KR20170054168A - Method and apparatus for processing signal based CFAR in radar system - Google Patents

Method and apparatus for processing signal based CFAR in radar system Download PDF

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KR20170054168A
KR20170054168A KR1020150156971A KR20150156971A KR20170054168A KR 20170054168 A KR20170054168 A KR 20170054168A KR 1020150156971 A KR1020150156971 A KR 1020150156971A KR 20150156971 A KR20150156971 A KR 20150156971A KR 20170054168 A KR20170054168 A KR 20170054168A
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target
signal
wave
cfar
triangle wave
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KR102049402B1 (en
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신동승
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한국전자통신연구원
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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
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G01S7/2923—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods
    • G01S7/2927—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by deriving and controlling a threshold value
    • 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
    • G01S13/28—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses
    • G01S13/282—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses using a frequency modulated carrier wave

Abstract

Provided is a signal processing method and apparatus for a radar system. A frequency modulated continuous wave (FMCW) signal consisting of two triangle wave signals is reflected from the target and processes the received signal. The present invention comprises the following steps: detecting a target by processing and comparing to a threshold value corresponding to the first triangle wave, and determining the inspection range for target detection by identifying an expected range of the peak for the second triangle wave by using this detection result; detecting a target by processing the signals for inspection range among signals corresponding to the second triangular waves and to compare to a threshold value; and detecting a final target based on the detection results of the target for the first and the second triangle wave. In the radar system, CFAR-based frequency modulated continuous wave signals can be processed at high speed.

Description

FIELD OF THE INVENTION [0001] The present invention relates to a signal processing method and apparatus based on a sine wave of a radar system,

The present invention relates to a signal processing method, and more particularly, to a method and apparatus for processing signals based on CFAR (Constant False Alarm Rate) in a radar system.

Recently, radar technology has been applied to various fields such as defense, vehicle, medical, security, and ship. A radar system using this radar is a system that detects a target by transmitting a signal designed to detect the target, receiving the signal reflected by the target, and performing signal processing. At this time, when the signal is transmitted, 1) a constant frequency signal called a continuous wave (CW) is continuously transmitted, 2) a signal whose frequency is constantly changed called FMCW (frequency modulated CW) is transmitted for a specific time, or 3) Transmit the signal of frequency A for a time and transmit the signal of frequency B for another specific time, or 4) transmit signals using signals of various other methods.

In a radar system using an FMCW signal, two triangular waves each composed of an up chirp and a down chirp having different slopes can be used.

In a real environment, the signal received from the target is mixed with clutter and noise caused by various features. Therefore, the performance of the radar can not be satisfied by simply detecting the threshold by setting the threshold . Accordingly, a CFAR (Constant False Alarm Rate) algorithm is used in which the threshold value is variably applied according to the situation to keep the false positive rate constant.

The CFAR-based process is performed on two triangles, the first triangle and the second triangle, respectively. Since the CFAR process is performed for all frequencies in the frequency spectrum, there is a disadvantage that it is time consuming in radar signal processing.

A problem to be solved by the present invention is to provide a signal processing method and apparatus for a radar system capable of performing signal processing more quickly based on a CFAR (Constant False Alarm Rate) algorithm.

A signal processing method according to a feature of the present invention is a method for processing a signal in a radar system, in which a frequency modulated continuous wave (FMCW) signal consisting of two triangular wave signals is processed from a signal reflected from a target, Obtaining a star signal; Detecting a target by performing a process on a signal corresponding to a first triangular wave among the acquired signals of the frequency component by comparing with a threshold value; Determining a predicted position for a second triangular wave using a result of detecting the target for the first triangular wave to determine an inspection range for target detection; Detecting a target by performing a process of comparing signals included in the inspection range among signals corresponding to the second triangle wave with a threshold value; And finally detecting the target based on the results of detecting the target for the first triangle wave and the second triangle wave.

According to the embodiment of the present invention, it is possible to process frequency modulated continuous wave (FMCW) signals at high speed on a CFAR basis in a radar system.

In other words, the FMCW radar using two triangular signals can perform the CFAR processing only on the region where the target is expected to be detected in the second triangular signal by using the target detection result in the first triangular signal, And as a result, the CFAR processing speed can be improved.

