KR20160054349A - Radar signal processing method and apparatus for eliminating clutter - Google Patents
Radar signal processing method and apparatus for eliminating clutter Download PDFInfo
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- KR20160054349A KR20160054349A KR1020140153876A KR20140153876A KR20160054349A KR 20160054349 A KR20160054349 A KR 20160054349A KR 1020140153876 A KR1020140153876 A KR 1020140153876A KR 20140153876 A KR20140153876 A KR 20140153876A KR 20160054349 A KR20160054349 A KR 20160054349A
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Abstract
A radar signal processing apparatus and method for removing clutter are disclosed.
A method of processing a radar signal includes: transmitting a transmit radar signal via a transmit antenna; Receiving a receiving radar signal through which the transmitting radar signal is reflected by an object; Performing Fast Fourier Transform (FFT) on the received radar signal according to a transmission period of the transmission radar signal; Performing zero-Doppler filtering on the converted received radar signal to remove clutter components included in the received radar signal; And determining a distance between the object and the transmitting antenna based on the received radar signal from which the clutter component is removed.
Description
The present invention relates to an apparatus and method for processing a radar signal for removing a clutter from a received radar signal reflected on an object.
The FMCW (Frequency Modulation Continuous Wave) radar transmits a linear frequency modulated radar signal, receives the reflected signal from the object to be detected by the transmitted radar signal, Distance and speed can be detected.
A conventional radar signal processing apparatus of an FMCW radar can perform a first FFT (Fast Fourier Transform) of a received signal to determine a distance between an object and a radar. The conventional FMCW radar radar signal processing apparatus can perform the second fast Fourier transform of the stored first FFT result for each transmission period of the radar signal to determine the velocity of the object.
A conventional FMCW radar radar signal processing apparatus can detect the distance and speed of multiple targets through two fast Fourier transforms. However, when there is a strong clutter having a large reflected signal in the detection region, the conventional radar signal processing apparatus of the FMCW radar has a problem that an object, which is a week moving target with a small reflected signal, It may be masked by the clutter and may not be accurately detected.
Particularly, when only the distance information of the object is to be detected according to the application field of the radar, the masking effect of the object by the clutter may increase in the radar signal processing device of the conventional FMCW radar.
Accordingly, there is a demand for a method that can prevent masking even when a clutter occurs and accurately measure the distance or moving speed of the moving object.
The present invention can provide an apparatus and method for preventing a moving object to be detected from being masked by removing a clutter contained in a received radar signal using a zero Doppler filter.
A method of processing a radar signal according to an exemplary embodiment of the present invention includes: transmitting a transmission radar signal through a transmission antenna; Receiving a receiving radar signal through which the transmitting radar signal is reflected by an object; Performing Fast Fourier Transform (FFT) on the received radar signal according to a transmission period of the transmission radar signal; Performing zero-Doppler filtering on the converted received radar signal to remove clutter components included in the received radar signal; And determining a distance between the object and the transmitting antenna based on the received radar signal from which the clutter component is removed.
The removing the clutter component of the radar signal processing method according to an exemplary embodiment of the present invention may include removing a clutter component using a Zero Doppler Filter (ZDF) different for each range bin of the transmitted radar signal And may filter the converted received radar signal.
The removing the clutter component of the radar signal processing method according to an exemplary embodiment of the present invention includes: extracting the clutter component by processing the converted received radar signal for each distance bin of the transmitted radar signal; And removing the clutter component from the transformed received radar signal using information of the extracted clutter component.
The determining of the distance of the radar signal processing method according to an exemplary embodiment of the present invention includes: extracting a size of a received radar signal from which a clutter component is removed; And determining a distance between the object and the transmission antenna using the size of the reception radar signal extracted for each distance bin of the transmission radar signal.
A method of processing a radar signal according to an exemplary embodiment of the present invention includes: transmitting a transmission radar signal through a transmission antenna; Receiving a receiving radar signal through which the transmitting radar signal is reflected by an object; Performing a first FFT (Fast Fourier Transform) on the received radar signal according to a transmission period of the transmission radar signal; Zero-Doppler filtering the first fast Fourier transformed received radar signal to remove clutter components contained in the received radar signal; Performing a second fast Fourier transform of the received radar signal from which the clutter component is removed; And determining a moving speed of the object based on the second fast Fourier transformed received radar signal.
