EP4139706A1 - Procédé associé à un radar et système radar d'analyse à cohérence de phase - Google Patents

Procédé associé à un radar et système radar d'analyse à cohérence de phase

Info

Publication number
EP4139706A1
EP4139706A1 EP21720184.7A EP21720184A EP4139706A1 EP 4139706 A1 EP4139706 A1 EP 4139706A1 EP 21720184 A EP21720184 A EP 21720184A EP 4139706 A1 EP4139706 A1 EP 4139706A1
Authority
EP
European Patent Office
Prior art keywords
radar
transmitting
radar system
antenna
signal
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
EP21720184.7A
Other languages
German (de)
English (en)
Inventor
Fabian Kirsch
Christoph Mammitzsch
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
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 Symeo GmbH filed Critical Symeo GmbH
Publication of EP4139706A1 publication Critical patent/EP4139706A1/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
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the invention relates to a radar method for the coherent evaluation of radar signals according to claim 1, a radar system according to claim 10 and the use of the radar system according to claim 15.
  • radar signals are emitted by the radar system, reflected or scattered at an object, the radar signals then being received by the radar system, which are backscattered or reflected by the objects in an environment.
  • a multistatic radar system is generally understood to mean, in particular, a radar system consisting of a plurality of monostatic or bistatic radar units that cover a specific environment or a specific area.
  • phase-accurate synchronization of the radar units or stations involved is absolutely necessary for a coherent evaluation.
  • patent application 1 a radar system and a radar method is described in which a synchronization between the multiple radar units of the radar system is not with additional synchronization units, but by a Post-processing of the received signals is made possible.
  • patent application 2 describes a suppression of oscillator phase noise by means of post-processing, a reciprocal channel being required.
  • a transmission mixer is shown as a suitable means for realizing the reciprocal channel.
  • Patent application 2 thus discloses a further variant embodiment for the above phase noise suppression.
  • patent application 3 describes a (highly accurate) method for measuring transit time differences for radio location systems using stations in full duplex mode. Occurring clock errors are reduced or (almost) eliminated by suitable post-processing. For such post-processing, however, it is imperative that each of the radar units involved has at least one antenna that is operated in full duplex mode.
  • each radar unit involved is operated in such a way that a transmission signal is emitted and a reception signal (i.e. a transmission signal from another radar unit) is received at least partially overlapping, preferably (approximately) simultaneously.
  • the object is achieved by a radar method for the coherent evaluation of radar signals according to claim 1, a radar system according to claim 10 and a use of the radar system according to claim 15.
  • the object is achieved by a radar method for the coherent evaluation of radar signals in a, in particular multistatic, radar system, wherein at least one received signal or a plurality of received signals is / are received in several signal channels of an antenna arrangement, and using the one or of the plurality of received signals, a synthetic received signal of a virtual transmit and receive antenna is generated using at least one composition model.
  • One idea of the invention is based on the fact that instead of a direct physical detection of a received signal on a reciprocal (transmit and receive) channel or on a transmit and receive antenna, a common virtual transmit and receive antenna is defined and the receive signal of this virtual transmit and receiving antenna is calculated from one or a plurality of signal channels.
  • a detection of a received signal or a multiplicity of received signals is carried out on one or a multiplicity of signal channels of an antenna arrangement of the radar unit.
  • a synthetic received signal of a virtual transmitting and receiving antenna is generated or calculated on the basis of a composition model, in particular taking into account the propagation conditions.
  • the synthetic received signal corresponds to an (ideal) received signal that would have been detected (received) with a common transmitting and receiving antenna, advantageously no physical coupling of interference (crosstalk) is possible with such a virtual transmitting and receiving antenna.
  • the antenna design can be selected without further restrictions with regard to the coupling properties of interference. It is particularly advantageous here that, in particular with the radar method according to the invention or in the radar system according to the invention, no, sometimes complex, countermeasures have to be taken against the coupling of interference (crosstalk) between the signal channels of the transmitting and receiving antennas.
  • a synthetic received signal using a composition model can also be generated on the basis of just one received signal if, for example, additional information about the received signal is available. For example, this would be the case if the radar method according to the invention is integrated in a tracking framework in which, for example, an expected angle of incidence for the received signal is known from a previous time step with respect to an object to be tracked.
  • a composition model of the received signal or the plurality of received signals can be understood here as a model of the propagation components of the received signal or signals, this model being able to be generated, for example, by breaking down the at least one or the plurality of received signals into several different propagation components.
  • a virtual transmitting and receiving antenna can be understood to mean a transmitting and receiving antenna which is not physically present, but whose received signal is synthesized.
