KR101928086B1 - Method and apparatus for invasion detection using radar - Google Patents
Method and apparatus for invasion detection using radar Download PDFInfo
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- KR101928086B1 KR101928086B1 KR1020150180472A KR20150180472A KR101928086B1 KR 101928086 B1 KR101928086 B1 KR 101928086B1 KR 1020150180472 A KR1020150180472 A KR 1020150180472A KR 20150180472 A KR20150180472 A KR 20150180472A KR 101928086 B1 KR101928086 B1 KR 101928086B1
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- 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
-
- 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
- G01S13/04—Systems determining presence of a target
-
- 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
- G01S13/08—Systems for measuring distance only
- G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
- G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
-
- 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
- G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B13/00—Burglar, theft or intruder alarms
- G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
- G08B13/181—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using active radiation detection systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
According to the present invention, there is provided an intrusion detection apparatus comprising: a step of judging whether or not a clutter exists in a detection area of an intrusion detection device; a clutter interval in which a reflected signal from the clutter is located in the frequency domain; And detecting the intrusion by comparing the first reference signal of the clutter section and the second reference signal of the non-clutter section with the first received signal received by the signal transmitting and receiving section to determine the intrusion detection Method and apparatus.
Description
The present invention relates to an intrusion detection apparatus and method using a radar capable of effectively removing a clutter.
A radar can be used when it is difficult to visually detect or locate an object due to bad weather or cover. Typically, a radar emits an electromagnetic wave having a wavelength of microns, and when the radiated electromagnetic wave is reflected by the object, it receives the reflected electromagnetic wave to detect the object and locate the object.
One type of radar is the continuous wave radar. Continuous wave radars can continuously transmit signals and receive echoes continuously. A frequency modulation continuous wave (FMCW) radar in a continuous wave radar provides a specific indication on a continuously transmitted signal and can obtain distance information to an object by dividing an echo by a display. At this time, when the FMCW radar is fixed on the ground, it is difficult to obtain a line of sight (LoS) due to clutter such as natural objects (grass, trees, etc.) or artifacts (buildings, structures, etc.) . Therefore, algorithms for detecting clutter and clutter removal algorithms have been studied.
One embodiment provides an apparatus for detecting an intrusion by comparing a reference signal of a clutter section with a received signal by intrusion.
Another embodiment provides a method for detecting an intrusion by comparing a reference signal of a clutter section with a received signal by intrusion.
According to one embodiment, the system includes at least one processor, a memory, and a signal transceiver for transmitting and receiving signals for intrusion detection, wherein the at least one processor executes at least one program stored in the memory, Determining whether a clutter is present, determining a clutter interval in which a reflected signal from the clutter is located in the frequency domain, and a non-clutter interval in which no reflected signal is present, And comparing the first reference signal and the second reference signal of the non-clutter section with the first reception signal received by the signal transmission / reception unit, respectively, to determine an intrusion detection.
The at least one processor in the intrusion detection apparatus may further include a processor for determining whether a clutter is present in the detection area of the intrusion detection apparatus when the size of the second received signal received by the signal transceiving unit is greater than or equal to a predetermined size Determining a second received signal as a reflected signal by the clutter if the magnitude of the second received signal is continuous at two or more frequencies and the Doppler frequency for the second received signal is very small or absent, Can be performed.
Wherein the at least one processor in the intrusion detection device is further configured to determine a clutter interval in which the reflected signal from the clutter is located in the frequency domain and a non- The first reference signal and the second reference signal can be determined based on the FFT result of the collected received signal.
The at least one processor in the intrusion detection apparatus may determine a size difference between a maximum signal and a minimum signal among the received signals collected in the predetermined window as a first reference signal.
At least one processor in the intrusion detection apparatus may determine a maximum signal among the received signals collected in a predetermined window as a second reference signal.
Wherein the at least one processor in the intrusion detection device is further configured to determine whether the frequency of the first received signal is included in the clutter interval when performing the step of determining intrusion detection, Comparing the first magnitude rate of change in the frequency domain of the first received signal relative to the first reference signal to at least two thresholds for the clutter interval, It is determined that the received signal is a received signal due to intrusion.
Wherein the at least one processor in the intrusion detection device determines that the first magnitude change rate is less than or equal to at least two threshold values for the clutter interval when performing the step of determining that the first received signal is a received signal due to intrusion based on the comparison result Of the first reception signal is smaller than a first threshold value of the first reception signal, or is smaller than a second threshold value smaller than the first threshold value.
In the intrusion detection apparatus, at least one processor is configured to perform intrusion detection when the frequency of the first received signal is included in the non-clutter interval, the frequency of the first received signal with respect to the second reference signal And comparing the second magnitude change rate in the region with the threshold value for the non-clutter region.
