CN207611141U - A kind of continuous wave 4D radars - Google Patents
A kind of continuous wave 4D radars Download PDFInfo
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- CN207611141U CN207611141U CN201721664186.6U CN201721664186U CN207611141U CN 207611141 U CN207611141 U CN 207611141U CN 201721664186 U CN201721664186 U CN 201721664186U CN 207611141 U CN207611141 U CN 207611141U
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Abstract
The utility model discloses a kind of continuous wave 4D radars, continuous wave 4D radars include the transmitting antenna being located in approximately the same plane, two horizontal reception antennas being set up in parallel and two vertical reception antennas being set up in parallel, using transmitting antenna transmission channel alternate emission triangle arm and determine frequency continuous wave, determining the frequency continuous wave period, go out the level angle of multiple targets with four reception antenna COMPREHENSIVE CALCULATINGs, vertical angle and speed, in the triangle arm period, go out the distance and speed of multiple targets using four reception antenna COMPREHENSIVE CALCULATINGs, final synthesis obtains the level angle of multiple target, vertical angle, four parameters of distance and speed.The radar installations of the utility model can detect four speed, distance, level orientation and vertical orientations parameters of multiple targets using a transmitting antenna simultaneously, realize real 4D radars.Device structure is compact, at low cost.
Description
Technical field
The utility model belongs to Radar Technology field, is related to a kind of multiple target radar, and in particular to a kind of continuous wave 4D thunders
It reaches.
Background technology
With the development of wisdom traffic and automatic Pilot technology, there are more demands to traffic detection radar.Such as from
Vehicle-mounted forward detection radar in dynamic driving, needs the various targets for accurately and timely detecting vehicle front and its characteristic, no
But detect moving target, such as the moving vehicle in front, also to detect the target above road in time, as bridge, billboard,
The vehicle etc. of viaduct different layers.To adapt to the demand of automatic Pilot, find that various targets are that one kind compels to be essential as early as possible, in time
It asks, but also the barrier on the vehicle and road for distinguishing bridge, billboard, viaduct different layers that requiring can be as early as possible and traveling
Vehicle, this just it needs to be determined that target distance, orientation, height and speed.The operation of civilian unmanned plane and management just with greater need for
Know distance, orientation, height and the speed of target.These application scenarios do not require nothing more than detecting devices can obtain the three of target in time
Coordinate and velocity information also require compact-sized, easy for installation, at low cost.
Microwave and millimetre-wave radar are common Radar Technology, in domestic and international existing car radar measuring system, Chang Cai
Use CW with frequency modulation (FMCW) radar as front-end detection sensor.
Patent " 201610099252.3 a kind of CW with frequency modulation test the speed distance measuring method " and patent " 201610773300.2 bases
Test the speed ranging in the multiple target of symmetric triangular LFMCW radars " it discloses fmcw radar and tests the speed distance measuring method, patent
" a kind of 201510654175.9 automobile anti-collision radar systems and use its multi-targets recognition algorithm " and patent
" a kind of 201610812089.0 Modulation Continuous Wave Radar multiple mobile object matching " discloses fmcw radar detection multiple target
Method.But what these patents were related to be all can only measuring speed and distance radar, azel cannot be measured, can referred to as
For 2D radars.
Patent " automobile anti-collision radar systems and operation method of 201410171083.0 double reception antennas " uses double reception
Antenna measures the distance, speed and angle information of target.Range difference that its angle information is measured according to two antennas and two
The spacing of reception antenna calculates, it is practical in range measurement error, thus its be less than due to the spacing of two reception antennas
Angle error is very big.Patent " 201610098711.6 tested the speed based on ranging angle measurement the multilane radar velocity measurement method being combined and
The radar installations of device " can effectively measure the speed, distance and level angle of target, but cannot measure the vertical of target
Angle or height may be simply referred to as 3D radars.
