EP3589976A1 - Système radar et procédé pour faire fonctionner un système radar - Google Patents

Système radar et procédé pour faire fonctionner un système radar

Info

Publication number
EP3589976A1
EP3589976A1 EP18707358.0A EP18707358A EP3589976A1 EP 3589976 A1 EP3589976 A1 EP 3589976A1 EP 18707358 A EP18707358 A EP 18707358A EP 3589976 A1 EP3589976 A1 EP 3589976A1
Authority
EP
European Patent Office
Prior art keywords
signal
signals
transceiver
comparison
sei
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP18707358.0A
Other languages
German (de)
English (en)
Inventor
Martin Vossiek
Michael GOTTINGER
Peter Gulden
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Symeo GmbH
Original Assignee
Friedrich Alexander Univeritaet Erlangen Nuernberg FAU
Symeo GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Friedrich Alexander Univeritaet Erlangen Nuernberg FAU, Symeo GmbH filed Critical Friedrich Alexander Univeritaet Erlangen Nuernberg FAU
Publication of EP3589976A1 publication Critical patent/EP3589976A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/288—Coherent receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4021—Means for monitoring or calibrating of parts of a radar system of receivers

Definitions

  • the present invention relates to a radar system and a method of operating a radar system.
  • the radar electronics is built on technically comparatively complex substrates.
  • the distribution of signals with relatively high frequencies is associated with radiation losses and attenuation, which adversely affects a transmission power and a signal quality.
  • Solution measures are technically complex and demanding in implementation.
  • the object is achieved by a radar system, the at least one first and one second transceiver each having at least one transmitting and at least one receiving antenna, and an RF generator and a common clock generator for the RF generators of the transmitting Receiving devices comprises, wherein at least one evaluation device is provided, which is configured to process transmission and reception signals of the transceiver devices to modified measurement signals with increased coherence.
  • a core idea of the invention is to process transmit and receive signals of the transceivers using a common clock generator for the various RF generators in such a way that they have increased coherence (in the form of the modified measurement signals).
  • a method for increasing the coherence for distributed radar systems is for example
  • DE 10 2014 104 273 AI known.
  • DE 10 2014 104 273 A1 also describes a corresponding radar system. The method according to
  • DE 10 2014 104 273 A1 shall be referred to below as "method ⁇ .
  • the configuration of the radar system according to DE 10 2014 104 273 AI should be referred to as “configuration ⁇ .
  • Another method and a further configuration for a radar system to increase the coherence is described in the not yet published German patent application with the application number 10 2016 100 107.4 and the corresponding international patent application with the application number PCT / EP2017 / 050056.
  • the method or radar system described in these two applications will hereinafter be referred to as “method II” and “configuration.”
  • Receiving antennas each have a separate generation of high-frequency transmit and receive signals are made.
  • Downmix or Correlate done. Furthermore, optionally a mixture or correlation (direct) can be done digitally.
  • H F generators from a plurality of transceivers are supplied from the same clock source.
  • suitable phase locked loops phased-locked loop
  • H F signals which are coherent with one another can preferably be generated in the individual H F generators.
  • these components are now solved by the use of a method for the subsequent generation of coherence.
  • weaker targets can be separated from stronger targets, and in general the measurement accuracy and resolution are improved.
  • the first transceiver can be arranged with its (assigned) RF generator on a (common) board.
  • the second transceiver with their assigned RF generator on a (common) board.
  • a (assigned) RF generator on a (common, possibly further) board (chip) may be arranged.
  • the (common) clock and first transceiver, second transceiver can be arranged on a common board (chip).
  • transmitting and receiving antennas can already be provided in a preferably designed as a chip package corresponding transceiver or be integrated on a chip itself. As a result, measurement accuracy and resolution can be improved.
  • the RF generators are in the vicinity of transmitting and
  • An arrangement in the vicinity means, in particular, an arrangement at a distance of less than 20 mm, preferably less than 10 mm.
  • the RF signals of the (individual) RF generators are at least partially coherent with each other. Further preferably, this is one
  • PLL Phase locked loop
  • transceiver units (SE) mentioned in DE 10 2014 104 273 A1 are preferably components of the transceivers of the present disclosure or
  • a first signal is generated and transmitted over a path, in particular radiated, generated in the second transceiver, a further first signal and sent over the path, in particular radiated in the evaluation device, in particular in the a first comparison signal from the first signal of the first transceiver and from such from the second transceiver, over the path received, the first signal are formed, and in the evaluation, in particular in the second transceiver further comparison signal from the first signal of the second transceiver and from such from the first transceiver, over the path received, the first signal are formed, wherein the further comparison signal preferably from the second transceiver to the first transceiver transferred device, in particular is communicated.
  • the system is
  • the evaluation device for forming a comparison comparison signal from the first comparison signal and the other
  • the configuration II or the method II is used to increase the coherence.
  • Describe configurations II is hereby incorporated by reference DISCLOSURE OF THE PRESENT DISCLOSURE, IN PARTICULAR WITH RESPECT TO THE CONFIGURATIONS OR METHODS FOR INCREASING THAT CONCEPT.
