WO2016165281A1 - 一种雷达通信方法与系统 - Google Patents

一种雷达通信方法与系统 Download PDF

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Publication number
WO2016165281A1
WO2016165281A1 PCT/CN2015/090049 CN2015090049W WO2016165281A1 WO 2016165281 A1 WO2016165281 A1 WO 2016165281A1 CN 2015090049 W CN2015090049 W CN 2015090049W WO 2016165281 A1 WO2016165281 A1 WO 2016165281A1
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WO
WIPO (PCT)
Prior art keywords
signal
interference
frequency
algorithm
received signal
Prior art date
Application number
PCT/CN2015/090049
Other languages
English (en)
French (fr)
Inventor
谢宁
李保良
张莉
王晖
Original Assignee
深圳大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201510180526.7A external-priority patent/CN104808196B/zh
Priority claimed from CN201510180509.3A external-priority patent/CN104820210B/zh
Application filed by 深圳大学 filed Critical 深圳大学
Publication of WO2016165281A1 publication Critical patent/WO2016165281A1/zh
Priority to US15/566,865 priority Critical patent/US20180203095A1/en

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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
    • G01S7/2813—Means providing a modification of the radiation pattern for cancelling noise, clutter or interfering signals, e.g. side lobe suppression, side lobe blanking, null-steering arrays
    • 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
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • 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
    • G01S7/282—Transmitters
    • 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
    • G01S7/2926—Extracting wanted echo-signals based on data belonging to a number of consecutive radar periods by integration
    • 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
    • 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
    • G01S7/36—Means for anti-jamming, e.g. ECCM, i.e. electronic counter-counter measures

Definitions

  • the present invention relates to a communication system, and more particularly to a radar communication method and system.
  • the radar communication system estimates the distance, angle, Doppler shift and other information of the corresponding target by transmitting a signal and receiving a reflected signal of the corresponding target.
  • frequency interference Due to the exclusive and limited nature of the radio spectrum, and it is not restricted by geography, time domain and airspace, wireless communication becomes easy. Being disturbed. Frequency interference will seriously affect the quality of radar communication and the performance of parameter estimation. How to avoid the influence of frequency interference in radar communication with correct and effective methods and improve the accuracy of parameter estimation becomes more and more important. In the absence of frequency interference or small frequency interference, existing radar parameter estimation algorithms can often provide higher distance estimation resolution.
  • the radar system communicates in the frequency interference frequency band, there will be mutual interference between the signals, resulting in the distance estimation accuracy is not high enough, the resolution is not strong, and the parameter estimation performance is poor.
  • the number of transmitted pulses limits the number of target sources that can be estimated to some extent.
  • the number of transmitting pulses is large, a large transmission bandwidth is occupied, which also increases the system burden to a certain extent. Therefore, a system design that can suppress frequency interference while saving the number of pulse transmissions, thereby improving the parameter estimation performance and saving spectrum resources is necessary.
  • a signal transmission method in a radar system comprising the steps of: receiving a transmission signal from a signal source; detecting a frequency band with little or no interference from a plurality of carrier frequencies to be selected; using the detection The frequency generates a carrier signal; the transmitted signal is modulated and transmitted using the carrier signal.
  • the transmitted signal is a Gaussian sequence, a polyphase code or a space time code.
  • the transmitted signals are orthogonal or partially related to each other.
  • the transmitting end detecting a frequency band with little or no interference may pass a spectrum sensing method based on energy detection or feature detection.
  • a parameter estimation method in a radar system comprising the steps of: receiving a signal reflected by a target source; filtering a received signal by using a filter corresponding to a different carrier frequency; filtering the corresponding signal by using a corresponding carrier frequency Receiving a signal down-converted to a baseband signal; detecting whether there is interference in the received signal of each frequency band; discarding the received signal with interference; virtually extending the received signal; fusing the interference-free received signal and the virtual extended signal; and estimating by using the fused signal The parameters of the target source.
  • the detecting whether the received signal has interference is determined by separately detecting a correlation coefficient between a received signal of each frequency band and a corresponding transmitted signal.
  • the received signal when the correlation coefficient is greater than a threshold, the received signal has no interference.
  • the virtual extension may be extended based on received signals corresponding to two or more different carrier frequencies.
  • the carrier frequencies are linearly combined and used as a virtual extended carrier frequency.
  • the merging refers to linearly combining the interference-free received signal and the virtual extended signal to obtain a fused signal.
  • the parameters of the target source include distance, height, DOA, and relative speed.
  • the parameter estimation method may be an ML algorithm, an APES algorithm, an ESPRIT algorithm, a MUSIC algorithm, an AV algorithm, a Capon algorithm, and a GLRT algorithm.
  • the invention also discloses a radar system, comprising: a transmitting end, receiving a transmitting signal from a signal source; a selecting module, detecting a frequency band with little or no interference from a plurality of carrier frequencies to be selected; transmitting a link, utilizing the The detected frequency produces a carrier signal, and the transmitted signal is modulated and transmitted using the carrier signal.
  • the transmitted signal is a Gaussian sequence, a polyphase code or Space time code.
  • the transmitted signals are orthogonal or partially related to each other.
  • the detecting a frequency band with little or no interference may be implemented by a spectrum sensing method based on energy detection or feature detection.
  • the invention also discloses a radar communication system, comprising: a receiving end, receiving a signal reflected by a target source; a receiving link, filtering a received signal by using a filter corresponding to the carrier frequency; and using the corresponding carrier frequency to filter the received signal Downconverting to baseband signal; detecting module, detecting whether there is interference in the received signal of each frequency band; discarding the received signal with interference; expanding unit, virtual extending the received signal; and integrating the center, merging the interference-free receiving signal and the virtual The signal is extended; the calculation module estimates the parameters of the target source using the fused signal.
  • the detecting interference may be determined by separately detecting a correlation coefficient between a received signal of each frequency band and a corresponding transmitted signal.
  • the received signal when the correlation coefficient is greater than a threshold, the received signal has no interference.
  • the virtual extension may be extended based on received signals corresponding to two or more different carrier frequencies. .
  • the carrier frequencies are linearly combined and used as a virtual extended carrier frequency.
  • the merging refers to linearly combining the interference-free received signal and the virtual extended signal to obtain a fused signal.
  • the parameters of the target source include distance, height, DOA, and relative speed.
  • the parameter estimation method may be an ML algorithm, an APES algorithm, an ESPRIT algorithm, a MUSIC algorithm, an AV algorithm, a Capon algorithm, and a GLRT algorithm.
  • FIG. 1 is a schematic diagram of an application scenario of a radar communication system.
  • Figure 2 is a schematic diagram of the transmitting end of the system.
  • Figure 3 is a schematic diagram of the receiving end of the system.
  • Figure 4 is a flow chart of the operation of the system.
  • Figure 5 is a flow chart of the interference detection process.
  • Figure 6 is a schematic diagram of the internal structure of the analysis module.
  • Figure 7 is a flow chart of the operation of the analysis module.
  • Figure 8 is a schematic diagram of a system transmitting and receiving signals.
  • 9 is a flow chart of one embodiment of system operation.
  • Figures 10-A-E are experimental results of a particular embodiment of the system in operation.
