of d x and the transceiver antenna element may be represented by the following formula (5).
dx＝|xt-xr| (5)
According to an embodiment of the present disclosure, the relationship between the first altitude-direction coordinate and the second altitude-direction coordinate in the combination of d y and the transceiver antenna element may be represented by the following formula (6).
dy＝|yt-yr| (6)
According to the embodiment of the disclosure, according to the position information of the transmitting antenna array element and the receiving antenna array element in the target antenna array, the position information of the azimuth direction and the height direction of the equivalent array element is obtained and used for reconstructing an initial echo signal.
According to an embodiment of the present disclosure, generating a wave path difference between a combination of an equivalent array element and a transceiver antenna element and a corresponding scattering point according to position information of a transmitting antenna element, position information of a receiving antenna element, position information of the equivalent array element, and position information of the scattering point, includes:
generating a first single-pass distance between the transmitting antenna array element and the corresponding scattering point and a second single-pass distance between the receiving antenna array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element and the position information of the scattering point;
generating an equivalent single-pass distance between the equivalent array element and the corresponding scattering point according to the position information of the equivalent array element and the position information of the scattering point;
And generating the wave path difference between the equivalent array element and the transceiver antenna array element combination and the corresponding scattering point according to the first single-path distance, the second single-path distance and the equivalent single-path distance.
According to an embodiment of the present disclosure, the position information of the scattering point includes a third azimuth coordinate, a third elevation coordinate, and a third distance coordinate. Wherein the third azimuth coordinate may be represented by x, the third elevation coordinate may be represented by y, and the third distance coordinate may be represented by z.
According to an embodiment of the present disclosure, the first single pass distance R T may be generated by the following formula (7).
According to an embodiment of the present disclosure, the first single pass distance R R may be generated by the following formula (8).
According to embodiments of the present disclosure, equivalent single pass distanceCan be generated by the following formula (9).
According to the embodiment of the disclosure, a certain wave path difference delta phi exists between an initial echo signal generated by the target antenna array and a target echo signal corresponding to an equivalent array element.
According to an embodiment of the present disclosure, the target echo signal may be represented according to the following formula (10).
According to the embodiment of the disclosure, the geometric relationship between the transmitting antenna element and the equivalent element position information can be obtained according to the formulas (3) to (6), and the geometric relationship between the transmitting antenna element and the equivalent element position information can be represented by the following formula (11).
According to an embodiment of the present disclosure, the geometrical relationship between the receiving antenna element and the equivalent element position information may be represented by the following formula (12).
According to an embodiment of the present disclosure, substituting equation (11) and equation (12) into equation (7) may result in equation (13) as follows.
Considering R T as a function of d x and d y, i.e., R T(dx,dy), according to an embodiment of the present disclosure, the binary function R T(dx,dy) is solved for according to the following binary taylor formula (14).
According to an embodiment of the present disclosure, the process of solving the first order derivative for the binary function R T(dx,dy) may be expressed as the following equation (15) and equation (16).
According to an embodiment of the present disclosure, the process of solving the second derivative for the binary function R T(dx,dy) may be expressed as the following equations (17), (18) and (19).
According to an embodiment of the present disclosure, R T may be approximated by the above-described formulas (17) to (19), and the processed R T may be expressed as the following formula (20).
According to an embodiment of the present disclosure, the approximation process of the binary function R R is substantially the same as that of the binary function R T, and the binary function R R can be derived by the following formulas (21) to (23).
According to an embodiment of the present disclosure, the approximation processing result of the binary function R T may be generated according to the following formula (24).
According to an embodiment of the present disclosure, the sum of the first single-pass distance and the second single-pass distance in the above formula (2) may be expressed as the following formula (25)
Substituting the above formula (25) into the above formula (2) may generate the following formula (26) for representing the wave path difference ΔΦ according to an embodiment of the present disclosure.
According to an embodiment of the present disclosure, the imaging region center coordinates are set to (0, z 0), and the following equation (27) may be generated to represent the wave path difference ΔΦ, substituting the above equation (26).