The three-dimensional radar used on military and Aeronautics and Astronautics mechanical scanning on (azimuth) in the horizontal direction, Vertical Square
Electric scanning is carried out in (angle of site), distance, the azel information of target is can get, according to the target location of different time
Calculate the speed of target.This radar system is complicated, equipment is huge, with high costs, is unsuitable for wisdom traffic and automatic Pilot is answered
With.
Patent " US2015/0102954A1 4-DIMENSIONAL CONTINUOUS WAVE RADAR SYSTEM FOR
TRAFFIC SAFETY ENFORCEMENT (a kind of four-dimensional continuous-wave radar system for traffic safety mandatory provision) " are open
The radar installations of a kind of speed that can measure target, distance, azel, may be simply referred to as 4D radars.The patent describes
Radar installations be actually to carry out location matches using two 3D radars to realize 4D radars, and carried out to single goal
Match, when there are multiple targets, it is easy to which matching is fuzzy, forms false target or target is omitted, simultaneously because using two thunders
It reaches, will also result in the raising of cost and volume.
Utility model content
The purpose of the utility model is to overcome the deficiencies of above-mentioned various technologies, provide a kind of simple single radar realization 4D
Multiple target detection.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is：
A kind of continuous wave 4D radars, it is characterised in that：Include the transmitting antenna in approximately the same plane and four receptions
Antenna, four reception antennas are divided to two to be mounted on using transmitting antenna on the X-axis line of origin and on Y-axis line, to be on X-axis line
Two horizontal reception antennas being set up in parallel are two vertical reception antennas being set up in parallel, transmitting antenna on Y-axis line
It is all made of planar array antenna with reception antenna, the transmission channel alternate emission triangle arm of the transmitting antenna connects frequently with fixed
Continuous wave, is being determined the frequency continuous wave period, is being calculated using two horizontal reception antennas and two vertical reception antenna syntheses multiple
Level angle, vertical angle and the speed of target are hung down in the triangle arm period using two horizontal reception antennas and two
Distance and speed that antenna synthesis calculates multiple targets are directly received, final synthesis obtains level angle, the vertical angle of multiple target
Four degree, distance and speed parameters.
As an improvement, triangle arm period and the ratio range for determining the frequency continuous wave period are 1:3-3:1.
As an improvement, distance is 5-25mm between two horizontal reception antennas being set up in parallel.
As an improvement, distance is 6-35mm between two vertical reception antennas being set up in parallel.
As an improvement, include be located at approximately the same plane in transmitting antenna, two horizontal reception antennas being set up in parallel and
Two vertical reception antennas being set up in parallel, it is continuous using the transmission channel alternate emission triangle arm and fixed frequency of transmitting antenna
Wave, is determining frequency continuous wave time period t 1, and multiple mesh are calculated with two horizontal reception antennas and two vertical reception antenna syntheses
Target level angle, vertical angle and speed are divided into frequency sweep time period t 2 and lower frequency sweep time in the triangle arm period
Section t3, the distance and speed of multiple targets is calculated using two horizontal reception antennas and two vertical reception antenna syntheses, most
Synthesis obtains four level angle, vertical angle, distance and speed parameters of multiple target eventually.