1 shows a signal used in a frequency modulated continuous wave (FMCW) radar.
2 is a diagram illustrating a CA-CFAR (Cell Average CFAR) algorithm, which is one of the CFAR algorithms.
3 is a flowchart of a signal processing method according to an embodiment of the present invention.
FIG. 4 is a graph illustrating performance of an FMCW signal processed based on an existing method, and FIG. 5 is a graph illustrating performance of processing an FMCW signal according to a signal processing method according to an embodiment of the present invention.
6 is a structural diagram of a signal processing 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. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

Hereinafter, a signal processing method and apparatus for use in a radar system according to an embodiment of the present invention will be described with reference to the drawings.

1 shows a signal used in a frequency modulated continuous wave (FMCW) radar.

In the FMCW method, as shown in FIG. 1 (a), two triangular wave signals each composed of an up chirp and a down chirp are used, and the two triangular wave signals have different slopes from each other. The FMCW signal, which is composed of two triangular wave signals and whose frequency is constantly changed, is transmitted as a target for a specific time, and a signal reflected from the target is received and processed to detect a target (solid line) .

The received signal includes not only the signal for the target but also clutter by various features. In order to distinguish between the target and the clutter, a signal of each frequency component obtained by applying a fast fourier transform (FFT) algorithm to a received signal is used as input cell data, and a value of each input cell is defined as a threshold To identify a signal having a value larger than the threshold value as a target. In this case, when the threshold is lowered, a false positive detection rate is increased which recognizes the clutter as a target. On the other hand, if the threshold value is increased, the probability of not recognizing the target is increased. Accordingly, it is possible to use a constant false alarm rate (CFAR) algorithm in which the false alarm rate is kept constant by applying the threshold value variably according to the situation.

2 is a diagram illustrating a CA-CFAR (Cell Average CFAR) algorithm, which is one of the CFAR algorithms.

When performing signal processing based on CA-CFAR (Cell Average CFAR), a frequency spectrum consisting of signals of respective frequency components obtained after FFT is performed on a received signal is obtained. The signals of the frequency components on the frequency spectrum are processed as data of the input cells.

In the frequency spectrum, that is, as shown in FIG. 2, a part of the input cell data centered on the cell under test is taken. And compares the data of the test cells, that is, the signal size, with the threshold value. Here, the threshold value is a value calculated by multiplying a mean value of signal magnitudes of cells other than the guard cell among the cells around the test cell by a scale factor. As a result of the comparison with the threshold value, a signal having a magnitude larger than the threshold value is detected as a signal reflected from the target.

This process is repeated for all frequency components on the frequency spectrum to detect the cell corresponding to the target.

Combining FMCW and CFAR algorithms using two triangular signals, the following behavior is achieved.

First, the FFT and CFAR are applied to the first triangle wave signal in the upward direction, and then a bit frequency corresponding to the target

Figure pat00001
And in the same manner, in the downward concatenation of the first triangular wave,
Figure pat00002
. These frequencies have the following relationship.

Figure pat00003

Here, for convenience of description, one bit frequency is described as being detected. However, in reality, when a plurality of targets exist, a plurality of bit frequencies can be detected.

The detected bit frequency in the uplink and the detected bit frequency in the downlink are in pairs, but all bit-frequency pairs must be identified as targets because they do not know which ones are correct. This makes it possible to detect fake targets called ghosts in addition to actual targets.

If the bit frequency pairs are identified as above, the distance R and the relative speed v of the target can be obtained by using the following equation.

Figure pat00004

On the other hand, the bit frequencies corresponding to the target are detected after applying the FFT and the CFAR in the uplink and downlink concatenation of the second triangle wave signal, respectively, and the bit frequencies detected in the second triangle wave can also be expressed by the following equation.

Figure pat00005

In this pair of bit frequencies detected in the second triangle wave, ghost is detected in addition to the actual target.

On the other hand, when the bit frequency detected for the first triangle wave signal and the second triangle wave signal corresponds to the actual target, there exists a pair of bit frequencies having the same (R, v) in each triangle wave. Using this characteristic, as shown in Fig. 1 (b), only the target having the same (R, v) in each triangular wave (the point where four lines intersect) is detected as an actual target, The intersection point) can be judged to be ghost and discarded.

As discussed above, the CFAR processing is performed on the up-mix and down-mix of the first and second triangle waves of the FMCW signal, respectively. Because CFAR processing is performed for all frequencies in the frequency spectrum, it is time consuming in radar signal processing.