According to an embodiment of the present disclosure, for each transceiver antenna combination in the target antenna array a corresponding equivalent array element,D x and d y are known, and thus the wave path difference Δφ can be calculated as described above in equation (27).
According to the embodiment of the disclosure, by using a binary taylor formula, the wave path difference of each transceiver antenna array element combination can be obtained by deriving the first single-pass distance and the second single-pass distance and performing accurate approximate processing on the azimuth direction and the elevation direction of the first single-pass distance and the second single-pass distance.
According to an embodiment of the present disclosure, performing phase compensation and dimension reduction processing on an initial echo signal according to a wave path difference to obtain a target echo signal, including: obtaining a first phase compensation factor of an initial echo signal according to the wave path difference; and carrying out phase compensation and dimension reduction processing on the initial echo signal based on the first phase compensation factor to obtain a target echo signal.
According to an embodiment of the present disclosure, the first phase compensation factor H M may be generated according to the following equation (28).
HM＝exp(jΔφ) (28)
According to embodiments of the present disclosure, a first phase compensation factor may be used to phase compensate the initial echo signal both azimuthally and range-wise.
According to an embodiment of the present disclosure, the target echo signal is a single static low-dimensional signal, which may be obtained by performing phase compensation and array rearrangement on a multi-static high-dimensional initial echo signal. Performing phase compensation and dimension reduction processing on the initial echo signal s (x t,yt,xr,yr, k) to obtain a target echo signal, and converting the initial echo signal into the target echo signalCan be expressed according to the following formula (29).
According to the embodiment of the disclosure, the wave Cheng Chasheng combined by each receiving and transmitting antenna array element is used for forming a first phase compensation factor, and the phase compensation and dimension reduction processing are carried out on the initial echo signal to obtain a single-static low-dimension target echo signal, so that the problem of low imaging speed caused by a large number of zero filling operations in the prior art is solved to a certain extent.
According to an embodiment of the present disclosure, processing a target echo signal to obtain a target image includes: performing two-dimensional fast Fourier transform on the target echo signal to obtain a spatial frequency domain spectrum of the target echo signal; performing inverse fast fourier transform on the spatial frequency domain spectrum of the target echo signal to obtain the spatial spectrum of the target echo signal; obtaining a second phase compensation factor according to the spatial spectrum of the target echo signal; and obtaining a target scattering function corresponding to the target echo signal according to the second phase compensation factor and the spatial spectrum of the target echo signal.
According to an embodiment of the present disclosure, performing a two-dimensional fast fourier transform on a target echo signal includes: and performing two-dimensional fast Fourier transform on the target echo signal in the azimuth direction and the elevation direction.
According to embodiments of the present disclosure, performing a two-dimensional fast Fourier transform on a target echo signal in azimuth and elevation as shown in the following equation (30) may be used to determine a range spatial spectrum of the target echo signal in a monostatic spatial frequency domain
Where k z may represent the range wavenumber of the target echo signal in the spatial frequency domain.
According to an embodiment of the present disclosure, the distance wave number k z may be approximated according to the following formula (31).
According to embodiments of the present disclosure, the target scatter function may be used to generate an imaging result corresponding to the target echo signal.
According to an embodiment of the present disclosure, performing inverse fast fourier transform on a spatial frequency domain spectrum of a target echo signal, includes: defining a matched filtering function, and moving the spatial frequency spectrum of the target echo signal to the center of an imaging area; and performing fast Fourier transform on the spatial frequency spectrum of the target echo signal in the distance direction.
According to an embodiment of the present disclosure, the matched filter function H 1 may be expressed as the following formula (32).
H1＝exp(jkzz0) (32)
According to an embodiment of the present disclosure, the spatial frequency spectrum of the target echo signal may be multiplied by a matched filter function according to the following equation (33), moving the spatial frequency spectrum to the center of the imaging region.
Where exp [ -jk z(z-z0) ] may represent the range phase factor.
According to an embodiment of the present disclosure, the range phase factor may be expanded according to the following equation (34).