  • the system in particular the
  • Evaluation device configured to compensate in a first step deviations of the comparison signals, which are caused by systematic deviations in the transceivers, and in a second step, at least one complex value from a first of the two comparison signals or from a signal, the this first
  • Comparative signal has been derived to be used to adapt at least one complex value of the second of the two comparison signals or a value of a signal derived from this second comparison signal, and thus to form a matched signal, wherein the adaptation is done by a mathematical operation the vectorial sum or the
  • Difference of the complex values is formed, or the sum or the difference of the phases of the complex values is formed.
  • the (above) comparison comparison signal by the two comparison signals processed with each other - are multiplied complex, in particular conjugated complex -, correspond to a comparison signal generated with a coherent radar system.
  • the transceivers are understaffed (in a sparse array). This further improves accuracy and target separation, in particular by providing side maxima (sidelobes) and the
  • the first and / or the second transceiver has / have two or more transmitting antennas and / or two or more receiving antennas.
  • the system in particular the control device of the system, can do so
  • the transmitting antenna (s) of the first transceiver and the transmitting antenna (s) of the second transceiver transmit simultaneously or overlapping in time and / or that the transmission signals of the transmitting antenna (s) of the first and the transmitting antenna (s) the second transceiver differ from each other,
  • At least two different transmission paths S ITX and S2 T x which are fed by different H F generators, are fed (almost) simultaneously or overlapping in time. "Almost simultaneously" means in particular that the transmission signals S T T x and S2 T x are transmitted overlapping in time, at least for a large part of their signal duration (for example over at least 50% or at least 70% of the
  • the transmission signals S ITX and S2 T x can either have a frequency offset from each other, or otherwise
  • Distinction possibility z. B. via a pulse, amplitude and / or
  • the signals received by each reception path then contain their own signals reflected by the environment and the signals of the second transmission path reflected by the environment.
  • the system in particular a control device (s) of the system, is configured so that received signals and the transmitted signal are mixed or correlated, wherein preferably then a separation of the received signals due to a distinguishing feature,
  • the received signals are down-mixed or correlated with a (local) H F signal.
  • a low-frequency signal S eat arise that both components from the direct
  • Reflection path (own transmission signal), as well as the indirect reflection path (foreign transmission signal) has. Subsequently, a separation of the signals via a frequency difference or otherwise modulation can take place.
  • the signals of the own reflection path can then be used as normal radar signals can be processed, the signals of the indirect path can be further processed if necessary.
  • the above object is further achieved by a method for operating a radar system, in particular as described above, wherein the radar system at least one first and one second transceiver each having at least one transmitting and at least one receiving antenna, and an RF Generator and a common clock for the H F generators of the transceiver devices, said transmit and receive signals of the transceiver devices are processed to modified measurement signals with increased coherence.
  • a first signal is generated and transmitted via a path, in the second transceiver generated a further first signal and sent over the path, in particular radiated, a first comparison signal from the first signal of the first Transceiver device and from such from the second transceiver, over the path received, formed first signal, another comparison signal from the first signal of the second transceiver, and from such from the first transceiver, over the path formed, the further comparison signal is preferably transmitted from the second transceiver to the first transceiver, in particular, is communicated, and / or preferably a comparison comparison signal from the first comparison signal and the other
  • Comparative signal is formed and / or wherein in a first step
  • Deviations of the comparison signals which are caused by systematic deviations in the transceivers compensated and used in a second step, at least one complex value from a first of the two comparison signals, or from a signal derived from this first comparison signal, at least to adapt a complex value of the second of the two comparison signals or a value of a signal derived from this second comparison signal, and thus to form a matched signal, the adaptation being such that by a mathematical operation the vectorial sum or the difference of the complex values is formed, or the sum or difference of the phases of the complex values is formed.
  • HF high frequency
  • HF high frequency
  • 100 MHz preferably at least 1 GHz, more preferably at least 10 GHz to understand.
  • a path is in particular an (air) interface to understand, via which the corresponding signals (and possibly comparison signals) can be sent or transmitted and received by means of antennas.
  • An indirect path or a cross path is to be understood as the path of a signal which originates from one (for example the second) transceiver and is received by another (for example the first) transceiver. Accordingly, a direct path is to be understood as a signal that is both transmitted by the same transceiver and received as a reflected signal.
  • a non-coherent transceiver is to be understood as a transceiver (transceiver) whose transmitted signal is non-coherent with respect to the signal of another transceiver (transceiver) is only partially coherent (compared to a signal with increased coherence) (even if the signal of the first transceiver / transceiver or the other transceiver / transceiver is inherently coherent).
  • the respective transceiver device can thus be embodied as an arrangement of in particular one or more antennas with a few (few) signal-generating or
  • Components such as signal comparison units or an evaluation device can be connected as structurally independent component to such an arrangement.
  • components can be processed (so far technically feasible) as so-called hardware Be formed components and / or as a part or all in one
  • the evaluation device may be part of one or more transceivers, or may be connected to one or more such transceiver devices.