The at least one processor in the intrusion detection device performs a step of determining that the first received signal is a received signal due to intrusion based on the comparison result and if the second magnitude change rate is larger than the threshold value for the non- , And determining that the first received signal is a received signal due to intrusion.
According to another embodiment of the present invention, there is provided an intrusion detection apparatus, comprising: determining whether a clutter exists in a detection region of an intrusion detection apparatus; determining whether a clutter region in which a reflected signal from the clutter is located in the frequency region; And determining the intrusion detection by comparing the first reference signal of the clutter section and the second reference signal of the non-clutter section with the first received signal received by the signal transmitting and receiving section, respectively, A detection method is provided.
Wherein the step of determining whether a clutter is present in the detection area of the intrusion detection device in the intrusion detection method comprises the steps of: maintaining a magnitude of a second received signal received by the signal transmitting / receiving unit for a predetermined time or longer, And determining the second received signal as a reflected signal by the clutter if the magnitude of the second received signal is continuous at two or more frequencies and the Doppler frequency for the second received signal is very small or absent.
In the intrusion detection method, the determining of the clutter interval where the reflection signal by the clutter is located in the frequency domain and the non-clutter interval in which the reflection signal is not exist may be performed by calculating an FFT result of the reception signal collected in the predetermined window And determining a first reference signal and a second reference signal based on the first reference signal and the second reference signal.
In the intrusion detection method, the first reference signal may be determined as a difference between a maximum signal and a minimum signal among the received signals collected in a predetermined window.
In the intrusion detection method, the second reference signal may be determined as a maximum signal among the reception signals collected in the predetermined window.
The step of determining intrusion detection in the intrusion detection method includes the steps of: determining whether a frequency of a first received signal is included in a clutter interval; if the frequency of the first received signal is included in a clutter interval, Comparing the first magnitude change rate in the frequency domain of the first received signal with at least two threshold values for the clutter interval and determining that the first received signal is a received signal due to intrusion based on the comparison result Step < / RTI >
Determining that the first received signal is a received signal due to an intrusion based on a comparison result in the intrusion detection method may include determining whether the first magnitude of change is greater than a first threshold value of at least two threshold values for the clutter interval, And determining that the first received signal is a received signal due to intrusion if the first magnitude of change is smaller than a second threshold smaller than the first threshold.
Wherein the step of determining intrusion detection in the intrusion detection method comprises the steps of: when the frequency of the first received signal is included in the non-clutter interval, the second magnitude of change in the frequency domain of the first received signal with respect to the second reference signal, And comparing the threshold value with the threshold value for the non-clutter interval.
The step of determining that the first received signal is a received signal due to the intrusion based on the comparison result in the intrusion detection method may further include a step of, when the second magnitude change rate is larger than the threshold value for the non- And determining that the received signal is a received signal.
By detecting the intrusion based on the rate of change of the size between the reference signal according to the fixed position and the signal received by the intruder, the effect of the clutter can be effectively removed and the intrusion can be detected quickly without complicated operation .
1 is a graph illustrating transmission and reception signals of an FMCW radar according to an exemplary embodiment of the present invention.
2A and 2B are graphs showing transmission and reception signals of the FMCW radar when the clutter is present and when the clutter is not present.
3 is a flowchart illustrating an intrusion detection method according to an embodiment of the present invention.
4 is a block diagram illustrating an intrusion detection apparatus according to an embodiment of the present invention.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. However, the present disclosure can be embodied in various different forms and is not limited to the embodiments described herein. In order to clearly illustrate the present invention in the drawings, parts not related to the description are omitted, and like reference numerals are given to similar parts throughout the specification.
1 is a graph illustrating transmission and reception signals of an FMCW radar according to an exemplary embodiment of the present invention.
A radar detecting apparatus using radio waves is usually a pulse type or a CW type, and in one embodiment, an FMCW radar is taken as an example. 1, the solid line is the transmission signal and the dotted line is the reception signal. That is, the FMCW radar can continuously transmit a frequency-modulated signal. Referring to FIG. 1, in a radar according to an exemplary embodiment, a signal having a frequency of a different magnitude is transmitted every time, and when a transmitted signal is reflected by a surrounding object and returns, ? T can be calculated as shown in the following equation (1).
In Equation (1), R is the distance from the radar to the object, and c is the speed of light. The distance R from the radar to the object using the time-frequency slope? F / t 1 of FIG. 1 can be calculated as shown in
In Equation (2), F B is the frequency difference between the transmission signal and the reception signal (that is, the bit frequency) and is 2R DELTA F / t 1 C. At this time, F B is proportional to the transmission / reception time of the signal, that is, the distance to the object in the detection area, and the distance to the object in the detection area can be known through F B.