Where k may be used to represent the baseband wavenumber and 2 (z-z 0) may be used to represent the distance factor, the baseband wavenumber and the distance factor being fourier transform pairs.
According to an embodiment of the present disclosure, the spatial frequency spectrum of the above formula (35) may be calculated as followsPerforming inverse fast fourier transform in the distance direction to obtain a spatial spectrum of fixed distance.
According to the embodiment of the present disclosure, the second phase compensation factor H 2 may be obtained according to the spatial spectrum of the above formula (35) as shown in the following formula (36).
According to an embodiment of the present disclosure, the compensation of the residual phase is performed by multiplying the above formula (35) with the second phase compensation factor as in the following formula (37).
According to an embodiment of the present disclosure, the above formula (37) is a two-dimensional fourier transform formula, and thus, the target scattering function may be expressed as formula (38) which is an inverse fourier transform form of the spatial spectrum after the residual phase compensation.
Parameters simulating imaging of a target antenna array, according to embodiments of the present disclosure, may be as shown in table 1 below.
According to the embodiment of the disclosure, the single static low-dimensional target echo signal is subjected to three-dimensional reconstruction of the target echo signal in the imaging area through fast Fourier transform and inverse fast Fourier transform, interpolation operation of a traditional MIMO-RMA algorithm and accumulation operation in the MIMO-PSM algorithm are replaced, and the imaging speed of the target antenna array is further improved.
Fig. 5 (a) schematically illustrates an imaging scenario diagram of a MIMO-RMA algorithm according to an embodiment of the disclosure.
Fig. 5 (b) schematically illustrates an imaging scenario diagram of a MIMO-PSM algorithm according to an embodiment of the present disclosure.
Fig. 5 (c) schematically illustrates an imaging situation diagram of a radar imaging method according to an embodiment of the present disclosure.
As shown in fig. 5 (a), 5 (b) and 5 (c), compared with the conventional algorithm and the imaging method of the embodiment of the present disclosure, the imaging algorithm of the embodiment of the present disclosure has the lowest side energy, i.e. the highest imaging quality.
According to the embodiment of the present disclosure, the imaging of the target antenna array is simulated according to the parameters in table 1, the imaging time of the MIMO-RMA algorithm is 14.95s, the imaging time of the MIMO-PSM algorithm is 37.12s, and the imaging time of the imaging method of the embodiment of the present disclosure is 0.23s, and the imaging time of the imaging method of the embodiment of the present disclosure is the shortest, i.e., the imaging speed is the fastest.
Based on the radar imaging method, the disclosure also provides a radar imaging device based on the multi-antenna array. The device will be described in detail below in connection with fig. 6.
Fig. 6 schematically illustrates a block diagram of a multi-antenna array based radar imaging apparatus in accordance with an embodiment of the present disclosure.
As shown in fig. 6, the multi-antenna array-based radar imaging apparatus 600 of this embodiment includes an acquisition module 610, a first generation module 620, a second generation module 630, a obtaining module 640, and a third generation module 650.
The acquisition generation module 610 is configured to acquire an initial echo signal obtained after a target broadband signal sent by a transmitting antenna array element of a target array is scattered in an imaging area. In an embodiment, the acquisition generation module 610 may be configured to perform the operation S110 described above, which is not described herein.
The first generating module 620 is configured to generate location information of an equivalent array element corresponding to the combination of the transmit antenna array elements according to the location information of the transmit antenna array element and the location information of the receive antenna array element. In an embodiment, the first generating module 620 may be configured to perform the operation S120 described above, which is not described herein.
The second generating module 630 is configured to generate a wave path difference between the combination of the equivalent array element and the transceiver array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element, the position information of the equivalent array element, and the position information of the scattering point. In an embodiment, the second generating module 630 may be configured to perform the operation S130 described above, which is not described herein.
The obtaining module 640 is configured to perform phase compensation and dimension reduction processing on the initial echo signal according to the wave path difference, so as to obtain a target echo signal. In an embodiment, the obtaining module 640 may be configured to perform the operation S140 described above, which is not described herein.