  • the present specification relates to a radar communication system, which can be used to acquire various parameters of a target source, such as but not limited to a target source orientation, a target source distance, a target source height, a target source angle, a target source slope, and a target source relative. Speed, etc.
  • the radar communication system can be applied to a variety of scenarios including, but not limited to, early warning, search, detection, tracking, guided command, remote control, surveillance, and the like.
  • the radar communication system can be applied to the fields of ranging and speed measurement, including but not limited to the transportation field, the intelligent monitoring field, the precision instrument control field, the sea monitoring, the air monitoring, the terrain detection, and the like.
  • the radar communication system of the present invention can acquire one or more parameters of a target source, such as a target source orientation, a target source distance, a target source height, a target source angle, a target source slope, a target source relative speed, and the like.
  • the radar system may include a transmitting end, a receiving end, a transmitting antenna, a receiving antenna, an external device, and the like.
  • the transmitting end may include a control module, a selection module, and a transmitting link.
  • the receiving end may include a receiving link, a detecting module, an analyzing module, and the like.
  • the transmitting end may select one or more carrier frequencies to perform load wave processing on the original signal, and may transmit one or more transmitted signals to the target source.
  • the receiving end can receive one or more reflected signals from one or more target sources.
  • the receiving end can also process, analyze and calculate the received signal.
  • the analysis module at the receiving end may perform virtual extension on the real receiving signals corresponding to two or more different carrier frequencies at the receiving end to obtain one or more virtual receiving signals corresponding to the transmitting frequency points. At this time, it is equivalent to increasing the multiplicity of the received signal, but at the same time, it is not necessary to perform the load wave processing on the original signal at the transmitting end using the corresponding carrier frequency.
  • the system can meet the accuracy of the measurement results without increasing the number of transmitted pulses (ie, without burdening the system).
  • the system makes it possible to flexibly select undisturbed carrier frequency bands and frequencies for signal transmission when multiple carrier frequencies or frequency bands are selectable, and select signals that are not subject to frequency interference after the signals arrive at the receiving end.
  • the expansion of the virtual carrier frequency signal is performed. For example, when there are four carrier frequencies f 1 , f 2 , f 3 , f 4 that can perform load wave processing on the signal, assuming that there are two carrier frequencies, such as f 3 and f 4 , there is interference, one of the present invention Embodiments may utilize the carrier frequencies f 1 and f 2 for virtual extension to generate virtual reception signals for two other different carrier frequencies so that interference can be successfully avoided, while still substantially having the effect of using four carrier frequencies.
  • the system can actually reduce the carrier frequency or frequency band to be used, thereby saving bandwidth and improving frequency band use efficiency.
  • the system can monitor possible target sources around or in the vicinity or within a certain distance.
  • the monitoring process can be continuous or discontinuous.
  • the monitoring process can be timed or untimed.
  • the system can transmit the acquired parameters of the target source to real-time or non-real-time related external devices, such as a remote control system, a remote server, a display device, and the like.
  • FIG. 1 shows a schematic diagram of an application scenario of a radar communication system.
  • the radar communication system can include, but is not limited to, one or more transmitters 110, one or more receivers 120, one or more transmit antennas 130T, one or more receive antennas 130R, one or more target sources 140, and / or one or more external devices 150 and the like.
  • the transmitting end 110 can implement various processing operations on the original signal, such as but not limited to signal type conversion, signal frequency conversion, filtering processing, modulation processing, signal amplification, and the like.
  • Signal type conversion can be realized by, for example, an analog-to-digital converter (Analog/Digital), and the analog-to-digital conversion process can set a plurality of sampling frequencies.
  • Analog-to-digital conversion converts time and amplitude continuous analog signals into discrete digital signals of time and amplitude.
  • Frequency conversion methods include, but are not limited to, mixing, frequency synthesis, generating RF signals, and the like.
  • Filtering processing may include, but is not limited to, low pass filtering, high pass filtering, band pass filtering, band rejection filtering.
  • Modulation processing may include, but is not limited to, angle modulation, phase modulation, frequency modulation, amplitude modulation, and the like.
  • rectangular amplitude modulation, chirp, intrapulse phase encoding rectangular frequency modulation, sinusoidal frequency modulation, phase encoding, double sideband modulation, single sideband modulation, vestigial sideband modulation, amplitude offset modulation, phase offset modulation,
  • modulation methods such as quadrature amplitude modulation, frequency offset modulation, continuous phase modulation, orthogonal frequency division multiplexing, pulse code modulation, pulse width modulation, pulse amplitude modulation, pulse position modulation, pulse density modulation, and triangular integral modulationkind or several.
  • the process of signal amplification can be achieved by, for example, an RF power amplifier.
  • the processed signal may be transmitted to the transmit antenna 130T in real time or non-real time and transmitted by the transmit antenna 130T in real time or non-real time.
  • the transmission method may be continuous wave transmission or pulse transmission.
  • the transmitting end 110 can be used to transmit one, one, and/or multiple or multiple sets of transmitted signals. When one or more signals are transmitted, they can be transmitted in a time-sharing manner or in a diversity manner.
  • the transmitted signal can belong to a single frequency band or to multiple frequency bands.
  • the transmitted signal may be a Gaussian sequence, and may be a polyphase code (Frank code, P1 sequence, P2 sequence, P3 sequence, P4 sequence, etc.), or may be a space time code.
  • the transmitting end 110 is classified according to the working frequency band, and can be classified into, but not limited to, short wave, meter wave, decimeter wave, centimeter wave, millimeter wave and the like.
  • the operating frequency of the transmitting end 110 can be divided into, but not limited to, 3-30 KHz, 30-300 KHz, 0.3-3 MHz, 3-30 MHz, 30-300 MHz, 0.3-3 GHz, 3-30 GHz, 30-300 GHz, and the like.
  • Transmitting tubes that can be used at the transmitting end 110 include, but are not limited to, a microwave triode, a microwave quadrupole, a magnetron, a klystron, a traveling wave tube, a forward wave tube, and the like.
  • the transmitting end 110 may have multiple transmitting modules (not shown in the figure), and multiple transmitting modules may transmit multiple signals simultaneously or in time.
  • the receiving end 120 is configured to receive one, one, and/or multiple or more sets of reflected signals reflected by the target source 140 through the receiving antenna 130R.
  • the receiving end 120 may receive the reflected signal in real time or may receive the reflected signal in a non-real time.
  • the working frequency band of the receiving end 120 may be one or more of a high frequency, an intermediate frequency, and a low frequency.
  • the circuit structure of the receiving end 120 may include, but is not limited to, a microwave monolithic integrated circuit (MMIC), an intermediate frequency monolithic integrated circuit (IMIC), an application specific integrated circuit (ASIC), and the like.
  • the receiving end 120 can implement processing of the received reflected signal, including but not limited to denoising, amplifying, filtering, demodulating, converting, detecting, analyzing, calculating, and the like.
  • the denoising operation removes the clearly identifiable noise present in the received signal.
  • Methods of amplifying operations may include, but are not limited to, the use of high frequency amplifiers, intermediate frequency amplifiers, multi-band amplifiers, and the like.
  • Methods of implementing the filtering operation may include, but are not limited to, using a low pass filter, a high pass filter, a band pass filter, a band stop filter.
  • the conversion processing may be frequency conversion, frequency synthesis, or the like.