As an improvement, determining frequency continuous wave time period t 1, two horizontal reception antennas and two vertical reception antennas are utilized
The specific method that COMPREHENSIVE CALCULATING goes out the level angles of multiple targets, vertical angle and speed is：
According to Doppler frequency shift principle and double antenna angle measuring principle, multiple targets are measured using two horizontal reception antennas
Speed { Vhd1,Vhd2,Vhd3…,VhdnAnd level angle { α h1,αh2,αh3…,αhn, n is natural number, indicates destination number,
Speed { the Vv of multiple targets is measured using two vertical reception antennasd1,Vvd2,Vvd3…,VvdnAnd vertical angle { θ v1,θv2,
θv3…,θvn,
General objectives distance R is much larger than antenna size, therefore first aim is taken：
Target velocity：Vcd1=(Vhd1+Vvd1)/2
Target level angle：α1=α h1
Target vertical angle：θ1=θ v1
And so on, it obtains：
Multiple target speed：Vcd={ Vcd1,Vcd2,…,Vcdn}
Multiple target level angle：α={ α1,α2,…,αn}
Multiple target vertical angle：θ={ θ1,θ2,…θn}。
As an improvement, in the triangle arm period, two horizontal reception antennas and two vertical reception day twine helads are utilized
The distance of total multiple targets of calculating and the specific method of speed are：
In upper frequency sweep time period t 2 and lower frequency sweep time period t 3, multiple targets are measured using two horizontal reception antennas
Upper frequency sweep section frequency difference { Δ fhU1,ΔfhU2,ΔfhU3…,ΔfhUnAnd lower frequency sweep section frequency difference { Δ fhD1,ΔfhD2,ΔfhD3…,
ΔfhDn}；Upper frequency sweep section frequency difference { the Δ fv of multiple targets is measured using two vertical reception antennasU1,ΔfvU2,ΔfvU3…,Δ
fvUnAnd lower frequency sweep section frequency difference { Δ fvD1,ΔfvD2,ΔfvD3…,ΔfvDn}；
The case where for single goal, the frequency difference Δ f measured according to upper frequency sweep time period t 2U1It is measured with lower frequency sweep time period t 3
Frequency difference Δ fD1The distance and speed of target can be calculated：
ΔfU1=(Δ fhU1+ΔfvU1The formula of)/2 one
ΔfD1=(Δ fvD1+ΔhvD1The formula of)/2 two
Wherein c is the light velocity, and f1 is the minimum frequency of frequency sweep, and f2 is frequency sweep maximum frequency, for single goal：Vd=Vmd=
Vcd, R=Rm, thus obtain four kinematic parameter speed V of targetd, distance R, level angle α and vertical angle θ；
For multiple target：N is generated when calculating distance and speed using formula three and formula four2A combination, wherein only n
It is real target, remaining is false target, utilizes { Δ fhU1,ΔfhU2,ΔfhU3…,ΔfhUnAnd { Δ fhD1,ΔfhD2,
ΔfhD3…,ΔfhDnBe calculated one by one with formula three and formula four：
Horizontal antenna distance matrix
Horizontal antenna rate matrices
Utilize { Δ fvU1,ΔfvU2,ΔfvU3…,ΔfvUnAnd { Δ fvD1,ΔfvD2,ΔfvD3…,ΔfvDnUse one by one
Formula three and formula four are calculated：
Vertical antenna distance matrix
Vertical antenna rate matrices
For same target, Rh=Rv=R, Vhd=Vvd=Vcd=Vd；
Consider measurement error, an error range Δ R and Δ V is set separately for distance and speed, Rh and Rv is carried out
Compare and meet | Rh-Rv |≤Δ R then takes the value as actual distance R；By Vhd、VvdAnd VcdSatisfaction is compared between any two
Difference is less than or equal to Δ V, then takes the value as true speed Vd；And utilize VcdCorrespondence obtains n between α and θ
The four-dimensional parameter of real goal：
Vd={ Vd1,Vd2,…,Vdn}
R={ R1,R2,…,Rn}
α={ α1,α2,…,αn}
θ={ θ1,θ2,…θn}
The speed and X, Y, Z coordinate of n target can be obtained by coordinate transform.