  • a time division multiplex method or transit time division multiplex method is applied to the at least one received signal or signals in such a way that a number of the signal channels is greater than a number of the transmitting and receiving antennas of the antenna arrangement. In this way, more signal channels can preferably be implemented than are physically available due to the number of receiving antennas of the antenna arrangement.
  • a hardware channel that is, one of the large number of antennas in the antenna arrangement
  • this hardware channel can be used either as a transmission channel or as a reception channel.
  • the use of a time division multiplex method can be advantageous.
  • more signal channels can also be implemented than are physically available due to the number of receiving antennas of the antenna arrangement. This can be implemented, for example, in scenarios in which reflective surfaces are arranged in a known position in the immediate vicinity of the antenna arrangement.
  • the received signals are broken down into several propagation components, which in particular include at least one of the following components: time of flight, Doppler, azimuth and elevation components.
  • the respective azimuth and elevation components for the virtual Received signal are converted.
  • the propagation components of the synthetic received signal are calculated from the azimuth and elevation components of the at least one received signal or signals.
  • propagation components are broken down into the same delay and / or Doppler component, these propagation components are taken into account with a weighting that is smaller than the weightings of the other propagation components.
  • propagation components are broken down into the same transit time and / or Doppler component, these propagation components are preferably not taken into account in the calculation for the propagation components of the synthetic received signal, whereby the aforementioned interference can be further reduced.
  • the at least one or more received signals is / are broken down into a plurality of main components using a main component analysis.
  • the main component analysis can be used to find the strongest signal component, i.e. the main component, whereby the parameters of the main component can be checked to see whether they match the model of a strong point scatterer or another characteristic scatterer, for example.
  • the at least one or more received signals is / are evaluated using one of the following methods: Independent Component Analysis, Multiple Signal Classification (MUSIC), Estimation -of-Signal-Parameters- via -Rational -In varia nee-Techniques (ESPRIT), or Iterative-Sparse-Asymptotic-Minimum-Variance (SAMV).
  • MUSIC Multiple Signal Classification
  • ESPRIT Estimation -of-Signal-Parameters- via -Rational -In varia nee-Techniques
  • SAMV Iterative-Sparse-Asymptotic-Minimum-Variance
  • SAMV Iterative-Sparse-Asymptotic-Minimum-Variance
  • the multiple signal classification method makes it possible, for example, to determine the frequency and the direction of reception from its large number of superimposed, interference-prone (received) signals.
  • an at least approximately exactly reciprocal radio channel to at least one transmitting and receiving antenna of a further radar unit or radio system that is remote from the antenna arrangement can be provided / provided.
  • the antenna arrangement for which the virtual transmitting and receiving antenna is calculated is preferably arranged in a first radar unit, the further radar unit or radio system being arranged at a distance from the first radar unit.
  • the further radar unit or the (further) radio system can be designed in the same way or not in the same way as the first radar unit.
  • the object of the invention is achieved by a radar system, in particular a multistatic radar system, which has at least one radar unit with an antenna arrangement and / or at least one further radar unit with an antenna arrangement, the radar system being designed to perform the above Procedure to carry out.
  • the radar system according to the invention has the advantages that have already been described in relation to the method for the coherent evaluation of radar signals in a (multistatic) radar system.
  • the antenna arrangement / s of the radar unit / s each have at least one or a plurality of transmitting and receiving antennas, the at least one or the plurality of transmitting and receiving antennas on an (imaginary) straight line with the virtual transmitting and receiving antenna is / are arranged, whereby a particularly simple arrangement of the receiving antennas is achieved.
  • the at least one or the plurality of transmitting and receiving antennas and the virtual transmitting and receiving antenna are preferably arranged on an equidistant grid, in particular the distance between the (individual) grid points being an integral multiple of a predetermined distance.
  • the at least one or the plurality of transmitting and receiving antennas and the virtual transmitting and receiving antenna can preferably be arranged on the equidistant grid in such a way that the grid is only sparsely occupied, whereby a so-called sparse / l / ray antenna arrangement can be realized.
  • the predetermined distance can be, for example, half a wavelength of the radar signals used.
  • the virtual transmitting and receiving antenna is arranged at least essentially in the center and symmetrically to the transmitting and receiving antennas of the antenna arrangement, which changes the structure the arrangement further simplified.
  • this makes the reconstructed synthetic received signal more robust with respect to small errors in the determination of the angle of incidence of the signal components.
  • a number of the signal channels is preferably greater than a number of the transmitting and receiving antennas of the antenna arrangement, as a result of which more signal channels can be implemented than are physically present due to the number of receiving antennas of the antenna arrangement.
  • the object of the invention is achieved by using the above method and / or the above system in a vehicle, preferably a motor vehicle.
  • a vehicle preferably a motor vehicle.
  • mobile devices such as, for example, manned or unmanned aircraft or, preferably, cars and / or trucks, is also conceivable.
  • FIG. 1 shows a schematic arrangement of the antenna arrangements with a schematic representation of the signal processing according to an exemplary embodiment of the radar method according to the invention