  • Techniques for implementing detection operations may include, but are not limited to, spectrum sensing techniques: specific methods include energy detection algorithms, matched filter detection algorithms, and cyclostationary detection algorithms. Analysis and calculation methods may include, but are not limited to, common mathematical operations, statistical analysis, data processing, and the like.
  • the various processes or structures in the receiving end 120 described above are not required and are not limited to the sequential steps listed above.
  • Various modifications and changes in form and detail may be made to the module without departing from the principles and structure of the invention. And modifications are still within the scope of the claims of the present invention.
  • the various signal processing operations mentioned above do not necessarily have a strict sequence, and the order of each operation step may be adjusted according to specific needs, or one or more steps or the like may be deleted. Further, in the signal processing process, corresponding processing condition parameters may be set according to different application situations.
  • the transmit antenna 130T and the receive antenna 130R are used to transmit or receive signals. Transmitting antenna
  • the types of 130T and receive antenna 130R include, but are not limited to, reflective antennas and array antennas.
  • the reflective surface antenna may include, but is not limited to, a rotating parabolic antenna, a cutting parabolic antenna, a parabolic cylindrical antenna, a Cassegrain antenna, a single pulse antenna, a laminated beam antenna, a shaped beam antenna, and a biasing antenna.
  • Array antennas may include, but are not limited to, in-line array antennas, vertical array antennas, end-fire array antennas, wound-array antennas, log-periodic dipole array antennas, and the like.
  • Transmit antenna 130T and receive antenna 130R include, but are not limited to, directional antennas, omnidirectional antennas, smart antennas, and the like. Both the transmitting antenna 130T and the receiving antenna 130R may contain a plurality of antennas at the same time. The plurality of antennas in the transmitting antenna 130T or the receiving antenna 130R may be randomly arranged around the transmitting end 110 or the receiving end 120, or may surround the transmitting end 110 or the receiving end 120 in a certain form, and these forms may include, but are not limited to, a ring. Array forms such as butterfly, sector, linear, rectangular, circular, and arched. When the antenna array is arranged, the spacing between the antennas may be equal or unequal.
  • the target source 140 may be a single target source, may be a plurality of target sources randomly arranged, or may be multiple target sources arranged according to a certain regularity.
  • the target source 140 may also be one or more sets of target sources having the same features or similar features, such as but not limited to a group of target sources that are close in distance, a group of target sources that are similar in height, a group of target sources that are similar in angle, and speed. A similar set of target sources, etc.
  • the plurality of target sources 140 may be located at either the transmitting end 110 or the receiving end 120, or may be randomly and randomly distributed at any position around the transmitting end 110 or the receiving end 120, or may be randomly combined and distributed at the transmitting end 110 or the receiving end. Any location around 120.
  • the distance between the plurality of target sources 140 and the transmitting end 110 or the receiving end 120 may be the same or different.
  • the height, angle, relative speed, slant range, and the like between the plurality of target sources 140 and the transmitting end 110 or the receiving end 120 may be the same or different.
  • External device 150 generally refers to a device that is directly or indirectly related to one or more modules or components of the radar communication system.
  • the external device 150 can be local or remote.
  • the external device 150 can be wired or wireless.
  • the external device 150 may be a storage device such as a mobile hard disk, a floppy disk, an optical disk, a RAM (random access memory), a ROM (read-only memory), a cloud disk, or the like.
  • the device 150 can be used to store raw signals in a signal source, and the transmitting end 110 can read from the device 150 in real time or in non-real time. Take the original signal.
  • the device 150 can also be used to store reflected signals received by the receiving end 120.
  • the device 150 can also be used to store signal processing condition parameters, signal processing intermediate data, and the like involved in signal processing.
  • the external device 150 can also be a display device, such as an LED (light emitting diode), an LCD (liquid crystal display), an electronic display and a resistive technology touch screen, a capacitive technology touch screen, a plasma touch screen, a vector pressure sensing technology touch screen, an infrared technology touch screen, and the like. touch screen.
  • the device 150 can be used to display various signal parameters of the transmitted signal or the received signal, and can also be used to display the processing, analysis or calculation results of the transmitted or received signals, and also to display the target source parameters obtained by the radar system calculation.
  • the device 150 can also be a remote control device, a remote operating system, a remote monitoring system, a database system, and the like.
  • One or more processors may be included in the transmitting end 110 or the receiving end 120.
  • the various modules or units of the transmitting end 110 or the receiving end 120 may be distributed over one or more processors or may be integrated on one or more processors.
  • transmitter 110 can be a microprocessor.
  • Transmitter 110 and receiver 120 can also be on one or more microprocessors.
  • One or more microprocessors can communicate with a storage device (not shown), external device 150, transmit antenna 130T, and/or receive antenna 130R.
  • the processor can read signals from a storage device (not shown) or external device 150, and can perform the analysis, calculation or processing operations of the read signals as described elsewhere herein.
  • One or more processors may be connected wirelessly or by wire to other devices that may be directly or indirectly related to the system. For example, remote control devices, remote operating systems, remote monitoring systems, display devices, database systems, and the like.
  • a radar device may include both the transmitting end 110 and the receiving end 120.
  • the transmit antenna 130T and the receive antenna 130R may be implemented by one or more transmit and receive antennas.
  • the transceiver antenna allows simultaneous reception or transmission of signals, or the transceiver antenna allows switching between received or transmitted signals.
  • the transmitting end 110 can include a control module 210, a selection module 220, and a transmit link 230. Transmitter 110 and signal source 240, transmitting The antenna 130T is connected to the external device 150.
  • the control module 210 can be used to implement control of the selection module 220 and the transmit link 230, as well as operational control of the transmit end 110, and the like. For example, the control module 210 can implement the function of the switch. When enabled, the selection module 220 is enabled; when closed, the transmission link 230 is directly operated. Similarly, the control module 210 can also implement the opening and closing control function of the transmitting end 110.
  • control module 210 When it is turned on, the transmitting end 110 is activated; when it is turned off, the transmitting end 110 is turned off while the receiving end 120 is turned on, or the transmitting end 110 is turned off.
  • the receiving end 120 is turned on.
  • the above description of the functions of the control module 210 is for illustrative purposes only, and does not mean that the functions of the control module 210 are limited thereto.
  • the control module 210 can also be used to control the frequency at which the transmit link 230 reads the original signal from the signal source 240, the number of original signals read, the type of the original signal read, and the like.
  • Selection module 220 can be used to detect or calculate to obtain one or more selectable signal processing conditions.
  • the selection module 220 is coupled to the transmit link 230.
  • the transmit link 230 can selectively read selectable processing conditions from the selection module 220, and then process the original signal before transmitting the signal.
  • Selectable processing conditions include, but are not limited to, analog to digital conversion (A/D) parameters, amplification factors, carrier frequency, modulation scheme, modulation conditions, transmission rate, transmission conditions, and the like.
  • A/D analog to digital conversion
  • the selection module 220 can utilize a variety of detection methods, detection methods, and computational analysis methods to obtain selectable signal processing conditions.
  • Various signal processing conditions can be preset according to system parameters, or conditions can be processed by external input signals.
  • the selection module 220 may internally integrate a corresponding storage unit (not shown) for storing signal processing conditions.