Referring to Equation (2), an FMCW radar according to an embodiment receives a signal reflected from an object within a detection area, and calculates a distance to an object and a distance to the object using the difference between the frequency of the transmission signal and the frequency of the reception signal. You can find the speed of movement.
FIGS. 2A and 2B are graphs showing the number of bit scans of the FMCW radar in the presence and absence of clutter. FIG.
The x-axis in FIGS. 2A and 2B represents the frequency of the received signal (represented by bin) and the y-axis represents the signal strength of the received signal. 2A and 2B, the solid line is the reception signal for the rising signal, and the dotted line is the reception signal for the falling signal. In the present description, the FMCW radar transmits a signal (a rising signal) and a signal (a falling signal) while raising the frequency of the signal as shown in FIG. 1 (rising signal) A reception signal for a transmission signal in a section in which the frequency rises is shown by a solid line and a reception signal for a transmission signal in a frequency lowering section is shown by a dotted line. The intrusion detection apparatus according to an embodiment can process the bit frequency corresponding to the rising signal and the bit frequency corresponding to the falling signal, respectively.
Referring to FIG. 2A, since there is no clutter in the detection area of the radar, the intensity of the received signal is very low in the entire frequency band. That is, only meaningless noise is being received by the radar.
However, referring to FIG. 2B, when there is a clutter in the detection area of the radar, the received signal has a certain magnitude of intensity at a specific frequency. Referring to FIG. 2B, since there is almost no difference between the received signal (solid line) for the rising signal and the received signal (broken line) for the falling signal, it is known that the Doppler frequency is very small . Therefore, it is necessary to remove the influence of the clutter shown in FIG. 2B in order to smoothly detect the object intruding into the detection area of the radar. In this case, a CFAR (Constant False Alarm Rate) algorithm is used for detecting the clutter, and a moving target indicator (MTI) technique is used as an algorithm for eliminating the influence of the clutter. However, since CFAR needs to be performed on each frequency on the time axis, it takes a long time to perform, and MTI is not effective for clutter such as grass or trees.
3 is a flowchart illustrating an intrusion detection method according to an embodiment of the present invention.
First, the intrusion detection apparatus according to an embodiment determines whether there is a clutter in the detection area, and determines a clutter interval corresponding to the clutter if there is a clutter (S301). The intrusion detection device can distinguish whether the received signal is a signal from a clutter or a simple noise. In the case of FMCW radar, the clutter can occur in both up-chirp and down-chirp, and the reflected signal by the clutter has a magnitude that varies, not zero, on the time axis. Also, the reflected signal from the clutter has a non-zero value in the frequency domain and has one or more inflection points. When the FMCW radar according to one embodiment is fixedly installed, the environment of the detection area is constant and unchanged. That is, ideally, if intrusion into the detection area does not occur, the environment at the time of initial operation of the radar device is kept unchanged and constant. However, there may be objects that are shaking in the wind at fixed positions such as twigs, grasses, and so on. The magnitude of the signal due to the shaking object is relatively large compared to other noise sizes, so that the detection performance of the FMCW radar may deteriorate when the signal due to the shaking object is determined as noise.
The intrusion detection apparatus according to an embodiment can determine whether a clutter exists in the detection area according to the following conditions.
1. whether the size of the received signal is maintained for a predetermined period of time greater than or equal to a predetermined magnitude
2. Whether the size of the received signal is continuous at two or more frequencies
3. Whether the Doppler frequency is very small or not for the received signal
That is, the intrusion detection apparatus according to an embodiment of the present invention may be configured such that the size of the received signal is maintained for a predetermined time or longer, the size of the received signal is continuous at two or more frequencies, and the Doppler frequency If it is small or not, it is judged that a clutter exists in the detection area, and a clutter interval in which the clutter exists in the frequency domain is determined. If the Doppler frequency for the received signal is less than the predetermined size, it can be determined that the Doppler frequency for the received signal is very small.
Meanwhile, in the intrusion detection apparatus according to the embodiment, even if the received signal satisfies the above condition, the clutter having a very small size can be judged as noise. In addition, the radar cross section of the radar is small when the intruder enters the detection area with the crawling or crouching posture, but the size of the clutter is small when the signal received by the intruder is in the clutter section Therefore, the intrusion detection apparatus according to one embodiment can detect intrusion by detecting the size change of the clutter.