  • FIG. 2 shows a schematic arrangement of the antenna arrangements with a schematic representation of the signal processing according to a further exemplary embodiment of the radar method according to the invention
  • 3 shows a schematic arrangement of an exemplary embodiment of the radar system according to the invention
  • FIG. 4 shows a schematic arrangement of a further exemplary embodiment of the radar system according to the invention.
  • FIG. 1 shows an exemplary embodiment of an antenna arrangement A of the radar system 100 according to the invention with a schematic sequence of the signal processing.
  • the antenna arrangement A has a plurality of transmitting and receiving antennas, with which it is possible to receive a plurality of received signals Rxl, Rx2 to Rxn via several signal channels Kl, K2, to Kn, the Transmitting and receiving antennas of the antenna arrangement A are arranged in a regular grid R with equidistant distances Aa between the individual antenna positions of the individual transmitting and receiving antennas.
  • a (central) antenna position E of the antenna positions in the regular grid R is kept free.
  • a synthetic received signal Esyn is generated / calculated, which corresponds to the received signal of a virtual transmitting and receiving antenna that is defined at the antenna position E kept free in the grid R.
  • radar signals that were previously emitted by the (multistatic) radar system 100 and reflected on any objects in a scene are transmitted by the transmitting and receiving antennas of the antenna arrangement A. received over several signal channels Kl, K2, to Kn.
  • the received signals Rxl to Rxn of the transmitting and receiving antennas of the antenna arrangement A are initially separated according to transit time in this exemplary embodiment.
  • the subsequent processing only the (received) signals within a certain distance from the radar system 100, that is to say signals within a so-called range bin, are treated.
  • a sequence is generated from the (complex) amplitudes of the (received) signals recorded at the raster positions by adding the (complex) amplitudes to one another.
  • the sequence of (complex) amplitudes supplemented with the (complex) zeros is now shifted cyclically in such a way that the zero belonging to the synthetic channel (i.e. the received signal of the virtual transmitting and receiving antenna E) is positioned in the first position of the supplemented sequence.
  • a Fast Fourier Transformation is applied to the supplemented and cyclically shifted sequence of (complex) amplitudes.
  • the output of the FFT S (0), S (1), S (3) et cetera corresponds to the signal components of different directions of incidence of the (reflected back) received radar signals, whereby the phase reference to the synthetic channel (the synthetic received signal) is already established.
  • the element D with the greatest amplitude is used with a suitable scaling, for example by division by the number n of the signal channels, directly as the synthetic received signal Esyn of the virtual transmit and receive antenna E:
  • a further embodiment of the radar system according to the invention is shown schematically.
  • the transmitting and receiving antennas of the antenna arrangement A are arranged on a straight line G, the individual transmitting and receiving antennas not necessarily being arranged equidistant from one another.
  • the received signals are previously separated according to their transit time.
  • the (received) signals within a range bin are again used for further processing, as has already been explained in relation to the above exemplary embodiment.
  • burst measurements enable an empirical estimation of the covariance matrix between the transmitting and receiving antennas Kl to Kn.
  • the eigenvector Hl, H2, H3, Hi to Hn can be determined from the covariance matrix by means of principal component analysis, which corresponds to the eigenvalue with the greatest magnitude.
  • phase Phi of the eigenvector determined from the covariance matrix are then linearly interpolated to the position for which a synthetic received signal E, i.e. the position of the virtual transmit and receive antenna, is generated:
  • the elements of the eigenvector Hl, H2, H3, Hi to Hn are then (complex) conjugate with the respective (complex) amplitudes Kl, K2, to Kn of the received signals multiplied, the product being added up for all n signal channels, whereby a focusing on the strongest signal propagation component is realized. Furthermore, the phase is corrected with the previously determined phase Phi, so that the following results overall for the calculation of the synthetic receiving channel Esyn:
  • FIG. 3 An exemplary embodiment of the radar system 100 according to the invention is shown in FIG. 3.
  • the radar system 100 has two Radar units 10, 20, a scenery 200 in which a plurality of objects 210 are present being detected by the radar system 100.
  • the two radar units 10, 20 are synchronized or controlled by a common time and frequency reference unit 30.
  • the common time and frequency reference unit 30 can be integrated in one of the radar units 10, 20 involved.
  • the common time and frequency reference unit 30 sends time signals and / or frequency signals to the radar units 10, 20 involved.
  • the effective line lengths of the lines that connect the common time and frequency reference unit 30 to the radar units 10, 20 can fluctuate due to the weather, temperature and aging.
  • the radar system 100 has two radar units 10, 20 and detects the scene 200, as in the exemplary embodiment shown in FIG.
  • a known propagation component is generated in the field of view of the radar units 10, 20, as a result of which the search area for the composition model is reduced. It is therefore no longer necessary to search the entire scene 200, but rather only a partial area of the entire scene 200, whereby the time required and also the effort for the radar method according to the invention can be further reduced.
  • a known propagation component can occur through a waveguide, reflective surfaces, or small scattering bodies that enter the Beam path protrude, are generated.
  • a waveguide 40 is used to create a known propagation component.