  • the module 220 also integrates a corresponding control unit (not shown) for controlling the acquisition and reading of signal processing conditions.
  • the above description of the selection module 220 is for illustrative purposes only and does not represent that the functionality of the selection module 220 is limited thereto.
  • acquisition and read operations of control signal processing conditions may also be implemented by control module 210.
  • the selection module 220 can also selectively set different signal processing conditions depending on the type of signal in the signal source 240.
  • Transmit link 230 can read the original signal from signal source 240 and process the original signal.
  • Signal source 240 can include a variety of signal types such as, but not limited to, analog signals and digital signals.
  • the type of the digital signal is specifically, for example, but not limited to, a Gaussian sequence signal and a polyphase code signal.
  • Transmit link 230 can read the original signal from signal source 240 in real time or non-real time.
  • the transmit link 230 can process the read raw signal in real time or in non-real time.
  • the manner in which the transmit link 230 processes signals may include, but is not limited to, signal type conversion, signal frequency conversion, filtering processing, modulation processing, signal amplification, and the like.
  • the signal type conversion process can be analog to digital conversion (Analog/Digital), which can be implemented by an analog to digital converter.
  • the signal frequency conversion process can be implemented by an oscillator, a frequency synthesizer, or the like.
  • the manner of filtering may include, but is not limited to, a low pass filter, a high pass filter, a band pass filter, and a band stop filter.
  • Modulation processing may include, but is not limited to, angle modulation, phase modulation, frequency modulation, amplitude modulation, and the like.
  • amplitude modulation for example, but not limited to, rectangular amplitude modulation, chirp, intrapulse phase encoding, rectangular frequency modulation, sinusoidal frequency modulation, phase encoding, double sideband modulation, single sideband modulation, vestigial sideband modulation, amplitude offset modulation, phase offset modulation,
  • modulation methods such as quadrature amplitude modulation, frequency offset modulation, continuous phase modulation, orthogonal frequency division multiplexing, pulse code modulation, pulse width modulation, pulse amplitude modulation, pulse position modulation, pulse density modulation, and triangular integral modulation kind or several.
  • Signal amplification methods include, but are not limited to, single channel amplifiers, multi-band amplifiers, multi-band amplifiers, and the like.
  • the signal processed by the conversion, amplification, filtering, modulation, etc. can be transmitted to the transmitting antenna 130T to emit the signal.
  • the transmitting antenna 130T can transmit the processed signal in real time or can transmit the signal in non-real time.
  • the transmitting antenna 130T can simultaneously transmit a plurality of signals, and can also continuously transmit a plurality of signals in a time division manner.
  • Transmit antenna 130T can transmit any number of signals to any direction around transmit end 110.
  • the signal waveforms transmitted by the transmitting antenna 130T may be orthogonal or partially correlated.
  • Each module in the transmitting end 110 can be integrated in any combination, and the functions of more than one module can be realized through the same device.
  • the above description of the transmitting end 110 is merely a specific example and should not be considered as the only feasible implementation.
  • Each of the above modules or units may be implemented by one or more components, and the function of each module or unit is not limited thereto.
  • Various modifications and changes may also be made by a number of simple deductions or substitutions, with certain adjustments or combinations of the order of the modules or units without creative effort, but these modifications and changes are still within the scope of the above description.
  • the selection module 220 is not required, and the transmission link 230 does not necessarily have to be read from the selection module 220.
  • the original signal can be processed according to the system default value or the default value of the transmission link, for example, conversion, amplification, modulation, filtering, and the like.
  • the transmit link 230 can directly perform load wave processing on the original signal by using the system default carrier frequency, and the carrier frequency data is not necessarily read from the selection module 220.
  • a corresponding storage module may be integrated in the transmitting end 110, and the storage module (not shown) is used to implement storage or buffering of signals.
  • the storage module (not shown) may be integrated in the selection module 220 for storing a plurality of signal processing conditions.
  • a corresponding storage module or unit may be integrated in each module or unit in the transmitting end 110.
  • FIG. 3 is a schematic diagram of the internal structure of the receiving end 120.
  • the receiving end 120 can include a receiving link 310, a detecting module 320, and an analyzing module 330.
  • the receiving end 120 is connected to the receiving antenna 130R and the external device 150.
  • Receive antenna 130R receives the signal reflected by target source 140.
  • Receive link 310 is used to preprocess the signal reflected by target source 140.
  • the preprocessing method may include, but is not limited to, removing noise, removing interference, signal amplification, and the like.
  • the noise removal and interference removal processing removes clearly identifiable noise and interference in the received signal.
  • the manner in which the signal is amplified may include, but is not limited to, a single channel amplifier, a multi-band amplifier, a multi-band amplifier, and the like.
  • the receiving link 310 may also perform filtering processing, frequency conversion, frequency synthesis, and the like on the received signal.
  • the manner of filtering may include, but is not limited to, a low pass filter, a high pass filter, a band pass filter, and a band stop filter.
  • the process of frequency conversion and frequency synthesis may be: frequency conversion of the signal by an oscillator, or further conversion of the signal into a baseband signal or the like using a frequency synthesizer. It should be noted that filtering processing, frequency conversion, frequency synthesis, and the like may also be implemented by the detecting module 320.
  • the receiving link 310 may further include a device such as a receiver protector (not shown), a mixer (not shown), and the like.
  • the detection module 320 can be configured to perform interference detection on the received signal. After the receiving link 310 performs a series of pre-processing operations on the received signal, the received signal may be transmitted to the detecting module 320.
  • the module 320 can detect an interference frequency band or an interference frequency band that may exist in the received signal. Detection means may include, but not limited to, using spectrum sensing technology: specific methods include energy detection algorithms, matched filter detection algorithms, and cyclostationary detection algorithms.
  • the detection process can include, but is not limited to, processing, calculations, and judgments.
  • the processing may include, but is not limited to, a filtering process, frequency conversion, frequency synthesis, etc.
  • the filtering method may include It is not limited to a low pass filter, a high pass filter, a band pass filter, and a band stop filter.
  • the filtering process, frequency conversion, and frequency synthesis described can also be implemented in the receive link 310.
  • the calculation process may include, but is not limited to, common mathematical operations, scan processing based on reference signals, signal feature extraction, and the like.
  • the signal characteristics may be delay, correlation coefficient, peak, frequency, period, phase, SNR (Signal-Noise Rate), BER (Bit Error Rate), S/I (Signal/Interference), and the like.
  • the reference signal can be a transmitted signal.
  • the signal characteristic may be a correlation coefficient of the signal to be processed and the transmitted signal.
  • the judging process may be: comparing the signal feature with a preset threshold, and detecting a possible interference frequency or interference band according to the comparison judgment result.
  • the detection module 320 can transmit the detection result to the receiving link 310.
  • the receiving link 310 can selectively retain the frequency point or frequency band in the received signal according to the detection result, and transmit the result to the analysis module 330 for further analysis processing.
  • the detection module 320 can also transmit the detection result to the analysis module 330, and the module 330 performs further analysis processing according to the detection result.
  • the analysis module 330 can be used to receive analysis and calculation of signals, and the like.
  • Analysis and calculation methods may include, but are not limited to, common mathematical operations, statistical analysis, data processing, and the like.
  • the analysis and calculation methods can be direct mathematical operations, empirical estimates based on software, or software-based programming analysis.