  • a physically independent evaluation device can be provided, which is connected to the respective transceiver or the other components of the respective transceiver.
  • the evaluation device may possibly be integrated into the first and / or the second (generally further) transceiver device, for example in a common housing and / or as a structural unit.
  • Evaluation device is arranged) that a cross path (indirect path) may arise, i. that a coverage of transmitting and receiving areas is provided accordingly.
  • the (non-coherent) transmitting and receiving units are to be part of the transmission-receiving devices described further above (or to form them).
  • the transceiver units are also abbreviated as SE.
  • signals transmitted between the SEs are processed in such a way that comparison signals arise which have advantageous properties which otherwise only have radar signals which are provided with only one common device for signal generation, ie with a coherent one
  • method II is, in particular, methods for reducing disturbing effects which are uncorrelated by the method
  • Phase noise of the multiple stand-alone devices for signal generation are caused.
  • Method II is particularly advantageously applicable to the transceiver devices according to the invention.
  • the field of radar signal processing one would like to convert the received signals to the lowest possible intermediate-frequency signal to a high
  • Method II begins with at least two SEs transmitting almost simultaneously. Almost simultaneously in this context means that the
  • sigTXl Signal duration in both directions, ie sigTXl be transferred from SEI to SE2 and sigTX2 from SE2 to SEI.
  • the initially possibly unknown difference of the starting times of the transmission signals sigTXl and sigTX2 is designated as T_off.
  • the aim should be as much as possible transmission times, the shift T_off should preferably not be greater than half the signal duration, but in any case less than the signal duration. Due to the at least partially independent generation, the signals sigTXl and sigTX2
  • Transmit (Tx) and receive (Rx) to ensure the reciprocity of the transmission channels.
  • Tx Transmit
  • Rx receive
  • phase noise and synchronization errors are then at least reduced by performing the processing of the received signals in two stages:
  • systematic deviations are corrected, either before the signals are received via an activation of the signal source, and / or via a compensation directly in the received signal and / or via a compensation in the comparison signal.
  • a second step for example, a shortened evaluation of the correlation or the formation of a comparison comparison signal takes place only for the expected shift range or, in the best case, in only one shift value.
  • a multiplication or division of the signals represents a non-linear operation.
  • Non-linear operations always go with non-linear effects, so here in particular with so-called intermodulation of signal and Noise, accompanied. This results especially in radar signals with multiple signal components, ie signals that have multiple targets or more
  • Signal transmission paths include, to interference.
  • the use of the addition of the complex signals proposed according to method II has the great advantage that the addition is a linear operation, whereby non-linear effects, that is to say in particular intermodulation of signal and noise components, are avoided.
  • This embodiment therefore generally leads to a significantly better reduction of the phase noise in comparison to methods for combining the comparison signals sigC21 and sigC12.
  • the synchronization can be carried out separately before the measurement, as part of the measurement itself, or following the measurement.
  • a synchronization in the context of the measurement or subsequent to the synchronization for example, via subsequent adaptation of the
  • means or methods may be provided which are suitable for directly controlling the clock rates of the sources of sigTX1 and sigTX2 (eg using TCXO) or computationally (synthetic synchronization) to match.
  • All of these methods for equalizing the clock sources can be implemented either via radio waves or via cable connections.
  • Wired may mean electrical signals or optical signals carried by cables.
  • Clock sources can also be very high-quality clock sources, for example
  • Atomic clocks are used.
  • signals (sigEP21, sigEP12) can be derived from the comparison signals, each of which represents a function having as a function argument the signal propagation time or the length of the transmission channel of the respective signal components.
  • the offset T_off between the stations is then determined, for example, by the methods disclosed in DE 101 57 931, or by a correlation of the comparison signals of the at least two SEs.
  • the maximum can provide the offset. Alternatively, this can also be done below for FMCW signals
  • At least one function value Fl can be determined, which is to be assigned to a specific transit time, and at least one further function value F2 of the signal sigEP12, which is to be assigned to the same runtime as exactly as possible. Fl with F2 you will be charged. This calculation takes place, for example, by adding or subtracting the two
  • a first signal (sigTXl) is generated in a first (non-coherent) transceiver unit (SEI) and transmitted, in particular transmitted, over a path (SP),
  • SEI non-coherent transceiver unit
  • SP path
  • a (further) first signal is generated and transmitted via the path (SP), in particular emitted,
  • the signals (sigTXl and sigTX2) are received in the respective other transceiver unit directly or indirectly, where they are further processed as received signals sigRX12 and sigRX21,
  • a comparison signal (sigC12) from the first signal (sigTXl) and from such from the further transceiver unit (SE2) via the path (SP) received first signal (sigRTX2) is formed and
  • a further comparison signal (sigC21) from the first signal (sigTX2) and from such from the first transceiver unit (SEI) via the path (SP) received first signal (sigTXl) is formed,
  • the further comparison signal (sigC21) is transmitted from the further transceiver unit (SE2) to the first transceiver unit (SEI), in particular, is communicated,
  • Fig. 2 shows the components of Fig. 1 with an illustration of a
  • FIG. 5 shows a schematic representation of a conventional radar array
  • FIG. 6 is a schematic representation of a radar according to the invention
  • Fig. 7 is a phase noise diagram
  • Fig. 8 is a schematic representation of direct and indirect signal paths.