In the embodiment of the present invention, CFAR processing is performed only on the region where the target is expected to be detected in the second triangle wave using the result of the detection of the target in the first triangle wave.

To do this, we derive the frequency f r by the distance of the target and the Doppler frequency f d by the relative speed using the bit frequency detected in the first triangle wave. Using this, we obtain the whole frequency spectrum in the up- Instead of checking, the CFAR process is performed only in the frequency range where the target is located.

Next, a description will be given of a method of calculating a frequency range in which a target may be present.

First, a peak expected position is calculated.

Assume that the bandwidth of the first triangular wave of the FMCW signal is B1, the length of the waveform is Tm1, the bandwidth of the second triangular wave is B2, and the length of the waveform is Tm2. It is also assumed that the sampling frequency of each triangular wave is fs, the number of FFT inputs for the first upsampling of the first triangular wave and the downward concatenation is N1, and the number of FFT inputs for the uptake of the second triangular wave and the downward concatenation is N2.

The following constants are defined using the variables as described above, B1, B2, Tm1, Tm2, fs, N1, N2.

Figure pat00006

These constants are constants defined to simplify the expression of expressions and are introduced again in the process of derivation of expressions, which will be described later.

Then, the FFT empty index (bin index) at which the peak is detected in the upward triangle of the first triangle

Figure pat00007
, And the FFT empty index at which the peak is detected in the downward concatenation of the first triangle
Figure pat00008
, The FFT empty index, which is expected to be detected in each of the upward and downward taps of the second triangle wave,
Figure pat00009
Wow
Figure pat00010
Can be obtained as follows.

Figure pat00011

Since the FT empty index is an integer,

Figure pat00012
d and
Figure pat00013
However, a non-integer value may be calculated depending on the bandwidth and the length of the waveform. Therefore, here, a round or floor function is applied to approximate to an integer.

As described above, the FFT empty index, which is expected to be detected in each of the uplink and downlink of the second triangle wave,

Figure pat00014
Wow
Figure pat00015
And then determines the range on which the target is expected to be detected.

That is, the bit frequency to be detected in the second triangular wave may be different from the prediction depending on the positional shift and speed change of the target according to the transmission time difference between the first triangular wave and the second triangular wave. Taking this into account,

Figure pat00016
, And for the downward concavity
Figure pat00017
The range is determined. The range thus determined is used as the range in which the target is expected to be detected, and CFAR processing is applied to the range. here,
Figure pat00018
The range is not limited and the value is determined according to the situation so that the range to be used can be applied.

Based on the expected peak position, the range expected to be detected is determined, and then the bit frequency that is detected in the first triangle wave is used to calculate the expected bit frequency in the second triangle wave.

Next, the process of deriving the formulas will be described in more detail.

The beat frequency of the first triangle wave and the detected beat frequency

Figure pat00019
Wow
Figure pat00020
Can be expressed as follows.

Figure pat00021

If we detect the beat frequency as above in the upset and upset of the first triangle, we can derive the following equation based on the radar equation.

Figure pat00022

The beat frequency of the first triangle wave and the detected beat frequency

Figure pat00023
Wow
Figure pat00024
The distance R 1 and the relative velocity v 1 of the target can be obtained using Equation (7).

The beat frequency detected in the up-mix of the second triangle wave and the down-

Figure pat00025
Wow
Figure pat00026
And applying it to the radar equation, the distance (R 2 ) and the relative velocity (v 2 ) of the target can be obtained as follows.

Figure pat00027

Here, if the detected bit frequency corresponds to an actual target, it is detected as a target having the same distance and speed in the first triangle wave and the second triangle wave

Figure pat00028
,
Figure pat00029
. Based on this, the above equations can be summarized as follows.

Figure pat00030

Here, B1, B2, Tm1, and Tm2 are predetermined constants

Figure pat00031
To simplify Equation (9).

Using this, the expected beat frequency of the target in the uptake and uptake of the second triangle can be obtained as follows.

Figure pat00032

Here, the frequency fr1 due to the target distance and the Doppler frequency fd1 due to the relative speed can be redefined as follows using the FFT bin index.

Figure pat00033

Using the frequency fr1 by the distance of the target according to Equation (11) and the Doppler frequency fd1 by the relative speed, the bit frequency according to Equation (10) can be calculated again as follows.