As an improvement, target velocity V obtained abovedIt is a throwing of the target velocity in radar antenna plane normal direction
One frequency sweep cycle is defined as a frame by shadow speed, the four-dimensional parameter of n target is all obtained in each frame, according to continuous m frames
Three coordinate parameters of m groups can calculate the direction of motion and target direction of motion and radar antenna plane normal of each target
Between angle β={ β1,β2,…,βn, according to formula V=Vd/ cos β can calculate the true velocity V={ V of target1,
V2,…,Vn}。
The utility model has the beneficial effects that：
The radar installations of the utility model can detect the speed, distance, level orientation of multiple targets using a radar
With four parameters of vertical orientations, real 4D radars are realized.Using flat panel matrix antenna and CW with frequency modulation working method, if
For compact-sized, operand is little, at low cost, wisdom traffic, automatic Pilot, short distance low-altitude detection etc. can be widely applied to
Field.
Description of the drawings
Fig. 1 continuous wave 4D multiple target radar schematic diagrames.
100- transmitting antennas (contain transmission channel), and 111- first levels reception antenna (contains receiving channel), the second water of 112-
Flat reception antenna (containing receiving channel), the first vertical receptions of 121- antenna (contain receiving channel), 122- the second vertical reception antennas
(containing receiving channel), 200- targets to be detected, R- targets to be detected are at a distance from radar, α-target level deflections to be detected
Degree, i.e. target are in the projection where antenna on plane XOY with the angle of origin line and X-axis, the target vertical directions to be detected θ-
Angle, as target with plane XOY where origin (transmitting antenna midpoint) line and antenna angle,
The fm waveform of Fig. 2 transmission channels transmitting.
Fig. 3 continuous wave 4D multiple target radar block diagrams.
In figure：LNA is low-noise amplifier, and PA is power amplifier, and IF is intermediate frequency amplification, filtering, and ADC is analog-to-digital conversion
Device, X4 are 4 frequency multipliers, and Synth is frequency synthesizer, and Generator is FM signal generator.
Specific implementation mode
The utility model is illustrated below in conjunction with the accompanying drawings, as shown in Figure 1, a kind of continuous wave 4D radars, including
Transmitting antenna in approximately the same plane and four reception antennas, it is original that four reception antennas, which are divided to two to be mounted on transmitting antenna,
It is two horizontal reception antennas being set up in parallel on X-axis line on the X-axis line of point and on Y-axis line, is located on Y-axis line
The vertical reception antenna being set up in parallel for two, transmitting antenna and reception antenna are all made of planar array antenna, the transmitting day
The transmission channel alternate emission triangle arm of line and determine frequency continuous wave, is determining the frequency continuous wave period, connect using two levels
It receives antenna and two vertical reception antenna syntheses calculates the level angle, vertical angle and speed of multiple targets, in triangular wave
Frequency modulated time section calculates the distance and speed of multiple targets using two horizontal reception antennas and two vertical reception antenna syntheses
Degree, final synthesis obtain four level angle, vertical angle, distance and speed parameters of multiple target.
As a kind of more excellent citing, triangle arm period and the ratio range for determining the frequency continuous wave period are 1:3-3:
1。
As a kind of more excellent citing, distance is 5-25mm between two horizontal reception antennas being set up in parallel.
As a kind of more excellent citing, distance is 6-35mm between two vertical reception antennas being set up in parallel.
A kind of continuous wave 4D radar surveying multi-target methods, include transmitting antenna in approximately the same plane, two simultaneously
The horizontal reception antenna and two vertical reception antennas being set up in parallel for arranging setting are alternately sent out using the transmission channel of transmitting antenna
Penetrate triangle arm and determine frequency continuous wave, alternately triangle arm with to determine frequency continuous wave combined waveform figure as shown in Figure 2.
