Ι3065Λ2 九、發明說明： 【發明所屬之技術領域】 本發明係有關於-種制方法，特別是—種調頻連續波雷達追縱 之方法，其係用以提升雷達追蹤目標之效率。 不、 【先前技術】 無Ϊ通訊技術係相當發達，其中雷達之應用係為現今發展相 田成熟之技術，特別是應用於目標偵測追蹤之用途。如第—圖所_其 :知調頻連續波雷達與目標_等速度之侧訊號與反射訊制^形圖y (Frequency Modulation Continous Wave > FMCW )- 達是_雷達發射-細《 St，且先在—個掃_間τ内，—神^ st為-上掃頻訊號’即讓偵測訊號st之訊號頻率從第一頻率ρι择加至第 =率F2 ’接著在下-個掃娜〗T内，侧訊號st為―下掃触 顧測訊號St之訊號解從第二頻率F2遞減至第一頻率η，如此偵㈣ =St周期性地上掃及下掃，反射訊號化是細訊號料目標所反射至 雷達之回波訊號。 其中，延遲時間td為偵測訊號St與反射峨义間之時間差里， =雷達所侧之目標與雷細_親離。料於依據社掃頻訊號執 仃神f ’此延遲日相邮成_喊st航射訊㈣間之鮮差異為 ^差頻m，而雷逹於依據該下掃頻峨執行掃瞒，此延 ^偵測訊號st與反射訊號Sr間之頻率差異為第二差賴 f第二差娜，則表示雷達與目標間相對速度為零，所以偵測w st 訊號sr間未產生相對頻移，亦即都普勒頻移(__^1= S ! t ’ /d)，雷達與目標兩者間的距離可由其距離頻率允 得。^當雷賴目標財-相對速度時，將如第二酸第三_^。 弟―圖所不，其係習知目標等速接近雷達之制訊號 Sr的波形圖。當目標以-固定之速度V接近雷達時，將㈣測訊號=與反 5 l3〇6S'l2 ^汛5虎Sr間產生都普勒頻移fd，且會導致偵測訊號st與反射訊號Sr間之 ，差頻fbl減少，以及第二差頻作2增加。如第三圖所示，其係習知目標 等迷遠離雷達之彳貞測訊號與反射訊號的波形圖。當目標以該蚊速度v遠 離田達時，將使偵測訊號St與反射訊號gr間產生都普勒頻移付，且會導 巧測訊號St與反射m Sr間之*―差頻间增加，以及第二差頻服減 =。雷達依據獲得的第-差頻/bl與第二差頻服，求得距離頻餘與都普 ，頻銜d，概據麟頻社求得目標之轉R，並依獅魏頻韻計 鼻出相對速度V。其運算式如下列所示： (1) Jb2 = ft-+ fd (2) 2 (3) fd~^b2~^bl 2 (4) R_cxTxfr 2xFs (5) C X /fif '2/0 (6) ^中e為光的速度，r為掃頻時間，Λ為掃賴寬，力為發射訊號中心頻 热而習知雷 ^ H須測訊號對於多目標之回波處理而言較為 相難！完成獅上掃舰號與下掃頻喊才求得目標與雷達間 =所以求得目標與雷賴之相對_之運算時陳久。此外，Ι3065Λ2 IX. DESCRIPTION OF THE INVENTION: TECHNICAL FIELD OF THE INVENTION The present invention relates to a method for seed production, and more particularly to a method for frequency-tracking continuous wave radar tracking, which is used to improve the efficiency of radar tracking targets. No, [Prior Art] The wireless communication technology system is quite developed. The application of radar is the technology that is developed today, especially for target detection and tracking. As shown in the first figure, it is known that the frequency modulation of the continuous wave radar and the target _ equal velocity side and the signal y (Frequency Modulation Continous Wave > FMCW) - is _ radar emission - fine "St, and First, in a sweep _ τ, - God ^ st is - up the sweep signal 'that allows the signal frequency of the detection signal st to be added from the first frequency ρι to the first rate F2 'and then in the next - a sweep In T, the side signal st is the signal of the "down sweep" test signal St is decremented from the second frequency F2 to the first frequency η, so that the detection (four) = St periodically sweeps up and down, the reflection signal is the fine signal material. The echo signal that the target reflects to the radar. Wherein, the delay time td is the time difference between the detection signal St and the reflection ambiguity, and the target on the radar side is separated from the lightning _. It is expected that the difference between the day-to-day _ shouting and the singularity of the singularity of the singularity is the difference frequency m, and the Thunder performs the broom according to the sweeping frequency. The difference between the frequency of the detection signal st and the reflected signal Sr is the second difference Δf, which means that the relative speed between the radar and the target is zero, so no relative frequency shift is detected between the detected w st signals sr, That is, the Doppler shift (__^1= S ! t ' /d), the distance between the radar and the target can be obtained by its distance frequency. ^When Ray Lai target money - relative speed, it will be like the second acid third _^. The younger brother, the figure, is a waveform diagram of the conventional signal that is close to the radar signal Sr. When the target approaches the radar at a fixed speed V, the (4) test signal = and