Landscapes

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

Abstract

L'invention concerne un procédé associé à un radar d'analyse cohérente de signaux radar d'un système radar, en particulier d'un système radar multi-statique. Au moins un ou plusieurs signaux reçus sont reçus dans de multiples canaux de signaux d'un ensemble d'antennes, et un signal reçu synthétique d'une antenne d'émetteur-récepteur virtuelle est généré à partir du ou des signaux reçus à l'aide d'au moins un modèle de composition. L'invention concerne en outre un système radar selon la revendication 9 et l'utilisation du système radar selon la revendication 14. L'invention permet une analyse cohérente de signaux radar sans avoir à utiliser de canal de propagation de signal réciproque entre les unités radar participantes du système radar.
EP21720184.7A 2020-04-20 2021-04-13 Procédé associé à un radar et système radar d'analyse à cohérence de phase Pending EP4139706A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020110696.3A DE102020110696A1 (de) 2020-04-20 2020-04-20 Radar-Verfahren und Radar-System zur phasenkohärenten Auswertung
PCT/EP2021/059524 WO2021213843A1 (fr) 2020-04-20 2021-04-13 Procédé associé à un radar et système radar d'analyse à cohérence de phase

Publications (1)

Publication Number Publication Date
EP4139706A1 true EP4139706A1 (fr) 2023-03-01

Family

ID=75588180

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21720184.7A Pending EP4139706A1 (fr) 2020-04-20 2021-04-13 Procédé associé à un radar et système radar d'analyse à cohérence de phase

Country Status (5)