  • the data forms involved in the analysis and calculation process can be specific values, abstract mathematical expressions, or relationship information between data.
  • Intermediate data generated during analysis and calculation can be used as initial or intermediate data for other processes.
  • the calculation result of the module 330 may include, but is not limited to, one or more of a target source's orientation, distance, height, angle, relative speed, DOA (Direction Of Arrival), and the like.
  • DOA Direction Of Arrival
  • a caching step may be added during the analysis or calculation process for storing real-time or non-real-time data involved in the operation of the analysis module 330.
  • the above description of the receiving end 120 is merely a specific example and should not be considered as the only feasible implementation.
  • Each of the above modules or units may be implemented by one or more components, and the function of each module or unit is not limited thereto.
  • Various modifications and changes may also be made by a number of simple deductions or substitutions, with certain adjustments or combinations of the order of the modules or units without creative effort, but these modifications and changes are still within the scope of the above description.
  • each module in the receiving end 120 can be integrated in any combination, and the functions of more than one module can be realized through the same device.
  • the detection module 320 is not required, and the signal reflected by the target source can be received by the receiving link 310 and processed and transmitted directly to the analysis module 330 for further analysis processing.
  • the receiving link 310 can receive a plurality of reflected signals simultaneously, and can also continuously receive a plurality of reflected signals in a time-sharing manner.
  • a corresponding storage module (not shown) may be integrated in the receiving end 120 for storing the received signal or for storing real-time data or any intermediate data generated during the signal processing of the receiving end.
  • Figure 4 is a flow chart showing the operation of the radar communication system.
  • the system operation process may include the following steps: First, a selection/judgment step 410 is executed to decide whether to perform processing condition selection.
  • the selection/judgment step 410 can be performed by the selection module 220. If the selection of the processing condition is selected to be performed, step 420 is performed to selectively read one or more from the currently selectable processing conditions.
  • the currently selectable processing conditions may be stored in the selection module 220, or may be stored in a storage device (not shown) of the system, or may be stored in a storage unit (not shown) integrated in the selection module 220.
  • step 430 is performed to perform corresponding processing on the original signal.
  • step 430 is directly performed to process the original signal according to the existing processing conditions of the system or the system default processing conditions.
  • one or more carrier frequencies can be utilized
  • the rate is loaded wave processed on the original signal.
  • Signal processing step 430 can be performed by transmit link 230.
  • the processed raw signal is transmitted at step 440.
  • the process of transmitting a signal can be performed by the transmit antenna 130T.
  • the transmitted signal arrives at one or more target sources 140, is reflected by the target source 140, and returns a corresponding reflected signal.
  • the reflected signal is received at step 450.
  • the reflected signal can be received by the receive antenna 130R and transmitted to the receive end 120.
  • the receiving end 120 may perform a series of pre-processing steps (not shown in the figure), which may include, but are not limited to, removing noise, removing interference, and amplifying the signal.
  • an interference detecting step 460 can be performed. This step 460 can be implemented by the detection module 320. This step 460 can include, but is not limited to, processing, calculations, and judgments, and the like. Processing may include, but is not limited to, a filtering process, frequency conversion, frequency synthesis, and the like. The manner of filtering may include, but is not limited to, a low pass filter, a high pass filter, a band pass filter, and a band stop filter.
  • the process of frequency conversion and frequency synthesis may be: the signal may be frequency-converted by an oscillator, or further, the frequency synthesizer may be used to convert the signal into a baseband signal or the like. It is worth noting that the filtering, frequency conversion and frequency synthesis processes can also be implemented by the receive link 310.
  • the calculation process may include, but is not limited to, common mathematical operations, scan processing based on reference signals, signal feature extraction, and the like. Signal characteristics can be delay, correlation coefficient, peak, frequency, period, phase, and the like.
  • the judging process may be: comparing the signal feature with a preset threshold, and detecting a possible interference frequency or interference band according to the comparison judgment result.
  • step 460 The interference frequency or frequency band detected in step 460 is discarded, and the frequency or frequency band that satisfies the threshold condition is reserved. This step 460 can be looped until the frequency or frequency band of the received signal is detected. After the interference detection, the portion of the received signal containing the reserved frequency or frequency band can be subjected to the operation of analysis step 470. Step 470 can perform operations such as analysis and calculation of the received signal. The analysis and calculation results may include, but are not limited to, one or more of azimuth, distance, altitude, angle, relative velocity, DOA, etc. of the target source of the target source. After the signal analysis step is complete, return to step 440 to continue transmitting a new signal to begin a new process.
  • the processing condition selection step 420 is not necessary.
  • the processing conditions existing in the system can be randomly read, and not necessarily read from the selection module 220.
  • the interference detecting step 460 is also not necessary. If the frequency point or frequency band in which the interference does not exist has been selected as the processing condition when the signal is transmitted, the interference detecting step may be omitted after receiving the reflected signal.
  • a storage step (not shown) may be added between step 450 and step 460, which may be used to store the received signal, such that step 460 may be performed in real time or in non-real time. Similarly, a corresponding storage step can be added between any two steps.
  • FIG. 5 is a flow chart of the interference detection process.
  • Interference detection can detect interference frequencies that may exist in the received signal.
  • the interference detection process can include the steps of first reading one or more signals at step 510, and the process of reading the signals can be performed by receive link 310 or by detection module 320.
  • the read one or more signals are subjected to processing operations at step 520, including but not limited to amplification processing, noise removal, interference removal, filtering processing, frequency conversion, frequency synthesis, and the like.
  • the methods involved in the process may be, but are not limited to, mathematical calculations, statistical analysis, simulation, and the like.
  • the processing signal step 520 can be implemented by the transmitting link 310, by the detecting module 320, or by both.
  • the process of processing the signal can be real-time or non-real-time.
  • the processed signal is subjected to signal feature extraction at step 530.
  • Signal characteristics may include, but are not limited to, delay, correlation coefficient, peak, frequency, period, phase, and the like.
  • the delay is the time delay of the signal to be detected relative to the transmitted signal.
  • the correlation coefficient refers to the correlation of the signal to be detected with respect to the transmitted signal.
  • Signal feature extraction methods may include, but are not limited to, linear function method, logarithmic function method, inverse cotangent function method, norm method, historical threshold iteration, modeling method, least square method, elimination method, descending method, substitution Method, image method, comparison method, scaling method, vector method, induction method, counter-evidence method, exhaustive method, matching method, undetermined coefficient method, changing element method, split method, supplementary method, factorization method, parallel One or more of a moving method, a function approximation method, an interpolation method, a curve fitting method, an integration method, a differential method, a perturbation method, and the like.
  • a decision step 540 is performed.
  • a feature value threshold is set, and the extracted signal feature value is subjected to threshold determination. If the threshold condition is met (eg, the feature value is greater than the set threshold), then the signal (or the carrier frequency corresponding to the signal) is retained. If the threshold condition is not met (eg, the feature value is less than the set threshold), the signal (or the carrier frequency corresponding to the signal) is discarded.
  • the methods and steps described herein can occur in any suitable order, where appropriate, or at the same time. In addition, individual steps may be eliminated from any one method without departing from the spirit and scope of the subject matter described herein.
  • a caching step (not shown) may be added between step 510 and step 520 to buffer the read signal, which is read by step 520 in real time or non-real time.