  • two transceiver units SEI, SE2 communicate with one another via a radio interface.
  • a first or a second signal sigTXl, sigTX2 are sent.
  • the transceiver units SEI, SE2 each have a signal source 1, a clock adaptation unit or
  • Comparison signal modification 2 and a transmission comparison unit SigCompl, SigComp2.
  • the (non-coherent) transceiver units preferably form transceiver devices.
  • SEI can be regarded as a first transceiver and SE2 as a second transceiver.
  • FIG. 2 additionally shows a unit for phase modification 4 in each case. A data exchange takes place between the two units for phase modification 4.
  • a first (non-coherent) transceiver unit (SEI) a first signal (sigTXl) is generated and transmitted via a path (SP), in particular emitted.
  • a second signal (sigTX2) is generated and transmitted via the path (SP), in particular emitted.
  • the radiation of the signals takes place here as possible at the same time but at least matched in time so that the two waveforms
  • the signal sources may be completely or partially independent.
  • the transmitted signals used can be represented as a decomposition into an equivalent baseband signal (bbTXl) and a carrier signal.
  • signals with so-called good correlation properties are preferably used as baseband signals.
  • Signals with good correlation properties are, for example, broadband pulses, noise signals, pseudo-random pulse trains (PN codes) such as M-sequences, Gold codes or Barker codes, Kasami sequences, Huffman sequences, chirps, linear frequency modulated signals (FMCW), chirp or FMCW sequences, etc.
  • PN codes pseudo-random pulse trains
  • Such waveforms have long been widely known in radar technology and communication technology (especially in the area of CDMA).
  • the transmission signal (sigTXl) of the transceiver unit (SEI) can be represented as follows:
  • the time offset TOI defines the transmission time of the signal sigTXl
  • phase term comprises a constant
  • the angular frequency characterizes the frequency of the carrier signal of sigTXl.
  • the transmission signal (sigTX2) of the transceiver unit (SE2) can be formed.
  • the transmitted signals (sigTXl and sigTX2) are sent directly to the other transceiver stations and are then received and processed further as receive signals sigRX12 and sigRX21.
  • the received signal which is received at the second (non-coherent) transceiver unit (SE2), corresponds to the transmission signal (sigTXl), but this is changed in amplitude and delayed by the delay Tl1 .
  • SE2 non-coherent transceiver unit
  • the transmission signal (sigTXl) is transmitted to a plurality of (a number of I) transmission paths of different lengths to the second transceiver unit (SE2), the reception signal can be transmitted as a linear superposition of
  • amplitude-weighted and time-delayed signals are represented as follows:
  • the transceiver units (SEI, SE2) are designed to be
  • signal comparison units SigCompl, SigComp2 in which the respective received signal of a transceiver unit is charged with its transmission signal - i. in SEI the signal sigRX12 with the signal sigTXl and in SE2 the signal sigRX21 with the signal sigTX2.
  • the signal comparison units SigCompl, SigComp2 are designed in the exemplary embodiment as a mixer mix. That Here in SEI the signal sigRX12 is mixed with the signal sigTXl and in SE2 the signal sigRX21 with the signal sigTX2.
  • data communication ensures that both comparison signals are transmitted to a common evaluation unit, where they are both available for evaluation.
  • the common evaluation unit may be SEI, SE2 or another evaluation unit.
  • the phases of the two comparison signals are added. If only the carrier phases with the phase noise component are considered here, since unknown phase contributions are present only in this component, and the two carrier phase terms are added together, the result is:
  • Propagation speed of electromagnetic waves is usually very small and that the significant phase noise components in an oscillator according to the known relationships of oscillator phase noise typically decrease sharply with increasing distance from the carrier and, respectively, have a pronounced low-pass behavior and indeed
  • phase noise reduction leads to a better detectability of targets, to a larger measuring range and an improved measuring accuracy.
  • phase terms shown above have different signs.
  • the preferred combination of the phase terms is not necessarily an addition but possibly also a subtraction. What matters is that the linkage results in a reduction of the phase noise echo and the term-dependent phase term, i. one
  • phase values are represented by complex numbers
  • the complex numbers are multiplied, divided or multiplied by the conjugate complex of the other number to form the sum or difference of the phases.
  • slightly different amplitudes of the signals sigC12 and sigC21 may occur despite a reciprocal radio channel due to different characteristics of the electronic components such as mixers or amplifiers, etc. If the amplitudes of the signals sigC12 and sigC21 are different, the signals in the preferred variant described here must first be normalized to the same amplitude.