Country Link
US (1) US20240036183A1 (fr)
EP (1) EP4139706A1 (fr)
CN (1) CN115427834A (fr)
DE (1) DE102020110696A1 (fr)
WO (1) WO2021213843A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023200990A1 (de) 2023-02-07 2024-08-08 Volkswagen Aktiengesellschaft Verfahren zum Bestimmen einer Information eines Antennenarrays, Verfahren zum Betreiben eines Antennenarrays, Antennenarray, Sensorsystem sowie Fahrzeug mit einem Sensorsystem

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014104273B4 (de) 2014-03-26 2024-08-14 Symeo Gmbh Verfahren in einem Radarsystem, Radarsystem bzw. Vorrichtung eines Radarsystems
DE102015121724A1 (de) 2015-12-14 2017-06-14 Symeo Gmbh System und Verfahren mit zumindest drei Signale empfangenden Stationen
JP6877438B2 (ja) 2016-01-04 2021-05-26 シメオ ゲゼルシャフト ミット ベシュレンクテル ハフツング レーダシステムにおける位相ノイズに起因する干渉を低減するための方法及びシステム
JP7108929B2 (ja) * 2018-09-25 2022-07-29 パナソニックＩｐマネジメント株式会社 レーダ装置及び物標判定方法
US11448725B2 (en) * 2018-09-28 2022-09-20 Panasonic Intellectual Property Management Co., Ltd. Radar apparatus

Also Published As

Publication number Publication date
CN115427834A (zh) 2022-12-02
DE102020110696A1 (de) 2021-10-21
US20240036183A1 (en) 2024-02-01
WO2021213843A1 (fr) 2021-10-28

Similar Documents

Publication Publication Date Title
DE102017221049B4 (de) Radarvorrichtung mit mehreingang-mehrausgang-antennen
DE102017210137B4 (de) Radarvorrichtung und Verfahren zum Verarbeiten eines Radarsignals
DE102017221043B4 (de) Radarvorrichtung und-antennenvorrichtung dafür
DE102018108648B4 (de) Fmcw radar mit störsignalunterdrückung
EP3803454B1 (fr) Procédé radar à ouverture synthetique et dispositif radar à ouverture synthetique
DE102008059424B4 (de) Sekundärradarsystem mit dynamischer Sektorisierung des zu überwachenden Raumes unter Verwendung von Multi-Antennenanordnungen und Verfahren hierzu
DE102018132745B4 (de) Fmcw radar mit störsignalunterdrückung im zeitbereich
EP2725382B1 (fr) Radar à ouverture synthétique pour la prise de vue et la détection de cible mobile simultanées
WO2017148561A1 (fr) Système de radar, comportant un ensemble d'antennes pour émettre et recevoir un rayonnement électromagnétique
DE102008010882A1 (de) Vorrichtung und Verfahren zur Richtungsschätzung und/oder Decodierung von Sekundärradarsignalen
DE102018101120A1 (de) Iterativer Ansatz zum Erzielen einer Winkelmehrdeutigkeitsauflösung
EP2718740B1 (fr) Procédé et dispositif pour élargir l'éclairage d'un objet à contrôler
WO2021047844A1 (fr) Procédé radar et système radar
EP3953728A1 (fr) Procédé d'évaluation de systèmes radar
EP4139706A1 (fr) Procédé associé à un radar et système radar d'analyse à cohérence de phase
EP2722686B1 (fr) Système sar interférométrique
DE102019112078A1 (de) Kohärentes, multistatisches Radarsystem, insbesondere zur Verwendung in einem Fahrzeug
DE69901145T2 (de) Funkempfangsgerät mit erhöhter Antennenauflösung
DE69901144T2 (de) Funkempfangsgerät mit erhöhter Antennenauflösung
DE102019219649A1 (de) Kooperatives Radarsensorsystem mit winkelauflösenden Radarsensoren
EP3564708B1 (fr) Procédé radar à synthèse d'ouverture permettant de télédétecter la surface de la terre et dispositif radar à synthèse d'ouverture
DE102009042967A1 (de) Verfahren und Vorrichtung zum Peilen von schallabstrahlenden Zielen
DE102020111661A1 (de) System sowie Verfahren zum Detektieren von zumindest einem Radarsignal
WO2021204536A1 (fr) Procédé de détermination d'informations d'angle

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20221005

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)