  • a corresponding storage step can be added between any two steps.
  • Step 530 and step 540 can be performed cyclically at the same time, and feature extraction and threshold determination are performed on each received signal until each received signal is detected.
  • FIG. 6 is a schematic illustration of the internal structure of one embodiment of an analysis module.
  • the analysis module 330 can include a processing unit 610, an expansion unit 620, a fusion center 630, and a computing unit 640.
  • the analysis module 330 can receive the signals transmitted by the receive link 310 and can also receive the signals detected by the detection module 320.
  • the process of receiving signals can be real-time or non-real-time.
  • Processing unit 610 is operative to process the received signals.
  • the process can be real-time or non-real-time.
  • Processing unit 610 can calculate or process to obtain one or more signal processing results.
  • the signal processing result may be one or more of a channel coefficient, a carrier frequency (carrier frequency point), a reflection coefficient, an inter-frequency interference coefficient, a noise signal, a target delay, and the like.
  • the processing unit 610 can perform processing analysis on the received signal.
  • the extension unit 620 may obtain two or more expansion coefficients according to two or more signal processing results of the processing unit 610, thereby generating one or more by two or more received signal extensions.
  • the expansion mode may be based on a preset rule of the system, or may be based on a mathematical relationship between the selected plurality of received signals, or may be based on a mathematical association between the two or more signal processing results.
  • a mathematical relationship between a plurality of carrier frequencies in the received signal can be calculated, and a corresponding function expression can be derived or fitted to calculate one or more of the function tables.
  • the process of generating a virtual received signal can be a mathematical derivation process or a simulation process. Specifically, for example, according to one or more expansion coefficients, the simulation generates a corresponding carrier frequency, and simulates the process of transmitting and receiving the simulated signal. And further simulating the process of the transmit signal loading wave processing and the processing of the received signal by the receiving link 310 to obtain one or more virtual received signals obtained through simulation.
  • the fusion center 630 is used to fuse the existing received signal with the virtual received signal obtained by virtual extension.
  • the process of signal fusion by the fusion center 630 may include, but is not limited to, physical simulation, mathematical simulation, semi-physical simulation, continuous simulation, discrete simulation, simulation, digital simulation, hybrid simulation, real-time simulation, ultra-real-time simulation, sub-real-time simulation, etc. One or more of various simulation calculations.
  • the process of the signal fusion by the fusion center 630 may include: extracting signals of different carrier frequencies, and performing virtual frequency expansion by using signals of a part of the carrier frequencies.
  • the position information of the target source in the radar system such as azimuth, distance, altitude, angle, slant range, relative speed, DOA, etc., using the virtual received signal obtained by the real received signal and the virtual extension Etc. for estimation and extraction. It includes mathematical calculations, real-time processing of discrete signals, and more.
  • the calculating unit 640 is configured to calculate various parameters of the target source 140, such as but not limited to one or more of azimuth, distance, height, angle, slant range, relative speed, DOA, and the like of the target source.
  • the calculation unit 640 can adopt an ML (Maximum-Likelihood) algorithm, an AES (Amplitude Phase Estimation) algorithm, an ESPRIT (Estimation of Signal Parameters by Rotational Invariance Techniques) algorithm, One or more algorithms such as MUSIC (Multiple Signal Classification) algorithm, AV (Auxiliary Vector) algorithm, Capon algorithm, GLRT (Generalized-Likelihood Ratio Test) algorithm Estimate the different parameters of the source.
  • ML Maximum-Likelihood
  • AES Amplitude Phase Estimation
  • ESPRIT Estimate the different parameters of the source.
  • the mathematical calculation methods involved in the calculation process may include, but are not limited to, linear function method, logarithmic function method, inverse tangent function method, norm method, historical threshold iteration, modeling method, least square method, elimination method, reduction method , substitution method, image method, comparison method, scaling method, vector method, induction method, counter-evidence method, exhaustive method, matching method, undetermined coefficient method, changing element method, split method, supplementary method, factorization method , One or more of a parallel movement method, a function approximation method, an interpolation method, a curve fitting method, an integration method, a differential method, a perturbation method, and the like.
  • analysis module 330 is merely a specific example and should not be considered as the only feasible implementation.
  • Each of the above modules or units may be implemented by one or more components, and the function of each module or unit is not limited thereto.
  • Modifications and changes can also be made in a number of simple deductions or substitutions, with certain adjustments or combinations of the order of the various modules or units without the inventive effort, but such modifications and changes are still within the scope of the above description.
  • the various elements within the analysis module 330 are not necessarily separate to each other, and the various units may be integrated into one or more processors or other devices that can perform the functions of one or more units.
  • the extension unit 620 is not necessary. When the signal is transmitted, the processing of the signal is sufficiently detailed, or the processing conditions selectable at the transmitting end are sufficient, that is, when the number and expression of the received signal are sufficient to meet the preset accuracy of the system. , the process of extending the virtual received signal is not necessary.
  • the analysis module 330 may internally integrate a corresponding storage unit (not shown) for storing analysis or processing results in the signal analysis process or for storing the received signal. Similarly, each storage unit can also be internally integrated in each unit (not shown in the figure).
  • the operation flow of the analysis module 330 may include the following steps: first, the signal is read in step 710, and the read signal may be directly transmitted to the processing step 720 in real time, or may be first subjected to a buffering step (not shown), and then transmitted. Go to process step 720.
  • the read signal may be subjected to a series of signal processing operations in step 720, and the processing manner may include, but is not limited to, various mathematical operations, such as, but not limited to, a linear function method, a logarithmic function method, an inverse cotangent function method, and a range.
  • the signal processing result may be one or more of a channel coefficient, a carrier frequency (carrier frequency point), a reflection coefficient, an inter-frequency interference coefficient, a noise signal, a target delay, and the like.
  • the process may be that the signal to be processed received by the analysis module 330 is scanned by the transmission signal.
  • the delay time ⁇ of each target source can be estimated by the scanning process, and the received signal portion of each target source based on each carrier frequency is derived according to the delay time value. And further deriving the signal characteristics such as channel coefficients in each of the received signal portions.
  • Step 720 a series of signal processing results for the read signal can be obtained.
  • Step 730 can then be performed in real time or non-real time, which can process the results based on the acquired signals and generate one or more virtual received signals based on the received received signals.
  • various data may be read in real time or non-real time, including but not limited to intermediate data or final data in the process of processing the signal in step 720, the received signal read in step 710, and read. Other data related to the signal process, as well as related data stored in the system.
  • the process of generating a virtual received signal at step 730 can be implemented by expansion unit 520.
  • the generated one or more virtual received signals may be transmitted to step 740 in real time or non-real time.
  • the read received signal and the virtual received signal may be fused into one or more new received signals.
  • the process of merging signals can be real-time or non-real-time.
  • the signal that can be read or selected during the fusion process can be the signal processed at step 720 or the virtual received signal generated at step 730.
  • the new received signal can be fused by any two, three, four, multiple, and/or one or more sets of signals.
  • various parameters associated with the target source can be calculated based on the fused new received signal. These parameters may include, but are not limited to, one or more of azimuth, distance, height, angle, relative speed, DOA, etc. of the target source.