the inverse 5 l3 〇 6S 'l2 ^ 汛 5 tiger Sr generate a Doppler shift fd, and will cause the detection signal st and the reflected signal Sr In the meantime, the difference frequency fbl is reduced, and the second difference frequency is increased by 2. As shown in the third figure, it is a waveform diagram of the measured signal and the reflected signal that are far away from the radar. When the target is far away from the field at the mosquito speed v, the Doppler shift is generated between the detection signal St and the reflected signal gr, and the difference between the difference between the signal ST and the reflection m Sr is increased. And the second difference frequency service minus =. According to the obtained first-differential frequency/bl and the second difference frequency, the radar obtains the distance frequency and the Dupu, the frequency index d, and the data is obtained from the target frequency of the lining society, and the nose is relative to the lion. Speed V. Its expression is as follows: (1) Jb2 = ft-+ fd (2) 2 (3) fd~^b2~^bl 2 (4) R_cxTxfr 2xFs (5) CX /fif '2/0 (6) ^ Where e is the speed of light, r is the sweep time, Λ is the sweep width, the force is the center frequency of the transmitted signal, and the conventional lightning signal is more difficult for multi-target echo processing! Completing the lion's sweeping number and the next sweeping frequency to find the target and the radar = so the goal is to compare with Lei Lai's calculation. In addition,
==貞測距離内之之所有上掃頻訊號與下掃職 式累積（N〇n-C〇herent Integrati〇n， 丁非1J 說記憶體，且降低訊號處理效能。 < ，t甚為耗費雷達之 因此，本發明提出_種調頻連續 分偵測距離内之所有掃頻訊 達纽目&之方法’其係針對 號即可求得_與目標間相離、，且僅額上掃親號或下掃頻 雷達之處理魏。蝴距離，以減対達之運算日_，進而提 1306512 【發明内容】 ^本發明之主要目的，在於提供一種調頻連續波雷達追蹤目標之方法， ，係依據目標之反射波所對應之距離閘取得目標此之量測位置，並 藉a-y3 Filter估計目標此一時刻之位置與速度及下一時刻之位置，以便 有效率的追蹤目標。 本發明之次要目的’在於提供—翻頻連續波t達追縱目標之方法其 係簡化偵測訊號為-上掃頻訊號或-下掃頻訊號，以侧目標所對應之反 射波，用於提升訊號處理效能以及節省系統記憶體。 …本發鴨為—種調麟毅雷達魏目標之方法，其絲關化掃頻 ，號及補償都普細移的方式’進行目標辨識，此邏輯可有效率的節省運 算時間和記籠。本發明係-開始發射—簡化之侧訊號，以接收债測訊 叙回波為-反射峨；且依據f達職收之反射域進行目標辨識，針對 判斷成立的目伽近開—距離視f，並只執行縣視窗㈣非同調式累積 處理（Non-Coherent Integratlon，NCI)，相較於傳統全距離的非同調式 累積^理來說，此目標處理邏輯更可逹節省運算時間和記憶體的功效。依 據目標之反射波的距離閘和估計的距離閘，我們可計算出一距離閘誤差， 進-步依據該距離閘縣預估該目標下—時刻之位置與速度，以便對該目 標進行穩定的追縱。 \ ' 【實施方式】 茲為使賁審查委員對本發明之結構特徵及所達成之功效有更進一步 之瞭解與認識，謹佐以較佳之實施例及配合詳細之卿，說明如後： 本發明係-種調頻連續波雷達追縱目標之方法，其係利用雷達與目標 之間相隔之距離切割為數個距離閘（range gate)，利用接收彳貞測訊號之回 波反射訊號，觸目標所在之距離閘，進而依照選定的掃頻模式求得目標 與雷達之間的相對距離，以及目標之相對速度。另外，本發明之方法更利 用鋸齒波形（sawtooth waveform)之偵測訊號進行偵測，可有效降低傳統 1306512== 贞 贞 所有 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上 上Therefore, the present invention proposes a method for all the frequency sweeping points in the range of the frequency modulation continuous detection range, which can be obtained by the target number, and is separated from the target, and only the amount is swept away. No. or the following frequency sweep radar processing Wei. Butterfly distance, to reduce the operational date of 対, and then to mention 1306512 [Invention] The main purpose of the present invention is to provide a method for frequency-tracking continuous wave radar tracking target, The target position is obtained according to the distance gate corresponding to the reflected wave of the target, and the position and speed of the target and the position of the next moment are estimated by the a-y3 filter, so as to efficiently track the target. The secondary purpose is to provide a method of grading the continuous wave t to the target of tracking, which simplifies the detection signal as the up-sweep signal or the down-sweep