The removing the clutter component of the radar signal processing method according to an exemplary embodiment of the present invention may include filtering the first FFT transformed received radar signal using a different zero Doppler filter for each distance bin of the transmitted radar signal, can do.
The removing the clutter component of the radar signal processing method according to an exemplary embodiment of the present invention includes: extracting the clutter component by processing the converted received radar signal for each distance bin of the transmitted radar signal; And removing the clutter component from the transformed received radar signal using information of the extracted clutter component.
The method of processing a radar signal according to an exemplary embodiment of the present invention may further include determining a distance between the object and the transmission antenna based on a received radar signal from which the clutter component is removed.
The step of determining a moving speed of the radar signal processing method according to an exemplary embodiment of the present invention includes: generating a distance-velocity map by extracting a size of a second fast Fourier transformed received radar signal; And determining a moving speed of the object using the distance between the object and the transmitting antenna and the distance-speed map.
The determining of the distance of the radar signal processing method according to an exemplary embodiment of the present invention includes: extracting a size of a received radar signal from which a clutter component is removed; And determining a distance between the object and the transmission antenna using the size of the reception radar signal extracted for each distance bin of the transmission radar signal.
According to an aspect of the present invention, there is provided an apparatus for processing a radar signal, comprising: a transmitter for transmitting a transmission radar signal through a transmission antenna; A receiving unit for receiving a receiving radar signal through which the transmitting radar signal is reflected by an object through a receiving antenna; A fast Fourier transform unit for performing a fast Fourier transform on the received radar signal according to a transmission period of the transmission radar signal; A clutter removal unit that performs zero-Doppler filtering on the converted received radar signal to remove clutter components included in the received radar signal; And a distance determination unit that determines a distance between the object and the transmission antenna based on the reception radar signal from which the clutter component is removed.
The clutter removing unit of the radar signal processing apparatus according to an embodiment of the present invention can filter the converted received radar signal using different zero Doppler filters for each distance bin of the transmitted radar signal.
The clutter removing unit of the radar signal processing apparatus according to an embodiment of the present invention processes the converted received radar signal according to the distance bin of the transmission radar signal to extract the clutter component and uses the extracted clutter component information And remove the clutter component from the converted received radar signal.
The distance determining unit of the radar signal processing apparatus according to an embodiment of the present invention extracts the magnitude of the received radar signal from which the clutter component is removed, The distance between the object and the transmitting antenna can be determined.
According to an aspect of the present invention, there is provided an apparatus for processing a radar signal, comprising: a transmitter for transmitting a transmission radar signal through a transmission antenna; A receiving unit for receiving a receiving radar signal through which the transmitting radar signal is reflected by an object through a receiving antenna; A first FFT unit for performing a first FFT on the received radar signal according to a transmission period of the transmission radar signal;
The clutter removing unit of the radar signal processing apparatus according to an embodiment of the present invention may filter the first FFT-processed received radar signal using different zero Doppler filters for each distance bin of the transmitted radar signal.
The clutter removing unit of the radar signal processing apparatus according to an embodiment of the present invention processes the converted received radar signal according to the distance bin of the transmission radar signal to extract the clutter component and uses the extracted clutter component information And remove the clutter component from the converted received radar signal.
The apparatus for processing a radar signal according to an embodiment of the present invention may further include a distance determination unit that determines a distance between the object and the transmission antenna based on a reception radar signal from which the clutter component is removed.
The moving speed determining unit of the radar signal processing apparatus according to an embodiment of the present invention extracts the size of the second fast Fourier transformed receiving radar signal to generate a distance-speed map, and calculates a distance between the object and the transmitting antenna, - The speed of movement of the object can be determined using a speed map.
The distance determination unit of the radar signal processing apparatus according to an embodiment of the present invention extracts the magnitude of the received radar signal from which the clutter component is removed, And the transmission antenna.