  • the parameter estimation method may be one or more of an ML algorithm, an APES algorithm, an ESPRIT algorithm, a MUSIC algorithm, an AV algorithm, a Capon algorithm, a GLRT algorithm, and the like.
  • the processing of the signal is sufficiently detailed, or the processing condition selectable at the transmitting end is sufficient, that is, the number and expression of the received signal are sufficient to meet the preset accuracy of the system, then the virtual virtual The process of receiving a signal is not necessary.
  • FIG. 8 is a schematic diagram of a process of transmitting and receiving signals in a radar communication system according to the present invention.
  • the original signal is x(t)
  • the transmitting end 110 transmits a signal
  • there may be n selectable carrier frequency values such as f 1 , f 2 ... f k ... f n .
  • the carrier frequency f k indicates that there is interference under the current carrier.
  • the transmitter can also have a variety of other alternative processing conditions, as described in any section of the text regarding the transmitter 110.
  • the transmitting end 110 may select one, one or more carrier frequencies from the n carrier frequency values to perform load wave processing on the original signal x(t).
  • the signal after the loaded wave processing can be emitted by the transmitting antenna 130T. After the transmitted signal is reflected by the target source, it is received by the receiving antenna 130R and transmitted to the receiving end 120.
  • the signal after the transmission signal is delayed by the jth target is represented by x j (t), and the received signals can be represented as x 1 (t), x 2 (t), ... x n (t), respectively.
  • the received signal can be expressed as:
  • ⁇ ij represents the channel coefficient of the transmission signal of the carrier frequency f i to the reflection delay of the target j
  • x ij (t) is the portion of the received signal after the reflection delay of the i th transmission signal from the target source j.
  • the receiving link 310 in the receiving end 120 can perform a series of operations such as preprocessing, filtering processing, frequency conversion, frequency synthesis, and amplification processing on the received signal.
  • the detecting module 320 detects whether there is interference in the received signal for each carrier frequency, and if so, discards the carrier frequency, and the received signal portion corresponding to the carrier frequency does not participate in subsequent calculation, for example, the received signal of the carrier frequency f k does not participate in subsequent calculation.
  • the analysis module 330 can further process the received signal, as described elsewhere in the text with respect to the analysis module 330, and further calculate parameters of the target source based on the processing results. This may include, but is not limited to, one or more of orientation, distance, height, angle, relative speed, DOA, and the like.
  • FIG. 9 is a flow chart of one embodiment of the radar communication system.
  • a description is made taking the system as having one transmit signal, two available carrier frequencies, and two target sources as an example.
  • the calculation, analysis, or processing methods involved in the process and process are applicable to multiple signals, multiple carrier frequencies, and multiple target sources.
  • the operational flow of this embodiment may include the steps of first reading the original signal at step 910, the signal may be read from signal source 240, or may be read from external device 150. While the signal is being read, a decision step 920 can be performed to determine if carrier frequency selection is to be made. Step 920 is performed after the signal is read, and the two do not necessarily have to have a clear sequence. Frequency selection step 920 can be performed by selection module 220.
  • the module 220 may use existing spectrum sensing technology to detect a frequency without interference from a plurality of frequencies to be selected at a fixed time interval (step 930), and save the frequency without interference in the selection module 220, or The frequency without interference is stored in any memory module (not shown) or memory unit (not shown) in the system.
  • the operation process of the spectrum sensing technology may include the following steps: first dividing a sub-band on a broadband, and then using a spectrum-aware algorithm based on eigenvalues to detect whether there is interference in each sub-band, and selecting a frequency point without interference, As the carrier frequency of the transmitted waveform.
  • the detection work can also be completed by a multi-scale wavelet transform method, that is, first, the edge of the frequency band of the interference on the spectrum is located, and then it is determined whether the frequency point to be transmitted falls within the interference frequency band, and the frequency point without interference is selected.
  • the available carrier frequency (carrier frequency without interference) is selected by the spectrum sensing algorithm and stored in the selection module 220.
  • the transmit link 230 can read the carrier frequency without interference, perform load wave processing on the original signal, and perform signal transmission. This operation ensures that the transmitted signal does not fall within the interference band, thus initially ensuring that the radar system's transmit waveform is undisturbed.
  • two frequencies f 1 and f 2 without interference are selected as the carrier frequency, and the read signal is subjected to load wave processing in step 940. If it is selected in step 920 that the frequency selection operation is not performed, two frequencies are randomly read from the existing frequency of the system as the carrier frequency, or the frequency points existing in the system or the system default may be used as the carrier frequency. Then, in step 940, the read signal is subjected to load wave processing.
  • the add carrier processing step 940 can be implemented by the transmit link 230.
  • a transmit signal step 950 is performed, which may be performed by transmit antenna 130T.
  • a radar model of the step frequency can be selected to effect transmission of the signal.
  • the stepping frequency source realizes the stepping of the frequency between the signal pulse and the pulse, and the front end of the transmitter and the receiver should be broadband to adapt to the change of the frequency of the transmitted signal and the received signal.
  • a coherent oscillator and a frequency synthesizer are added to the mixer.
  • the sum of the two parts of the frequency is converted to RF by a stable local oscillator circuit.
  • the resulting synthesized signal is composed of a local oscillator, a coherent oscillator, and a frequency synthesizer.
  • the three parts of the signal are composed and then amplified and transmitted.
  • the transmitted signal reaches the target source 140, and after being reflected by the target source, the reflected signal is returned.
  • the reflected signal is received by the receiving antenna 130R and transmitted to the receiving end 120 (step 960).
  • preprocessing is performed in step 970.
  • the pre-processing step 970 can be performed by the receive link 310.
  • the pre-processing process may include, but is not limited to, noise removal, interference removal, signal amplification, and the like.
  • filtering processing is performed in step 980. The purpose of this filtering operation is to detect possible interference frequencies in the received signal. Filtering process step 980 can be performed by receive link 310 or detection module 320.
  • the pre-processing step 970 and the filtering step 980 can be combined into the same step, and not necessarily separately.
  • the filtering process step 980 there may be a frequency conversion and frequency synthesizing step (not shown in the figure).
  • the operation process may be: first, converting the local oscillator into an intermediate frequency signal, and then passing the frequency.
  • the synthesizer is converted to a baseband signal.
  • this step can also be included in step 980 without having to perform separately.
  • the received signal is y(t), which includes the received signal portion corresponding to the carrier frequencies f 1 and f 2 , respectively.
  • the filtering process may be: first, filtering a portion of the received signal having a transmitting carrier frequency of f 1 to obtain a filtered signal of y 1 (t); and secondly filtering a portion of the received signal having a transmitting carrier frequency of f 2 , The filtered signal is obtained as y 2 (t).
  • step 990 can be performed to calculate the correlation between the two filtered signals y 1 (t) and y 2 (t) and the transmitted signal.
  • calculating the correlation process may be: by transmitting a signal x (t) of y scan 1 (t) and y 2 (t), calculates y 1 (t) and y 2 (t) and the emitter The correlation of the signal x(t).
  • the correlation coefficients are denoted as ⁇ 1 and ⁇ 2 , respectively .
  • step 9100 is executed to determine whether the calculated correlation coefficients ⁇ 1 and ⁇ 2 satisfy the preset threshold determination condition.
  • the interference detection process can be cycled until all frequency points have been detected.