Next, the intrusion detection apparatus determines a reference signal for each of the clutter interval and the frequency range where the clutter does not exist (i.e., the non-clutter interval) (S302). The reference signal of the clutter interval and the non-clutter interval may be determined based on Fast Fourier Transform (FFT) results of the received signal collected in a predetermined window. According to one embodiment, the reference signal of the frequency interval (i.e., the clutter interval) where the reflection signal from the clutter is located is obtained by multiplying the maximum (MAX (f)) signal and the minimum (min f)) signal magnitude difference (| D (f) |). In addition, the reference signal of the frequency interval (i.e., the non-clutter interval) in which the reflected signal from the clutter does not exist may be the maximum signal of the received signal collected in the predetermined window. That is, in one embodiment, the reference signal may be generated in the clutter interval and the non-clutter interval, respectively, based on the received signal for a predetermined time.
Thereafter, the intrusion detection device performs FFT on the received signal reflected by the object located in the detection area, and determines whether the frequency of the received signal is included in the clutter interval (S303). That is, whether the received signal is a signal due to intrusion can be determined by analysis performed in the frequency domain. When the received signal is included in the clutter interval, the intrusion detection apparatus calculates the rate of change (frequency domain) of the received signal with respect to the reference signal of the clutter interval, and calculates the rate of change of the magnitude by at least two threshold values (S304).
According to an embodiment, when the rate of change of the magnitude of the reference signal and the received signal is larger than the second threshold value and smaller than the first threshold value, the intrusion detection apparatus receives the reception signal and returns to the process of performing the FFT. However, if the rate of change of the magnitude of the reference signal and the received signal is larger than the first threshold value or the rate of change of magnitude is smaller than the second threshold value smaller than the first threshold value, the intrusion detection device determines that the received signal is due to intrusion , And counts the number of times the size change rate satisfies the threshold value condition (S305). When the number of times that the rate of change of size satisfies the threshold value condition is equal to or greater than the threshold number, the intrusion detection device determines that an intrusion has occurred in the detection area (S307).
If the received signal is not included in the clutter interval, the intrusion detection apparatus checks whether the magnitude of the magnitude of the magnitude of the reference signal of the received signal and the non-clutter interval is greater than or equal to a threshold value of the non-clutter interval (S306). If the rate of change of the magnitude of the reference signal of the received signal and the non-clutter interval is smaller than a predetermined threshold value of the non-clutter interval, the intrusion detection apparatus returns to the process of applying the FFT to the received signal. However, if the rate of change of the magnitude of the reference signal and the magnitude of the received signal is greater than the threshold value of the non-clutter interval, the intrusion detection apparatus counts the number of times the rate of magnitude change satisfies the threshold condition (S305). If the number of times that the rate of change of size satisfies the threshold condition is equal to or greater than the threshold number, the intrusion detection device determines that an intrusion has occurred in the detection area (S307).
4 is a block diagram illustrating an intrusion detection apparatus according to an embodiment of the present invention.
4, an
In an embodiment of the present disclosure, the memory may be located inside or outside the processor, and the memory may be connected to the processor through various means already known. The memory may be any type of volatile or nonvolatile storage medium, e.g., the memory may include read-only memory (ROM) or random access memory (RAM).
Although the embodiments have been described in detail, the scope of the rights is not limited thereto, and various modifications and improvements of the skilled person using the basic concepts defined in the following claims are also within the scope of the right.
Claims (18)
At least one processor,
Memory, and
A signal transmitting / receiving unit for transmitting / receiving a signal for intrusion detection
Lt; / RTI >
Wherein the at least one processor executes at least one program stored in the memory
Determining whether a clutter is present in the detection area of the intrusion detection device,
Determining a clutter interval in which a reflection signal from the clutter is located in a frequency domain and a non-clutter interval in which the reflection signal is not present, and
Determining the intrusion detection by comparing a first reference signal of the clutter section and a second reference signal of the non-clutter section with a first reception signal received by the signal transmission / reception section, respectively
Lt; / RTI >
Wherein the at least one processor, when performing the step of determining intrusion detection,
Determining whether the frequency of the first received signal is included in the clutter interval,
Wherein when a frequency of the first received signal is included in the clutter interval, a first magnitude change rate in a frequency domain of the first received signal with respect to the first reference signal and at least two threshold values ; And
Determining that the first received signal is a received signal due to intrusion based on the comparison result
The intrusion detection device.
Wherein the at least one processor, when performing the step of determining whether a clutter exists in the detection area of the intrusion detection device,
Wherein a magnitude of a second received signal received by the signal transmitting and receiving unit is maintained for a predetermined period of time greater than a predetermined magnitude and the magnitude of the second received signal is continuous at two or more frequencies, Determining that the second received signal is the reflected signal by the clutter if the received signal is very small or absent
The intrusion detection device.