Figure pat00034

In the Upward Attack and Downward Attack of the second triangle wave,

Figure pat00035
Wow
Figure pat00036
Can be obtained as follows.

Figure pat00037

Here, the constants A and B are

Figure pat00038
,
Figure pat00039
Can be defined to simplify the formula.

Figure pat00040

Since the FFT bin index is an integer, the bit frequency

Figure pat00041
Wow
Figure pat00042
FFT < / RTI >
Figure pat00043
d and
Figure pat00044
It should also be an integer, but it may be approximated as an integer, since non-integer values may be calculated depending on the bandwidth and the length of the waveform. At this time, it can be approximated to an integer using a round or floor function.

As described above, since the bit frequency to be detected in the second triangular wave may be different from the prediction in accordance with the position shift and speed change of the target according to the transmission time difference between the first triangular wave and the second triangular wave,

Figure pat00045
, Downward concubine
Figure pat00046
We expect the target to be detected in the bin of the range and perform the CFAR processing for that range.

3 is a flowchart of a signal processing method according to an embodiment of the present invention.

In an embodiment of the present invention, in an FMCW radar using a waveform of a triangle wave type, an FMCW signal composed of two triangular wave signals is transmitted as a target for a specific time, a signal reflected from the target is received and processed, The FFT is applied to obtain the signal for each frequency component. The obtained frequency component signal is input to the input cell data of the FFT bin.

The signal processing apparatus 100 first detects a target in the first triangle wave. The CFAR is applied to the values of the input cells obtained in the upwind of the first triangle wave, and the signal is compared with the threshold value to obtain a signal having a peak value,

Figure pat00047
(S100). Then, the values of the input cells obtained from the downward convolution of the first triangular wave are compared with a threshold value, and a signal having a peak value, that is,
Figure pat00048
(S110).

Thereafter, based on the beat frequencies corresponding to the target obtained respectively in the up-mix of the first triangle wave and the down-mix of the first triangle wave, the peak expected position is determined in the second triangle wave as described above (S120).

Specifically, the bandwidth B1 of the first triangular wave and the length Tm1 of the waveform, the bandwidth B2 of the second triangular wave, the length Tm2 of the waveform, the sampling frequency fs of each triangular wave, the number of FFT inputs N1 , The constants K, A and B are respectively defined on the basis of the number of FFT inputs N2 for the uptake of the second triangular wave and the downward tilt. Using the defined constants and the bit frequencies corresponding to the targets obtained respectively in the upwind and downwind of the first triangle wave, determine the positions where the peaks are expected to be detected in the uptake of the second triangle wave and in the downward flux. Based on the estimated position of the peak,

Figure pat00049
, And for the downward concubine
Figure pat00050
The range is determined as the test range for target detection in the second triangle wave.

Next, the signal processing apparatus 100 determines the inspection range (for example,

Figure pat00051
) Of the second triangular wave included in the second triangular wave and compares it with a threshold value to obtain a signal having a peak value, that is, a bit frequency
Figure pat00052
(S130). Then, the test range determined for the second triangle wave (
Figure pat00053
) Of the second triangular wave included in the second triangular wave and compares it with a threshold value to obtain a signal having a peak value, that is, a bit frequency
Figure pat00054
(S140).

In step S150, a pair of bit frequencies having a similar (R, v) value is searched for in the detected bit frequencies for the first triangle wave signal and the second triangle wave signal, or in consideration of errors due to movement of the target, .

As described above, in the embodiment of the present invention, by using the detection result of the first triangle wave in the FMCW radar using two triangular waveforms, the inspection range for detecting the target in the second triangle wave is limited, .

In addition, a signal processing method according to an embodiment of the present invention can be used even in the case of using other algorithms such as ordered CFAR (OS-CFAR) as well as CA-CFAR. In this case, it is possible to reduce the sorting operation which is the cause of the excessive calculation amount of the OS-CFAR, thereby shortening the time required for the radar signal processing.

FIG. 4 is a graph illustrating performance of an FMCW signal processed based on an existing method, and FIG. 5 is a graph illustrating performance of processing an FMCW signal according to a signal processing method according to an embodiment of the present invention.

4 and 5, the blue line represents the FFT magnitude and the red line represents the CFAR threshold value.