According to an embodiment of the present invention, it is possible to prevent the moving object to be detected from being masked by removing the clutter included in the received radar signal using the zero Doppler filter.
1 is a view showing a radar signal processing apparatus according to a first embodiment of the present invention.
2 is a diagram showing the operation of the radar signal processing apparatus according to the first embodiment of the present invention.
3 is a diagram illustrating an operation of a zero Doppler filter according to an embodiment of the present invention.
4 is a view showing a radar signal processing apparatus according to a second embodiment of the present invention.
5 is a view showing the operation of the radar signal processing apparatus according to the second embodiment of the present invention.
Figure 6 is an example of distance, or moving speed, determined in accordance with one embodiment of the present invention.
7 is a flowchart showing a radar signal processing method according to the first embodiment of the present invention.
8 is a flowchart showing a radar signal processing method according to the second embodiment of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The radar signal processing method according to an embodiment of the present invention can be performed by a radar signal processing apparatus.
1 is a view showing a radar signal processing apparatus according to a first embodiment of the present invention.
1 is a radar
The
The
The fast Fourier
The
Also, the zero Doppler values may be different for each range-bin of the transmission radar signal. Accordingly, the
At this time, the zero Doppler filter processes the received radar signal converted by the fast
The specific configuration and operation of the zero Doppler filter will be described in detail with reference to FIG.
The
At this time, the
The radar
2 is a diagram showing the operation of the radar signal processing apparatus according to the first embodiment of the present invention.
The
At this time, the receiving
The
In this case, the fast
In addition, the fast
Next, the
Next, the
Next, the
Finally, the
3 is a diagram illustrating an operation of a zero Doppler filter according to an embodiment of the present invention.
The zero
The
The clutter
4 is a view showing a radar signal processing apparatus according to a second embodiment of the present invention.
4 may be a radar
The transmitting
The receiving
The
The
The
The second
The moving
At this time, the
5 is a view showing the operation of the radar signal processing apparatus according to the second embodiment of the present invention.
The transmitting
At this time, the
The first
Then, the first fast Fourier transformed received
The
The second fast
In addition, the second
Finally, the
The moving
Figure 6 is an example of distance, or moving speed, determined in accordance with one embodiment of the present invention.
6 shows an example in which the radar signal processing apparatus determines the distance or the moving speed of the moving object when there is one stationary object generating clutter and one moving object to be detected.
The
In addition, the moving
In addition, the
In addition, the moving
7 is a flowchart showing a radar signal processing method according to the first embodiment of the present invention.
In
In
In
At
In
8 is a flowchart showing a radar signal processing method according to the second embodiment of the present invention.
In
In
In
In
In
In step 860, the second fast
In step 870, the moving
The present invention can prevent the moving object to be detected from being masked by removing the clutter contained in the received radar signal using the zero Doppler filter.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. This is possible.
Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the claims.
100: radar signal processing device
130: Fast Fourier transform unit
140: Clutter removal
Claims (20)
Receiving a receiving radar signal through which the transmitting radar signal is reflected by an object;
Performing Fast Fourier Transform (FFT) on the received radar signal according to a transmission period of the transmission radar signal;
Performing zero-Doppler filtering on the converted received radar signal to remove clutter components included in the received radar signal; And
Determining a distance between the object and the transmit antenna based on the received radar signal from which the clutter component has been removed
The radar signal processing method comprising:
Wherein removing the clutter component comprises:
And filtering the transformed received radar signal by using a Zero Doppler Filter (ZDF) that is different for each range-bin of the transmitted radar signal.
Wherein removing the clutter component comprises:
Processing the transformed received radar signal by a distance bin of the transmitted radar signal to extract the clutter component; And
Removing the clutter component from the transformed received radar signal using information of the extracted clutter component
The radar signal processing method comprising:
Wherein the determining the distance comprises:
Extracting a size of the received radar signal from which the clutter component is removed; And
Determining a distance between the object and the transmission antenna using the size of the reception radar signal extracted for each distance bin of the transmission radar signal;
The radar signal processing method comprising:
Receiving a receiving radar signal through which the transmitting radar signal is reflected by an object;
Performing a first FFT (Fast Fourier Transform) on the received radar signal according to a transmission period of the transmission radar signal;
Zero-Doppler filtering the first fast Fourier transformed received radar signal to remove clutter components contained in the received radar signal;
Performing a second fast Fourier transform of the received radar signal from which the clutter component is removed; And
Determining a moving speed of the object based on the second fast Fourier transformed received radar signal
The radar signal processing method comprising:
Wherein removing the clutter component comprises:
And filtering the first fast Fourier transformed received radar signal using a different zero Doppler filter for each distance bin of the transmitted radar signal.