Measuring process and principle：
Determine frequency continuous wave time period t 1, according to Doppler frequency shift principle and double antenna angle measuring principle, utilizes two levels
Reception antenna measures the speed { Vh of multiple targetsd1,Vhd2,Vhd3…,VhdnAnd level angle { α h1,αh2,αh3…,αhn, n
For natural number, indicates destination number, the speed { Vv of multiple targets is measured using two vertical reception antennasd1,Vvd2,Vvd3…,
VvdnAnd vertical angle { θ v1,θv2,θv3…,θvn,
General objectives distance R is much larger than antenna size, therefore first aim is taken：
Target velocity：Vcd1=(Vhd1+Vvd1)/2
Target level angle：α1=α h1
Target vertical angle：θ1=θ v1
And so on, it obtains：
Multiple target speed：Vcd={ Vcd1,Vcd2,…,Vcdn}
Multiple target level angle：α={ α1,α2,…,αn}
Multiple target vertical angle：θ={ θ1,θ2,…θn}。
In the upper frequency sweep time period t 2 and lower frequency sweep time period t 3 of triangle arm, transmitted waveform is symmetric triangular wave,
Upper frequency sweep section frequency difference { the Δ fh of multiple targets is measured using two horizontal reception antennasU1,ΔfhU2,ΔfhU3…,ΔfhUnAnd
Lower frequency sweep section frequency difference { Δ fhD1,ΔfhD2,ΔfhD3…,ΔfhDn}；The upper of multiple targets is measured using two vertical reception antennas
Frequency sweep section frequency difference { Δ fvU1,ΔfvU2,ΔfvU3…,ΔfvUnAnd lower frequency sweep section frequency difference { Δ fvD1,ΔfvD2,ΔfvD3…,Δ
fvDn}；
The case where for single goal, the frequency difference Δ f measured according to upper frequency sweep time period t 2U1It is measured with lower frequency sweep time period t 3
Frequency difference Δ fD1The distance and speed of target can be calculated：
ΔfU1=(Δ fhU1+ΔfvU1The formula of)/2 one
ΔfD1=(Δ fvD1+ΔhvD1The formula of)/2 two
Wherein c is the light velocity, and f1 is the minimum frequency of frequency sweep, and f2 is frequency sweep maximum frequency, for single goal：Vd=Vmd=
Vcd, R=Rm, thus obtain four kinematic parameter speed V of targetd, distance R, level angle α and vertical angle θ；
For multiple target：N is generated when calculating distance and speed using formula three and formula four2A combination, wherein only n
It is real target, remaining is false target, utilizes { Δ fhU1,ΔfhU2,ΔfhU3…,ΔfhUnAnd { Δ fhD1,ΔfhD2,
ΔfhD3…,ΔfhDnBe calculated one by one with formula three and formula four：
Horizontal antenna distance matrix
Horizontal antenna rate matrices
Utilize { Δ fvU1,ΔfvU2,ΔfvU3…,ΔfvUnAnd { Δ fvD1,ΔfvD2,ΔfvD3…,ΔfvDnUse one by one
Formula three and formula four are calculated：
Vertical antenna distance matrix
Vertical antenna rate matrices
For same target, Rh=Rv=R, Vhd=Vvd=Vcd=Vd；
Consider measurement error, an error range Δ R and Δ V is set separately for distance and speed, Rh and Rv is carried out
Compare and meet | Rh-Rv |≤Δ R then takes the value as actual distance R；By Vhd、VvdAnd VcdSatisfaction is compared between any two
Difference is less than or equal to Δ V, then takes the value as true speed Vd；And utilize VcdCorrespondence obtains n between α and θ
The four-dimensional parameter of real goal：
Vd={ Vd1,Vd2,…,Vdn}
R={ R1,R2,…,Rn}
α={ α1,α2,…,αn}
θ={ θ1,θ2,…θn}
The speed and X, Y, Z coordinate of n target can be obtained by coordinate transform.
Target velocity V obtained abovedIt is a projection speed of the target velocity in radar antenna plane normal direction, obtains
To the true velocity of target, a frequency sweep cycle is defined as a frame, the four-dimensional parameter of n target, root are all obtained in each frame
The direction of motion and target direction of motion and radar of each target can be calculated according to three coordinate parameters of m groups of continuous m frames
Angle β={ β between antenna plane normal1,β2,…,βn, according to formula V=Vd/ cos β can calculate the true of target
Real speed V={ V1,V2,…,Vn, m is natural number.