The third generating module 650 is configured to process the target echo signal to generate a target image. In an embodiment, the third generating module 650 may be configured to perform the operation S150 described above, which is not described herein.
According to an embodiment of the present disclosure, the first generation module 620 includes a generation sub-module.
The generating sub-module is used for generating the position information of the equivalent array element according to the first azimuth coordinate, the first elevation coordinate, the second azimuth coordinate and the second elevation coordinate.
According to an embodiment of the present disclosure, the generation sub-module includes a first generation unit and a second generation unit.
A first generation unit for calculating the average value of the first azimuth coordinate and the second azimuth coordinate to generate the equivalent azimuth coordinate of the equivalent array element
And the second generation unit is used for calculating the average value of the first height direction coordinates and the second height direction coordinates and generating the equivalent height direction coordinates of the equivalent array elements.
According to an embodiment of the present disclosure, the second generation module 630 includes a first generation sub-module, a second generation sub-module, and a third generation sub-module.
The first generation sub-module is used for generating a first single-pass distance between the transmitting antenna array element and the corresponding scattering point and a second single-pass distance between the receiving antenna array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element and the position information of the scattering point.
And the second generation submodule is used for generating an equivalent single-pass distance between the equivalent array element and the corresponding scattering point according to the position information of the equivalent array element and the position information of the scattering point.
And the third generation submodule is used for generating the wave path difference between the equivalent array element and the transceiver antenna array element combination and the corresponding scattering point according to the first single-pass distance, the second single-pass distance and the equivalent single-pass distance.
According to an embodiment of the present disclosure, the get module 640 includes a first get sub-module and a second get sub-module.
The first obtaining submodule is used for obtaining a first phase compensation factor of the initial echo signal according to the wave path difference.
And the second obtaining submodule is used for carrying out phase compensation and dimension reduction on the initial echo signal based on the first phase compensation factor to obtain a target echo signal.
According to an embodiment of the present disclosure, the third generation module 650 includes a first obtained sub-module, a second obtained sub-module, a third obtained sub-module, and a fourth obtained sub-module.
The first obtaining submodule is used for carrying out two-dimensional fast Fourier transform on the target echo signal to obtain a spatial frequency domain spectrum of the target echo signal;
a second obtaining submodule, configured to perform inverse fast fourier transform on a spatial frequency domain spectrum of the target echo signal, to obtain a spatial spectrum of the target echo signal;
Thirdly, a sub-module is obtained and is used for obtaining a second phase compensation factor according to the spatial spectrum of the target echo signal;
And a fourth obtaining submodule, configured to obtain a target scattering signal corresponding to the target echo signal according to the second phase compensation factor and the spatial spectrum of the target echo signal.
According to an embodiment of the present disclosure, the first deriving submodule comprises a transforming unit.
And the transformation unit is used for carrying out two-dimensional fast Fourier transformation on the target echo signal in the azimuth direction and the elevation direction.
According to an embodiment of the present disclosure, the second deriving submodule includes a mobile unit and a transform unit.
And the moving unit is used for defining a matched filtering function and moving the spatial frequency spectrum of the target echo signal to the center of the imaging area.
And the transformation unit is used for performing fast Fourier transformation on the spatial frequency spectrum of the target echo signal in the distance direction.
Fig. 7 schematically illustrates a block diagram of an electronic device of a multi-antenna array based radar imaging method according to an embodiment of the disclosure.
As shown in fig. 7, an electronic device 700 according to an embodiment of the present disclosure includes a processor 701 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. The processor 701 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or an associated chipset and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), or the like. The processor 701 may also include on-board memory for caching purposes. The processor 701 may comprise a single processing unit or a plurality of processing units for performing different actions of the method flows according to embodiments of the disclosure.
In the RAM 703, various programs and data necessary for the operation of the electronic apparatus 700 are stored. The processor 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. The processor 701 performs various operations of the method flow according to the embodiments of the present disclosure by executing programs in the ROM 702 and/or the RAM 703. Note that the program may be stored in one or more memories other than the ROM 702 and the RAM 703. The processor 701 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in the one or more memories.