Wherein removing the clutter component comprises:
Processing the transformed received radar signal by a distance bin of the transmitted radar signal to extract the clutter component; And
Removing the clutter component from the transformed received radar signal using information of the extracted clutter component
The radar signal processing method comprising:
Determining a distance between the object and the transmit antenna based on the received radar signal from which the clutter component has been removed
And a radar signal processing method.
Wherein the determining the moving speed comprises:
Extracting a magnitude of the second fast Fourier transformed received radar signal to generate a distance-velocity map; And
Determining a moving speed of the object using the distance between the object and the transmitting antenna and the distance-velocity map,
The radar signal processing method comprising:
Wherein the determining the distance comprises:
Extracting a size of the received radar signal from which the clutter component is removed; And
Determining a distance between the object and the transmission antenna using the size of the reception radar signal extracted for each distance bin of the transmission radar signal;
The radar signal processing method comprising:
A receiving unit for receiving a receiving radar signal through which the transmitting radar signal is reflected by an object through a receiving antenna;
A fast Fourier transform unit for performing a fast Fourier transform on the received radar signal according to a transmission period of the transmission radar signal;
A clutter removal unit that performs zero-Doppler filtering on the converted received radar signal to remove clutter components included in the received radar signal; And
A distance determination unit for determining a distance between the object and the transmission antenna based on the reception radar signal from which the clutter component is removed;
And a radar signal processing unit.
The clutter removing unit includes:
And filters the transformed received radar signal by using a different zero Doppler filter for each distance bin of the transmitted radar signal.
The clutter removing unit includes:
A radar signal processing unit for processing the transformed received radar signal according to the distance bin of the transmission radar signal to extract the clutter component and removing the clutter component from the converted received radar signal using the extracted clutter component information, Processing device.
The distance determination unit may determine,
Wherein the distance between the object and the transmitting antenna is determined by extracting the size of the receiving radar signal from which the clutter component is removed and using the size of the receiving radar signal extracted for each distance bin of the transmitting radar signal.
A receiving unit for receiving a receiving radar signal through which the transmitting radar signal is reflected by an object through a receiving antenna;
A first FFT unit for performing a first FFT on the received radar signal according to a transmission period of the transmission radar signal,
A first Fourier transformed first radar signal is subjected to zero Doppler filtering to remove a clutter component included in the received radar signal;
A second fast Fourier transformer performing a second fast Fourier transform of the received radar signal from which the clutter component is removed; And
A moving speed determining unit for determining a moving speed of the object based on the second fast Fourier transformed received radar signal,
And a radar signal processing unit.
The clutter removing unit includes:
And filters the first fast Fourier transformed received radar signal using a different zero Doppler filter for each distance bin of the transmitted radar signal.
The clutter removing unit includes:
A radar signal processing unit for processing the transformed received radar signal according to the distance bin of the transmission radar signal to extract the clutter component and removing the clutter component from the converted received radar signal using the extracted clutter component information, Processing device.
A distance determination unit for determining a distance between the object and the transmission antenna based on the reception radar signal from which the clutter component is removed,
Wherein the radar signal processing device further comprises:
The moving speed determining unit may determine,
A radar signal processing unit for generating a distance-velocity map by extracting the size of the second fast Fourier transformed received radar signal and determining a moving speed of the object using the distance between the object and the transmission antenna and the distance- Device.
The distance determination unit may determine,
Wherein the distance between the object and the transmitting antenna is determined by extracting the size of the receiving radar signal from which the clutter component is removed and using the size of the receiving radar signal extracted for each distance bin of the transmitting radar signal.
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