Embodiment 1
Entire radar block diagram is as shown in figure 3, antenna uses the structure of Fig. 1, working frequency 24GHz~24.25GHz, hair
Penetrate 24 ° X24 ° of antenna beamwidth, transmission power 10dBm；Two 37 ° X24 ° of horizontal reception antenna beam angles, two levels
Distance 19mm between reception antenna；Two 24 ° X32 ° of vertical reception antenna beamwidths, distance between two vertical reception antennas
26mm；Frequency swept waveform uses the waveform of Fig. 2, frequency swept waveform parameter t1=8mS, t2=t3=5mS, f1=24GHz, f2=
24.25GHz；The measurement and matching of speed, distance, horizontal azimuth and Vertical Square parallactic angle are carried out using aforementioned step.The thunder
Up to can in the range of 24 ° X24 ° of front detection 30 or more target, the range that tests the speed 2~250km/h, finding range 5m~
100m, range accuracy 1m, 0.15 ° of horizontal angle measurement accuracy, 0.1 ° of vertical angle measurement accuracy.
Embodiment 2
Entire radar block diagram is as shown in figure 3, antenna uses the structure of Fig. 1, working frequency 77GHz~78GHz to emit day
20 ° X20 ° of line beam angle, transmission power 10dBm；Two 30 ° X20 ° of horizontal reception antenna beam angles, two horizontal receptions
Distance 6mm between antenna；Two 20 ° X26 ° of vertical reception antenna beamwidths, distance 9mm between two vertical reception antennas；
Frequency swept waveform uses the waveform of Fig. 2, frequency swept waveform parameter t1=0.8mS, t2=t3=0.4mS, f1=77GHz, f2=
78GHz；The measurement and matching of speed, distance, horizontal azimuth and Vertical Square parallactic angle are carried out using aforementioned step.The radar can
With the target of detection 60 or more in the range of 20 ° X20 ° of front, the range that tests the speed 2~400km/h, finding range 1m~
150m, range accuracy 0.3m, 0.1 ° of horizontal angle measurement accuracy, 0.1 ° of vertical angle measurement accuracy.
Claims (3)
1. a kind of continuous wave 4D radars, it is characterised in that：Include transmitting antenna and four reception days in approximately the same plane
Line, it is two that four reception antennas, which are divided to two to be mounted on using transmitting antenna on the X-axis line of origin and on Y-axis line, to be located on X-axis line,
A horizontal reception antenna being set up in parallel, is two vertical reception antennas being set up in parallel on Y-axis line, transmitting antenna and
Reception antenna is all made of planar array antenna.
2. a kind of continuous wave 4D radars as described in claim 1, it is characterised in that：Two horizontal reception antennas being set up in parallel
Between distance be 5-25mm.
3. a kind of continuous wave 4D radars as described in claim 1, it is characterised in that：Two vertical reception antennas being set up in parallel
Between distance be 6-35mm.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831489A (en) * | 2017-12-04 | 2018-03-23 | 武汉拓宝科技股份有限公司 | A kind of continuous wave 4D radars and its measurement multi-target method |
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2017
- 2017-12-04 CN CN201721664186.6U patent/CN207611141U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107831489A (en) * | 2017-12-04 | 2018-03-23 | 武汉拓宝科技股份有限公司 | A kind of continuous wave 4D radars and its measurement multi-target method |
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Effective date of registration: 20210209 Address after: Room 1005, building F1, phase I, Longshan Innovation Park, future city, No. 999, Gaoxin Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province, 430075 Patentee after: Weitai Technology (Wuhan) Co.,Ltd. Address before: 430075 room 1001, building F1, zone A9, future science and Technology City, 999 Gaoxin Avenue, Donghu high tech Zone, Wuhan City, Hubei Province Patentee before: WUHAN TURBO TECHNOLOGIES Corp. |
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