According to an embodiment of the present disclosure, the electronic device 700 may further include an input/output (I/O) interface 705, the input/output (I/O) interface 705 also being connected to the bus 704. The electronic device 700 may also include one or more of the following components connected to an input/output (I/O) interface 705: an input section 706 including a keyboard, a mouse, and the like; an output portion 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 708 including a hard disk or the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. The drive 710 is also connected to an input/output (I/O) interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read therefrom is mounted into the storage section 708 as necessary.
The present disclosure also provides a computer-readable storage medium that may be embodied in the apparatus/device/system described in the above embodiments; or may exist alone without being assembled into the apparatus/device/system. The computer-readable storage medium carries one or more programs which, when executed, implement methods in accordance with embodiments of the present disclosure.
According to embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, for example, 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 storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. For example, according to embodiments of the present disclosure, the computer-readable storage medium may include ROM 702 and/or RAM 703 and/or one or more memories other than ROM 702 and RAM 703 described above.
Embodiments of the present disclosure also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowcharts. The program code, when executed in a computer system, causes the computer system to implement the item recommendation method provided by embodiments of the present disclosure.
The above-described functions defined in the system/apparatus of the embodiments of the present disclosure are performed when the computer program is executed by the processor 701. The systems, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the disclosure.
In one embodiment, the computer program may be based on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like. In another embodiment, the computer program may also be transmitted, distributed over a network medium in the form of signals, downloaded and installed via the communication section 709, and/or installed from the removable medium 711. The computer program may include program code that may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 707, and/or installed from the removable medium 711. The above-described functions defined in the system of the embodiments of the present disclosure are performed when the computer program is executed by the processor 701. The systems, devices, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the disclosure.
According to embodiments of the present disclosure, program code for performing computer programs provided by embodiments of the present disclosure may be written in any combination of one or more programming languages, and in particular, such computer programs may be implemented in high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. Programming languages include, but are not limited to, such as Java, c++, python, "C" or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Those skilled in the art will appreciate that the features recited in the various embodiments of the disclosure and/or in the claims may be provided in a variety of combinations and/or combinations, even if such combinations or combinations are not explicitly recited in the disclosure. In particular, the features recited in the various embodiments of the present disclosure and/or the claims may be variously combined and/or combined without departing from the spirit and teachings of the present disclosure. All such combinations and/or combinations fall within the scope of the present disclosure.
The embodiments of the present disclosure are described above. These examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.
Claims (10)
1. A radar imaging method based on a multi-antenna array, comprising:
Acquiring an initial echo signal obtained after a target broadband signal sent by a transmitting antenna array element of a target array is scattered in an imaging area; the target array comprises a plurality of transceiver antenna array element combinations, each transceiver antenna array element combination comprises a transmitting antenna array element and a receiving antenna array element, and each transceiver antenna array element combination corresponds to one scattering point in an imaging area;
Generating position information of equivalent array elements corresponding to the receiving and transmitting antenna array element combination according to the position information of the transmitting antenna array elements and the position information of the receiving antenna array elements;
Generating a wave path difference between the combination of the equivalent array element and the receiving and transmitting array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element, the position information of the equivalent array element and the position information of the scattering point;
according to the wave path difference, performing phase compensation and dimension reduction processing on the initial echo signal to obtain a target echo signal;
And processing the target echo signal to generate a target image.
2. The method of claim 1, wherein the location information of the transmit antenna elements comprises a first azimuth coordinate, a first elevation coordinate, and a first distance coordinate; the position information of the receiving antenna array element comprises a second azimuth coordinate, a second altitude coordinate and a second distance coordinate; the generating the position information of the equivalent array element corresponding to the transceiver antenna array element combination according to the position information of the transmitting antenna array element and the position information of the receiving antenna array element comprises the following steps:
and generating the position information of the equivalent array element according to the first azimuth coordinate, the first elevation coordinate, the second azimuth coordinate and the second elevation coordinate.