Wherein the at least one processor is configured to determine a clutter interval in which the reflected signal from the clutter is located in the frequency domain and a non-clutter interval in which the reflected signal does not exist,
And determines the first reference signal and the second reference signal based on Fast Fourier Transform (FFT) results for the received signal collected in the predetermined window.
Wherein the at least one processor determines a magnitude difference between a maximum signal and a minimum signal among the received signals collected in the predetermined window as the first reference signal.
Wherein the at least one processor determines the maximum signal among the received signals collected in the predetermined window as the second reference signal.
Wherein the at least one processor determines that the first received signal is a received signal due to an intrusion based on the comparison result,
If the first magnitude of change is greater than a first threshold of at least two thresholds for the clitoral interval or the first magnitude of change is less than a second threshold less than the first threshold, A step of determining that the received signal is a received signal due to intrusion
The intrusion detection device.
Wherein the at least one processor, when performing the step of determining intrusion detection,
Wherein when the frequency of the first received signal is included in the non-clutter interval, a second magnitude change rate in the frequency domain of the first received signal with respect to the second reference signal, ≪ / RTI >
Wherein the intrusion detection device further comprises:
Wherein the at least one processor determines that the first received signal is a received signal due to an intrusion based on the comparison result,
And determining that the first received signal is a received signal due to intrusion if the second magnitude change rate is greater than a threshold value for the non-clutter interval
Wherein the intrusion detection device further comprises:
Determining whether a clutter is present in the detection area of the intrusion detection device,
Determining a clutter interval in which a reflection signal from the clutter is located in a frequency domain and a non-clutter interval in which the reflection signal is not present, and
Comparing the first reference signal of the clutter section and the second reference signal of the non-clutter section with the first reception signal received by the signal transceiving section of the intrusion detection apparatus to determine the intrusion detection
Lt; / RTI >
Wherein the step of determining intrusion detection comprises:
Determining whether the frequency of the first received signal is included in the clutter interval,
Wherein when a frequency of the first received signal is included in the clutter interval, a first magnitude change rate in a frequency domain of the first received signal with respect to the first reference signal, and at least two threshold values ; And
Determining that the first received signal is a received signal due to intrusion based on the comparison result
And an intrusion detection method.
Wherein the step of determining whether a clutter exists in the detection area of the intrusion detection device comprises:
Wherein a magnitude of a second received signal received by the signal transmitting and receiving unit is maintained for a predetermined period of time greater than a predetermined magnitude and the magnitude of the second received signal is continuous at two or more frequencies, Determining that the second received signal is the reflected signal by the clutter if the received signal is very small or absent
And an intrusion detection method.
Determining a clutter interval in which the reflection signal from the clutter is located in the frequency domain and a non-clutter interval in which the reflection signal is absent,
Determining a first reference signal and a second reference signal based on Fast Fourier Transform (FFT) results on a received signal collected in a predetermined window,
And an intrusion detection method.
Wherein the first reference signal is determined by a size difference between a maximum signal and a minimum signal among the reception signals collected in the predetermined window.
And the second reference signal is determined as a maximum signal among the received signals collected in the predetermined window.
Determining that the first received signal is a received signal due to intrusion based on the comparison result,
If the first magnitude of change is greater than a first threshold of at least two thresholds for the clitoral interval or the first magnitude of change is less than a second threshold less than the first threshold, A step of determining that the received signal is a received signal due to intrusion
And an intrusion detection method.
Wherein the step of determining intrusion detection comprises:
Wherein when the frequency of the first received signal is included in the non-clutter interval, a second magnitude change rate in the frequency domain of the first received signal with respect to the second reference signal, ≪ / RTI >
Wherein the intrusion detection method further comprises:
Determining that the first received signal is a received signal due to intrusion based on the comparison result,
And determining that the first received signal is a received signal due to intrusion if the second magnitude change rate is greater than a threshold value for the non-clutter interval
Wherein the intrusion detection method further comprises:
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| JP2004271262A (en) | 2003-03-06 | 2004-09-30 | Mitsubishi Electric Corp | Fm-cw radar device |
| JP2011095120A (en) | 2009-10-30 | 2011-05-12 | Tokyo Keiki Inc | Target tracking device and target tracking method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2004271262A (en) | 2003-03-06 | 2004-09-30 | Mitsubishi Electric Corp | Fm-cw radar device |
| JP2011095120A (en) | 2009-10-30 | 2011-05-12 | Tokyo Keiki Inc | Target tracking device and target tracking method |
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