  • the process of forming the sigC12 and sigC21 signals may result in additional systematic phase offsets. If these phase offsets of the signals sigC12 and sigC21 are different, these phase offsets must first be compensated in the preferred variant described here.
  • the signals sigC12 and sigC21 can be interpreted as complex pointers.
  • the vector components of the phase terms with different signs cancel each other out in the same way as described above in the addition of the phase terms. Consequently, as a possible preferred variant for reducing the phase noise components, it is proposed to add the complex signals sigC12 and sigC21, ie to form a signal as follows:
  • the sigCC signal then has significantly less phase noise than the sigC12 and sigC21 signals, respectively, and the sigCC signal is then further used for the purpose of range finding, angle measurement or imaging.
  • Comparative signal has been derived, and thus to form at least one value of a signal (sigCC), wherein the adaptation is such that by a mathematical operation the vectorial sum or the difference of at least two sigC12 and sigC21 derived complex values is formed or the sum or the difference of the phases of these complex values is formed.
  • sigCC signal
  • Phase noise components could also be realized by alternative methods. For example, all high frequency signals could be digitized before mixing, i. H. Scanned with an analog-to-digital converter, and all other operations could be done digitally or, for example, in a processor or FPGA (Field Programmable Gate Array).
  • FPGA Field Programmable Gate Array
  • the transmitted signals sigTXl and SigTX2 FMCW can be modulated.
  • the transmitted signals sigTXl and SigTX2 FMCW can be modulated.
  • Spectra of the comparison signals are normalized to the highest value.
  • the SE send several N signals with linearly increasing or decreasing frequency, hereinafter referred to as frequency ramps. From the received signals, the comparison signals are then generated in the SE and buffered for further processing.
  • increasing and decreasing ramps are used, since this is an accurate sign determination of the
  • the at least one reflector in the detection area must be identified in advance for this step and displayed as described above.
  • the frequency band in which the beat signal is expected to be generously cut out is ensured by a rough presync.
  • the spectrogram of the first N / 2 ramps is correlated with that of the second N / 2 ramps along the frequency axis (step 1).
  • the maximum found here represents the relative time drift of the two SEs (in this case, a linear function can be assumed).
  • the identification of the targets via the opposing drift on both sides can also take place by way of example.
  • Primary radars also take place via a common bus system by the systems exchange their measurement signals or further synchronization signals via the cables of a bus system.
  • the bus system is in particular a CAN, FlexRay, Most, Gigabyte Ethernet system, USB, Firewire or TTP system.
  • Comparison signal modification 2 multiplied.
  • the resulting spectrograms of the different ramps are added (incoherently) and as a result of the
  • the maximum is searched, which corresponds to the time offset (offset error).
  • the selection of peaks can be done using the identification of the peaks belonging to each other in the previous step.
  • a determination of the time offset can also take place via a common bus system, in particular by transmitting either the measurement data or suitable correlation sequences.
  • T01-T02 i Tint + Tfrac) in order to obtain a uniform time base. Due to the common exact time base the phase noise is more correlated. The remaining, small time error Tfrac can now be compensated, for example by using a fractional delay filter.
  • T01-T02 i Tint + Tfrac
  • a peak is now searched in each case for an FFT of the beat signal for the channel impulse response.
  • secondary radar it is preferable to take the strongest peak or, alternatively, the first peak; in the case of primary radar, one must choose a peak that is equally contained on both sides. For each ramp at both stations, this results in a maximum at the estimated distance with the associated phase angle.
  • the remaining deviations are due to remaining frequency and phase differences between the two signal sources 1 of the SE, for example, the oscillators, which is based on phase noise as a cause.
  • the exact frequency difference can now be determined absolutely and thus corrected (the phase difference can be up to 180 ° ambiguity (at IQ
  • Mixers 360 ° can be determined). This ambiguity is resolved by ramping the ramp to +/- 90 ° from ramp to ramp, also known as unwrapping. After this precise correction of the
  • Phase shift of the two beat signals deviates only by a small amount.
  • a precise synchronization of the time and frequency base is achieved and on the other hand, the phase noise can be considered as an additive contribution and corrected by linear combination. This is done for example by means of 2D Fourier transformation of all N ramps on both SEs, whereupon the, in the amplitude normalized beat signals are added. Taking into account the system parameters (sampling rate,
  • FIG. 5 shows by way of example a conventional arrangement for a radar system with transceivers SEI, SE2, which each have at least two transmitting and receiving antennas, as well as with an HF generator for the RF signal and a distribution device for a distribution of the HF Signal to the transceivers SEI, SE2 and a clock for a
  • Fig. 6 shows an arrangement of a radar system according to the invention with transceivers SEI, SE2, each having at least two transmitting and receiving antennas and an RF generator, and with a
  • FIG. 7 shows a phase noise diagram for IF signals derived from the
  • Downmixing signals originate from different signal generators, as with a radar system of FIG. 6 and the use of a suitable phase locked loop, but without a method for the subsequent generation of coherence.
  • Fig. 8 shows a signal propagation for the radar system according to the invention.
  • the signals received by each receive path include their own environmental reflected signals and the environmental reflected signals of a second transmit path.