3. The method of claim 2, wherein the position information of the equivalent array elements includes equivalent azimuth coordinates and equivalent elevation coordinates;
The generating the position information of the equivalent array element according to the first azimuth coordinate, the first elevation coordinate, the second azimuth coordinate and the second elevation coordinate includes:
And calculating the average value of the first azimuth coordinate and the second azimuth coordinate to generate the equivalent azimuth coordinate of the equivalent array element.
4. The method of claim 2, wherein the generating the position information of the equivalent array element according to the first azimuth coordinate, the first elevation coordinate, the second azimuth coordinate, and the second elevation coordinate comprises:
And calculating the average value of the first height direction coordinates and the second height direction coordinates to generate the equivalent height direction coordinates of the equivalent array elements.
5. The method of claim 1, wherein the location information of the scattering point comprises a third azimuth coordinate, a third elevation coordinate, and a third distance coordinate;
Generating a wave path difference between the combination of the equivalent array element and the receiving and transmitting antenna array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element, the position information of the equivalent array element and the position information of the scattering point, including:
Generating a first single-pass distance between the transmitting antenna array element and the corresponding scattering point and a second single-pass distance between the receiving antenna array element and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element and the position information of the scattering point;
generating an equivalent single-pass distance between the equivalent array element and the corresponding scattering point according to the position information of the equivalent array element and the position information of the scattering point;
and generating a wave path difference between the equivalent array element and the transceiver antenna array element combination and the corresponding scattering point according to the first single-path distance, the second single-path distance and the equivalent single-path distance.
6. The method of claim 1, wherein the performing phase compensation and dimension reduction processing on the initial echo signal according to the wave path difference to obtain a target echo signal comprises:
obtaining a first phase compensation factor of the initial echo signal according to the wave path difference;
and carrying out phase compensation and dimension reduction on the initial echo signal based on the first phase compensation factor to obtain a target echo signal.
7. The method of claim 1, wherein the processing the target echo signal to obtain a target image comprises:
performing two-dimensional fast Fourier transform on the target echo signal to obtain a spatial frequency domain spectrum of the target echo signal;
performing inverse fast fourier transform on the spatial frequency domain spectrum of the target echo signal to obtain a spatial spectrum of the target echo signal;
obtaining a second phase compensation factor according to the spatial spectrum of the target echo signal;
and obtaining a target scattering function corresponding to the target echo signal according to the second phase compensation factor and the spatial spectrum of the target echo signal.
8. The method of claim 7, wherein performing a two-dimensional fast fourier transform on the target echo signal comprises:
and carrying out two-dimensional fast Fourier transform on the target echo signal in the azimuth direction and the elevation direction.
9. The method of claim 7, wherein inverse fast fourier transforming the spatial frequency domain spectrum of the target echo signal comprises:
Defining a matched filtering function, and moving the spatial frequency spectrum of the target echo signal to the center of the imaging region;
and performing fast Fourier transform on the spatial frequency spectrum of the target echo signal in a distance direction.
10. A multi-antenna array based radar imaging apparatus, comprising:
The acquisition module is used for acquiring an initial echo signal obtained after a target broadband signal sent by a transmitting antenna array element of the target array is scattered in an imaging area; the target array comprises a plurality of transceiver antenna array element combinations, each transceiver antenna array element combination comprises a transmitting antenna array element and a receiving antenna array element, and each transceiver antenna array element combination corresponds to one scattering point in an imaging area;
The first generation module is used for generating the position information of the equivalent array element corresponding to the receiving and transmitting antenna array element combination according to the position information of the transmitting antenna array element and the position information of the receiving antenna array element;
The second generation module is used for generating a wave path difference between the equivalent array element and the transceiver array element combination and the corresponding scattering point according to the position information of the transmitting antenna array element, the position information of the receiving antenna array element, the position information of the equivalent array element and the position information of the scattering point;
the obtaining module is used for carrying out phase compensation and dimension reduction on the initial echo signal according to the wave path difference to obtain a target echo signal;
And the third generation module is used for processing the target echo signal and generating a target image.
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