As shown in FIGS. 4 and 5, when the CFAR process is performed according to the existing method, the up1 chirp and the down1 chirp shown in FIGS. 4 (a) and 4 (b) And the up2 chirp and the down2 chirp shown in Figs. 4 (c) and 4 (d) and 5 (a) and 5 (b) respectively form a first triangle wave.

4 (c) and 4 (d), CFAR processing is performed on all the FFT bin indexes for the up2 chirp and down2 chirp of the second triangle wave, Is performed.

However, in an embodiment of the present invention, using the results of the first triangle wave, the CFAR process is applied to only those points that are expected to be targets in the second triangle wave to obtain and compare CFAR thresholds, and CFAR The CFAR threshold is set to any very large value without applying a process so that the target is not detected by performing the comparison. Accordingly, as in FIGS. 5A and 5B, the FOB bin index having a very large CFAR threshold value is determined not to be a target without CFAR processing, so that the total calculation time can be reduced.

6 is a structural diagram of a signal processing apparatus according to an embodiment of the present invention.

A signal processing apparatus 100 according to an embodiment of the present invention includes a processor 110, a memory 120, and a radio frequency (RF) converter 130. The processor 110 may be configured to implement the methods described above with reference to Figures 1-3.

The processor 110 includes a first target detection processing unit 111, a positioning unit 112, a second target detection processing unit 113, and a target determination unit 114. [

In the FMCW radar using the waveform of the triangle wave type, the first target detection processing unit 111 selects the reception signal from the uplink of the first triangular wave and the reception signal obtained from the downward tacking among the signals transmitted and received by the FMCW signal composed of two triangular wave signals, And CFAR is applied to the values of the input cells of the frequency components corresponding to the frequency components to obtain a signal having a peak value. That is, a signal having a peak value is acquired in the uptake of the first triangular wave, and a signal having a peak value in the downward convolution of the first triangular wave is acquired.

Based on the signals having the peak values acquired by the first target detection processing unit 111, the position determination unit 112 determines a peak expected position for the second triangle wave. Inspection range for target detection in second triangle wave based on peak expected position (

Figure pat00055
,
Figure pat00056
Can be determined.

The second target detection processing unit 113 applies CFAR to the values of the input cells obtained in the up-mix of the second triangular wave and the down-mix of the second triangular wave included in the inspection range determined for the second triangular wave and obtains signals having a peak value do. That is, the CFAR process is performed only on the values within the range based on the expected position of the peak to acquire the signal having the peak value in the uptake of the second triangle wave, and obtain the signal having the peak value in the downward concatenation of the second triangle wave.

The target determining unit 114 searches for a pair of bit frequencies having a similar (R, v) in consideration of the same or a difference in movement of the target at the detected bit frequencies for the first triangle wave signal and the second triangle wave signal, .

The memory 120 is coupled to the processor 110 and stores various information related to the operation of the processor 110. [ The RF converter 130 is connected to the processor 110 and transmits or receives radio signals.

The embodiments of the present invention are not limited to the above-described apparatuses and / or methods, but may be implemented through a program for realizing functions corresponding to the configuration of the embodiment of the present invention, a recording medium on which the program is recorded And such an embodiment can be easily implemented by those skilled in the art from the description of the embodiments described above.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

Claims (1)

In a method of processing a signal in a radar system,
Processing a signal received by a frequency modulated continuous wave (FMCW) signal consisting of two triangular signals reflected from a target to obtain a signal for each frequency component;
Detecting a target by performing a process on a signal corresponding to a first triangular wave among the acquired signals of the frequency component by comparing with a threshold value;
Determining a predicted position for a second triangular wave using a result of detecting the target for the first triangular wave to determine an inspection range for target detection;
Detecting a target by performing a process of comparing signals included in the inspection range among signals corresponding to the second triangle wave with a threshold value; And
A step of finally detecting a target based on the results of detecting the target for the first triangle wave and the second triangle wave
/ RTI >
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Publication number Priority date Publication date Assignee Title
CN110398723A (en) * 2018-04-25 2019-11-01 通用汽车环球科技运作有限责任公司 Alternating chirp CW with frequency modulation Doppler lidar
KR102311699B1 (en) * 2020-04-09 2021-10-12 한화시스템 주식회사 Radar apparatus and method for detecting target using the same

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