  • the received signals are sent to the local radio frequency signal
  • the indirect signals from both receive paths are corrected for any frequency offset.
  • the frequency offset set possibly to
  • Timing offsets for example by (slightly) different timings of the H F generators (frequency generators) are also corrected, for example in the postprocessing by (for example) the application of DE 101 57 931.
  • two spectra (spectrum 1 and spectrum 2) of formed two signals and preferably normalized with respect to their amplitudes.
  • the sum or difference of the complex spectra, or of signals derived from the spectra can be formed, or the sum or the difference of phase values of the aforementioned signals is formed.
  • a preferred variant of the evaluation can proceed as follows: One of the two calculated spectra (spectrum 1) is preferably converted into a complex conjugate spectrum (spectrum IC). This spectrum (spectrum IC) and the nonconjugated complex converted spectrum (spectrum 2) are added or subtracted in a mathematical operation or multiplied or divided. The resulting spectrum can then be processed like a normal radar spectrum.
  • the transmit and receive paths are arranged as sparse arrays.
  • the secondary maximum and total aperture can be optimized so that accuracy and target separation are significantly improved.
  • chips that already have integrated antennas either in the chip directly or in a corresponding package.
  • the transceiver units can be part of the (possibly at least partially coherent) transceiver devices or form them:
  • a first signal (sigTXl) is generated in a first (non-coherent) transceiver unit (SEI) and transmitted, in particular transmitted, over a path (SP),
  • SEI non-coherent transceiver unit
  • SP path
  • a first signal (sigTX2) is generated in a further, in particular second (non-coherent) transceiver unit (SE2) and is transmitted, in particular transmitted, via the path (SP),
  • a comparison signal is formed from the first signal (sigTXl) thereof and from such a first signal (sigTX2) received by the further transceiver unit (SE2) via the path (SP), and
  • a further comparison signal (sigC21) from the first signal (sigTX2) and from such from the first transceiver unit (SEI) via the path (SP) received first signal (sigTXl) is formed .
  • the further comparison signal (sigC21) from the further transceiver unit (SE2) to the first transceiver unit (SEI) transmitted, in particular is communicated.
  • Second aspect Method according to the first aspect, in which a comparison comparison signal (sigC21; sigC12) is formed from this comparison signal (sigC21) and the further comparison signal (sigC21).
  • a comparison comparison signal sigC21; sigC12
  • Aspect in which the comparison comparison signal (sigC21; sigC12), by the two comparison signals (sigC12, sigC21) being processed together - in particular conjugated complex multiplied - corresponds to a comparison signal generated with a coherent radar system.
  • Aspect A method according to any preceding aspect, wherein at least one of the comparison signal (sigC12), the further comparison signal (sigC21) or the comparison comparison signal (sigC21; sigC12) is formed by at least one of mixing and correlation.
  • Sixth aspect A method according to any preceding aspect, wherein at least one of the first signals (sigTXl, sigTX2) is transmitted as a transmission signal via the air interface path (SP).
  • SP air interface path
  • a signal propagation time ( ⁇ 12), such a first signal (sigTXl, sigTX2) for the path between the transceiver units (SEI, SE2) is determined by at least one from a phase or a phase value ( ⁇ 12, ⁇ 13, ..., ⁇ , ⁇ 22, ⁇ 23, ⁇ 24, ... ⁇ 2 ⁇ , ..., ⁇ -1 ⁇ ) of a frequency, an amplitude curve or a phase curve of the comparison Comparison signal (sigCC12) is analyzed.
  • Aspect A method according to any preceding aspect, wherein at least one of the first signals (sigTXl, sigTX2) is generated and transmitted as an FMCW or OFDM modulated signal.
  • Aspect A method according to any preceding aspect, wherein at least one of the first signals (sigTXl, sigTX2) is generated and transmitted as a multi-ramp signal.
  • sigCC12 a plurality of comparison comparison signals which are measured in succession with at least two transceiver units (SEI, SE2), of which at least one of the transceiver units (SEI, SE2) moves, and
  • SEI non-coherent transceiver unit
  • sigTXl a first signal
  • SP a path
  • At least one further, in particular second (non-coherent) transceiver unit (SE2) is designed to generate a first signal (sigTX2) and to transmit it via the path (SP), in particular to emit it,
  • the first transceiver unit (SEI) is formed, a comparison signal (sigC12) from the first signal (sigTXl) and from such from the further transceiver unit (SE2) via the path (SP) received first signal (sigTX2) form,
  • the further transceiver unit (SE2) is formed, another
  • Comparison signal (sigC21) from the first signal (sigTX2) and from one such first signal (sigTXl) received from the first transceiver unit (SEI) via the path (SP), and
  • the further comparison signal (sigC21) from the further transceiver unit (SE2) to the first transceiver unit (SEI) is transmitted, in particular is communicated.
  • Aspect Radar system according to aspect 12, in which a comparison comparison signal (sigCC21; sigCC12) is formed from this comparison signal (sigC21) and the further comparison signal (sigC21).