signal, and the reflected wave corresponding to the side target is used to boost the signal. Processing efficiency and festival Provincial system memory. ... The hair duck is a method of adjusting the Lin Wei radar target, and its method of sweeping the frequency, number and compensation of the fine movement method to carry out the target identification, this logic can effectively save the operation Time and record cage. The invention is a start-sending-simplified side signal, which is used to receive the debt test reverberation wave as a reflection 峨; and according to the reflection domain of the f-receipt, the target recognition is performed, and the judgment is established. Open-distance view f, and only perform county-level (four) non-coherent integration (Non-Coherent Integratlon (NCI)), compared to the traditional full-range non-coordinated accumulation, this target processing logic can save The operation time and the efficiency of the memory. According to the distance gate of the reflected wave of the target and the estimated distance gate, we can calculate a distance gate error. According to the distance, the county estimates the position and speed of the target. In order to achieve a stable recovery of the target. \ ' [Embodiment] In order to make the review board members have a better understanding and understanding of the structural features and effects of the present invention, I would like to be better For example, the following is a method for tracking the target of a frequency modulated continuous wave radar, which is cut by a distance between the radar and the target into a plurality of range gates, using the receiving 彳Detecting the echo reflection signal of the signal, touching the distance gate of the target, and determining the relative distance between the target and the radar according to the selected sweep mode, and the relative speed of the target. In addition, the method of the present invention utilizes the sawtooth waveform. (sawtooth waveform) detection signal detection, which can effectively reduce the traditional 1306512
閘，且於=步驟S18〇所不’依據各目標之反射波尋找對應各目標之距離 依棱，S182所示，指定欲追縱目標之距離開，再按步驟S19G所示， _理1:目標所在之距離閘開啟指定目標距離視窗，且針對該目標之後 用步驟S190之指定目標距離視窗内的訊號進行非同調式累積處 一 w 疋目標距離視窗之_範圍遠小於全距離視窗（如第七圖所 本發明之雷達系統藉此不需再使用全距離視窗搜尋目標，因此本發明 =錢侧較短的運算時間和更讀記憶體於追蹤目標之反射波之訊 後按步驟S200所示’依據指定目標距離視窗内之所有回波判斷 ^疋目“與視t内其他目標間之相對狀態’即執行狀態擎告模式 咖=1011 Ala〇 M〇de，Μ)。接續執行步驟測，依據指定目標之反 ^之崎與後緣之距離閘差異求得—距離閘誤差（削⑼咖咖 ’、離閘誤差即依據第六圖之波形前緣e與波开》後緣【差異為【（Η )， =為依目標特性做適應性調整之參數，而第六圖中.表示目前追縱的距離 f我們可利用距離閘誤差，執行步驟S22G，該步驟是依不同的追縱邏輯 狎不同的環境選定適當的距離間進行追縱，數學式如下：The gate is not in step S18, and the distance corresponding to each target is found according to the reflected waves of the respective targets. As indicated by S182, the distance to be tracked is specified, and then, as shown in step S19G, _1: The distance gate of the target is opened to the specified target distance window, and for the target, the signal in the specified target distance window of step S190 is used for non-coincidence accumulation. The range of the target distance window is much smaller than the full distance window (such as In the seventh embodiment, the radar system of the present invention does not need to use the full-distance window to search for the target, so the present invention = the shorter calculation time on the money side and the reflection of the read-back memory on the tracking target, as shown in step S200. 