  • a comparison comparison signal sigCC21; sigCC12
  • a radar system comprising three or more spatially-spaced transceivers (SEI, SE2, SE3, SE-N), comprising two or more comparative comparison signals (sigCC12, sigCC12, sigCC13, sigCC22, sigCC32 ) measured with more than two pairs of each two of the spaced-apart ones of the transceiver units (SEI, SE2, SE-N, SE2), a distance, a position, a velocity or the like
  • Presence of such a transceiver unit SE2, SEI or at least one of a distance, a position, a speed relative to an object (0) or the presence of an object (0) is determined.
  • Aspect Radar system according to one of aspects 12 to 14, in which the first transceiver unit (SEI) and at least one such further transceiver unit (SE2) and / or an evaluation unit (P) are designed to carry out a method according to one previous claims.
  • SEI first transceiver unit
  • SE2 further transceiver unit
  • P evaluation unit
  • Aspect Device of a radar system, in particular for carrying out a method according to one of the aspects 1 to 11 and / or in one
  • SEI first (non-coherent) transceiver unit
  • SEI first (non-coherent) transceiver unit
  • a signal generator and at least one antenna which are designed to generate a first signal (sigTX1) and to transmit them via a path (SP), in particular to emit them,
  • Aspect Device according to aspect 16 with a further comparison unit (sigCompl2), which forms a comparison comparison signal (sigCC12) from the comparison signal (sigC21) formed in the same transceiver unit (SEI) and to this transceiver unit (SEI ) transmitted comparison signal (sigC21).
  • sigCompl2 a further comparison unit
  • Aspect Device according to aspect 16 or 17, in which the at least one interface (CommTX, CommRX) is a data interface.
  • Aspect Device according to one of aspects 16 to 18, wherein between the arrangement which outputs the comparison signal (sigC12) and the other
  • Comparing unit (sigCompl2) forming the comparison comparison signal (sigCC12), a filter (FLT) is arranged, wherein the filter (FLT) to the
  • Comparing unit (sigCompl2) applies the comparison signal (sigC12), wherein the filter (FLT) another in the filter (FLT) upstream arrangement formed comparison signal (sigCl l) does not apply and the reference signal formed in the upstream arrangement (sigCl l) suppressed or at one
  • Aspect Device according to one of the aspects 16 to 19, comprising a plurality of mutually spatially spaced receiving antennas (RA1,1, RA1, N; RA2,1,
  • the transceiver units can be part of (or at least partially coherent) transceivers, or can form them:
  • Aspect A method for reducing phase noise interference in a radar system, in which
  • a first signal (sigTXl) is generated in a first (non-coherent) transceiver unit (SEI) and transmitted, in particular transmitted, over a path (SP),
  • SEI non-coherent transceiver unit
  • SP path
  • a first signal (sigTX2) is generated and transmitted, in particular transmitted, over the path (SP),
  • the first signals (sigTXl and sigTX2) are received in the respective other transceiver unit directly or indirectly, where they are further processed as received signals (sigRX12 and sigRX21),
  • a comparison signal is formed from its first signal (sigTXl) and from such a first signal (sigRTX2) received by the further transceiver unit (SE2) via the path (SP), and
  • a further comparison signal is formed from its first signal (sigTX2) and from such a first signal (sigTXl) received by the first transceiver unit (SEI) via the path (SP),
  • the further comparison signal (sigC21) is transmitted, in particular communicated, from the further transceiver unit (SE2) to the first transceiver unit (SEI),
  • At least one complex value from a first of the two comparison signals or from a signal resulting from the first Derived signal is used to adapt at least one complex value of the second of the two comparison signals or a value of a signal derived from this second comparison signal, and thus to form a matched signal (sigCC),
  • the adaptation being such that the vectorial sum or the difference of the complex values is formed by a mathematical operation or the sum or the difference of the phases of the complex values is formed.
  • a clock rate adjustment in particular of clock rates of signal sources of the first signals (sigTXl and sigTX2), via radio waves and / or via a
  • Bus system is determined, preferably when operating as a primary radar.
  • Aspect Method according to one of the preceding aspects, wherein an offset, in particular a / the time offset and / or the / the frequency offset, via an evaluation of a position of, in particular corrected, maxima of the spectra of the comparison signals (sigC12 and sigC21) , is determined.
  • the first and / or the further (non-coherent) transmitting and receiving unit has at least one evaluation device for carrying out the individual method steps, in particular calculations and evaluations, wherein the respective evaluation device
  • a physically independent evaluation device which is connected to the respective transmitting and receiving unit or the other components of the respective transmitting and receiving unit or
  • Receiving unit for example, in a common housing and / or as a unit, is integrated.
  • comparison signals are transmitted to a, in particular common, evaluation unit and there for evaluation both exist, wherein the common evaluation unit, optionally, the first (non-coherent) Send Receiver unit (SEI) or, optionally, the second (non-coherent) transceiver unit (SE2) or, optionally, another, in particular separate, evaluation unit.