'According to all the echoes in the specified target distance window, the "relative state between the target and the other targets in the view t" is the execution state of the mode mode = 1011 Ala〇M〇de, Μ). Continue to perform the step test, According to the difference between the anti-Saki and the trailing edge of the specified target, the distance error (cut (9) coffee coffee, the brake error is based on the waveform front edge e and wave opening according to the sixth figure] [(Η ), = is the parameter to adapt to the target characteristics, and the sixth figure shows the distance of the current tracking f. We can use the distance gate error, and perform step S22G, which is different according to different tracking logic. The environment selects the appropriate distance to track, the mathematical formula is as follows:
R ⑺ Α~ Λ, 4 + 4 + Λ 、中θ為位置量離’即為式⑻之池^為正在追縱之中心(⑽㈣ 距離閘，4為前緣距義之目標之反射波強度；4為巾心距離閘之目標之 反射波強度；4驗緣距離閘之目標之反射波強度；&為每—距離閘之距 、接著，按步驟S230所示，使用一估計法，並依據該目標之量測位置， =估什求得該目標下—時刻之位置估計值與相對速度估計值，其中該估計 法為一广—雜波方法（a — /5 fiitering)，其運算式如下列所示： \synhxp{n)^a{y{n)~Xp(n)) ⑻ xfhXs{n-i)+^{y{nyXs{n))/r ⑼ χρ\η + ΐ)=，χχη)+Τχ8(η) (1〇) 其中，·Κ«)為在η時間的位置量測值、/〃(刀+乃為該目標下一時刻之 9 1306512 【圖式簡單說明】 第卜一圖係自知*t達與目標間相等速度之偵測訊號與反射訊號的波形圖， 第二圖係白知目標等速接近雷達之偵測訊號與反射訊號的波形圖·， 第n知目標等速遠離輯之彳㈣訊號與反射訊號喊形圖； 第四圖係本發明之偵測訊號之波形圖； 第五圖係本發明之一較佳實施例之追蹤目標之流程圖； 第六圖係本發明之一較佳實施例之距離閘誤差之示意圖；以及 第七圖係本發明之—較佳實施例之開啟缺目標距離視窗之示意圖。 •-【主要元件符號說明】 C 波形中心 e 波形前緣 Π 第一頻率 F2 第二頻率 fb 差頻 /bl 第一差頻 /b2 第二差頻 /d 都普勒頻移 ® 1波形後緣 R 相對距離 初 偵測訊號R (7) Α~ Λ, 4 + 4 + Λ , θ is the position of the quantity away from 'the pool of the formula (8) ^ is the center of the memorial ((10) (four) distance gate, 4 is the reflection wave intensity of the target of the leading edge distance; 4 The intensity of the reflected wave of the target of the distance of the towel; 4 the intensity of the reflected wave of the target of the distance gate; & the distance of each gate, and then, according to step S230, an estimation method is used, and The measurement position of the target, = estimate the position estimate and the relative velocity estimate under the target, wherein the estimation method is a wide-clutter method (a - /5 fiitering), and the expression is as follows Shown: \synhxp{n)^a{y{n)~Xp(n)) (8) xfhXs{ni)+^{y{nyXs{n))/r (9) χρ\η + ΐ)=,χχη)+ Τχ8(η) (1〇) where Κ«) is the position measurement at η time, /〃 (knife + is the next moment of the target 9 1306512 [Simple description of the diagram] I know the waveform of the detection signal and the reflected signal at the same speed between the target and the target. The second picture is the waveform of the detection signal and the reflected signal of the target at a constant speed close to the radar. Away from the series四 (4) signal and reflection signal shatter map; fourth diagram is the waveform diagram of the detection signal of the present invention; fifth diagram is a flowchart of the tracking target of a preferred embodiment of the present invention; A schematic diagram of a distance gate error of a preferred embodiment; and a seventh diagram of a preferred embodiment of the present invention for opening a target distance distance window. • - [Major component symbol description] C Waveform center e Waveform leading edge Π First frequency F2 Second frequency fb Difference frequency / bl First difference frequency / b2 Second difference frequency / d Doppler shift о 1 Waveform trailing edge R Relative distance initial detection signal
Sr 反射訊號 T 掃頻時間 td 延遲時間 V 目標速度 々(《 + /)目標位置估計值 目標速度估計值Sr reflection signal T sweep time td delay time V target speed 々 ("+ /) target position estimate target speed estimate