  • SEI Send Receiver unit
  • SE2 second (non-coherent) transceiver unit
  • Signal duration of the first signal (TX1) of the first (non-coherent) transceiver unit (SE2), more preferably at least approximately simultaneously, is sent.
  • Aspect Method according to one of the preceding aspects, wherein before the mathematical operation the spectra of the comparison signals are normalized to the highest value.
  • SEI first (non-coherent) transceiver unit
  • SE2 further, in particular second, (non-coherent) transceiver unit
  • SE2 further, in particular second, (non-coherent) transceiver unit
  • SE2 further, in particular Radiating
  • the first signal (sigTX2) via the path (SP) wherein the (non-coherent) transceiver units (SEI and SE2) are formed, the first signals (sigTXl and sigTX2) in the respective other transceiver on direct or indirectly to receive and process there as received signals (sigRX
  • At least one evaluation unit is provided, which is designed to compensate for deviations of the comparison signals (sigC21 and sigC12) caused by systematic deviations in the transceiver units (SE2, SEI) in a first step, and in a second step at least one complex value from a first of the two
  • sigCC matched signal
  • a bus system is provided for determining an offset, in particular a time offset and / or a frequency offset.
  • Aspect System according to one of the aspects 11 or 12, wherein a common transmitting and receiving antenna in the first and / or the further (non-coherent) transceiver unit (SEI and / or SE2) is provided and / or wherein a transmission mixer in the path (SP) is provided.
  • SEI and / or SE2 further (non-coherent) transceiver unit
  • SP transmission mixer in the path
  • Aspect Use of the method according to one of the aspects 1 to 10 for a system with at least one common transmitting and receiving antenna in the first and / or second (non-coherent) transceiver unit (SEI and / or SE2).
  • SEI and SE2 non-coherent transceiver unit
  • Aspect 15 Use of the system according to any one of aspects 11 to 13 for reducing phase noise interference in a radar system. It should be noted at this point that all parts or functions described above, taken alone and in any combination, in particular the details shown in the drawings, are claimed as essential to the invention. Variations thereof are familiar to the person skilled in the art.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un système radar comprenant : - au moins un premier dispositif émetteur-récepteur (SE1) et un deuxième dispositif émetteur-récepteur (SE2) chacun munis d'au moins une antenne d'émission et d'au moins une antenne de réception ainsi que d'un générateur HF et - un générateur d'horloge commun pour les générateurs HF des dispositifs émetteurs-récepteurs, au moins un dispositif d'évaluation étant conçu pour transformer des signaux d'émission et réception des dispositifs émetteurs-récepteurs (SE1, SE2) en signaux de mesure modifiés présentant une cohérence accrue.
EP18707358.0A 2017-03-02 2018-02-26 Système radar et procédé pour faire fonctionner un système radar Pending EP3589976A1 (fr)

Applications Claiming Priority (2)

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DE102017104380.2A DE102017104380A1 (de) 2017-03-02 2017-03-02 Radar-System sowie Verfahren zum Betreiben eines Radar-Systems
PCT/EP2018/054628 WO2018158173A1 (fr) 2017-03-02 2018-02-26 Système radar et procédé pour faire fonctionner un système radar

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DE102017104380A1 (de) 2017-03-02 2018-09-06 Friedrich-Alexander-Universität Erlangen-Nürnberg Radar-System sowie Verfahren zum Betreiben eines Radar-Systems
DE102019124120A1 (de) 2019-09-09 2021-03-11 Friedrich-Alexander-Universität Erlangen-Nürnberg Radar-Verfahren sowie Radar-System
CN112740068B (zh) * 2020-04-14 2022-02-25 华为技术有限公司 信号处理方法和装置

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DE59806556D1 (en) 1997-08-27 2003-01-16 Siemens Ag Fmcw-sensor
DE10157931C2 (de) 2001-11-26 2003-12-11 Siemens Ag Verfahren und Vorrichtungen zur Synchronisation von Funkstationen und zeitsynchrones Funkbussystem
DE102008010536A1 (de) 2008-02-22 2009-08-27 Symeo Gmbh Schaltungsanordnung und Verfahren zur Synchronisation von Uhren in einem Netz
DE102014104273A1 (de) 2014-03-26 2015-10-01 Friedrich-Alexander-Universität Erlangen-Nürnberg Verfahren in einem Radarsystem, Radarsystem bzw. Vorrichtung eines Radarsystems
US10641881B2 (en) 2015-08-28 2020-05-05 Aptiv Technologies Limited Bi-static radar system
WO2017118621A1 (fr) 2016-01-04 2017-07-13 Symeo Gmbh Procédé et système permettant de réduire les parasites dus au bruit de phase dans un système radar
DE102017104380A1 (de) 2017-03-02 2018-09-06 Friedrich-Alexander-Universität Erlangen-Nürnberg Radar-System sowie Verfahren zum Betreiben eines Radar-Systems

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DE102017104380A1 (de) 2018-09-06
US20200018840A1 (en) 2020-01-16

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