  • the interference detection process can be performed by the detection module 320.
  • the transmitted waveform is a narrowband signal and the relative movement of the target is slow
  • the delay due to the target received in the received signal is the same
  • the transmitted signal x(t) is represented by x j (t) through the jth target.
  • ⁇ ij represents the channel coefficient of the signal with the carrier frequency f i reflected by the jth target, and the reflection coefficients of all the target sources are equal
  • the received signal can be simplified and expressed as:
  • n(t) is the noise signal
  • step 9130 the channel coefficients can be recovered, here taking the recovery ⁇ 11 as an example.
  • the signal obtained by filtering the filter aligned with f 1 at the receiving end and removing the carrier is:
  • the y 1 (t) is scanned by the transmitted signal x(t), the time delay ⁇ j of each target is estimated, and an estimate of the jth target reflected signal x j (t) is thus established. among them Indicates the estimation error, you can get as follows:
  • step 9140 is performed, and the virtual carrier frequency can be extended according to f 1 and f 2 .
  • the third and fourth carrier frequencies can be extended, 2f 1 -f 2 and 2f 2 -f 1 , respectively.
  • a virtual received signal portion corresponding to the carrier frequencies 2f 1 -f 2 and 2f 2 -f 1 may be generated (step 9150), and the corresponding virtual received signal portions are respectively y' 1 (t) and y' 2 (t).
  • the respective received signal portions may be fused as one received signal at step 9160.
  • the fused received signal may be a linear combination of the original received signal y(t) and the virtual received signals y' 1 (t) and y' 2 (t).
  • This fusion step 9160 can be performed by the fusion center 630.
  • various parameters of the target source may be calculated according to the fused received signal, including but not limited to one or more of orientation, distance, altitude, angle, relative speed, DOA, and the like.
  • the parameters of the obtained target source can be stored in the system or transmitted to the external device 150. It may be stored in the external device 150 or may be displayed by the external device 150.
  • the virtual extended virtual received signals have frequencies of 2f 1 -f 2 and 2f 2 -f 1 , but do not indicate that the radar communication system can only handle virtual carrier frequencies of 2f 1 -f 2 and 2f 2 -f 1 case.
  • the radar communication system can handle the case where the virtual carrier frequency is
  • the positive integer n, m here should satisfy
  • 1.
  • the radar communication system can only handle the case where the number of carrier frequencies is two.
  • the system can be applied to any number of any number of transmitted signals with a carrier frequency of more than two. For example, but not limited to, when the number of carrier frequencies is 4, 6, or 8 even, the frequency is extended by a group of two carrier frequencies, and when the number of carrier frequencies of the transmitted signal is an odd number of 3, 5, 7, or the like. Two, four, and six pulses can be selected from each, and the frequency is expanded by using two carrier frequencies as a group. When performing virtual expansion, it is also possible to continue to expand according to the signal characteristics obtained by the virtual extension.
  • FIGS 10-A-E are experimental results of a specific embodiment of the radar communication system in operation.
  • the image in the figure shows the experimental results of the system used for the calculation of the target source distance.
  • FIG. 10-C and 10-D are schematic interference frequency f 1 of the present invention provides a jump from f 3 to change.
  • Fig. 10-A and Fig. 10-B since the algorithm that actually transmits four pulses has the influence of frequency interference, its performance is more affected by frequency interference, and the more severe the frequency interference, the worse its performance. The performance of the algorithm described in the present invention has always been superior. It can be seen from Fig. 10-C, Fig. 10-D and Fig. 10-E that the hopping diagram of frequency interference and the variation diagram of RMSE with dynamic frequency interference can be seen in 1-2 cycles because of the actual transmission. There is no interference in the vicinity of the two pulse signal carrier frequencies f 1 and f 2 , and the algorithm according to the present invention performs virtual expansion using the received signal without interference.
  • the algorithm of the present invention has better performance; In 4 cycles, since the frequency interference jumps from f 3 to f 1 , the performance of the two pulse algorithms, the actual pulse number increase algorithm and the algorithm involved in the present invention are all deteriorated to some extent.
  • the transmitting end dynamically adjusts the carrier frequency of the transmitted signal, so in 5-6 cycles, the performance of the two pulse algorithms and the algorithm of the present invention returns to the previous better performance effect, and the pulse is actually increased. The performance of the number algorithm is poor.

Abstract

一种雷达通信方法与系统，包括信号的处理、发射、接收、分析、计算等功能。该系统可以用于目标源（140）参数的获取。该系统可以从多个待选择的载波频率中检测干扰较小或没有干扰的频段，并利用所述检测的频率产生载波信号，进一步利用所述的载波信号对发射信号进行调制并发射。该系统还可以对目标源（140）的参数进行计算估计，接收目标源（140）反射的信号，利用载波信号对应的滤波器对接收信号进行滤波，利用对应的载波频率将滤波后的接收信号下变频至基带信号，检测各频带的接收信号是否存在干扰，丢弃有干扰的接收信号，虚拟扩展接收信号，融合所述的无干扰接收信号和所述的虚拟扩展信号，利用融合信号估计目标源（140）的参数。

Description

一种雷达通信方法与系统 技术领域
本发明涉及一种通信系统，尤其涉及一种雷达通信方法与系统。
背景技术
雷达通信系统通过发射信号，并接收对应目标的反射信号，对对应目标的距离、角度、多普勒平移等信息进行估计。近些年来，随着频谱资源的日益短缺，频率干扰变得越来越严重，由于无线电频谱具有排他性与有限性的特点，并且不受地域、时域、空域的限制，使得无线通信变得容易受到干扰。频率干扰会严重影响雷达通信的质量以及参数估计的性能，如何用正确有效的方法避开雷达通信中频率干扰的影响，提升参数估计的准确性，变得越来越重要。在不存在频率干扰或者频率干扰较小的情况下，现有的雷达参数估计算法往往可以提供较高的距离估计分辨率。
当雷达系统在频率干扰的频段进行通信时，会存在信号之间的相互干扰，导致距离估计精度不够高，分辨力不强，参数估计性能较差。另外，发射脉冲的数目一定程度上限制了可以估计的目标源个数。并且发射脉冲数目较多时，占用较大的传输带宽，也在一定程度上加重了系统负担。因此一种能够抑制频率干扰且同时节省脉冲发射个数，从而达到提升参数估计性能和节省频谱资源的优化方案的系统设计是必要的。
发明内容
本文披露了一种在雷达系统中的信号发射方法，包含以下步骤：接收来自信号源的发射信号；从多个待选择的载波频率中检测干扰较小或没有干扰的频段；利用所述检测的频率产生载波信号；利用所述的载波信号对发射信号进行调制并发射。
根据本申请的一个实施例，所述的发射信号是高斯序列、多相码或者空时码。
根据本申请的一个实施例，所述的发射信号之间相互正交或者部分相关。
根据本申请的一个实施例，所述的发射端检测干扰较小或没有干扰的频段可以通过基于能量检测或特征检测的频谱感知方法。
本文披露了一种在雷达系统中的参数估计方法，包含以下步骤：接收目标源反射的信号；利用不同的载波频率所对应的滤波器对接收信号进行滤波；利用对应的载波频率将滤波后的接收信号下变频至基带信号；检测各频带的接收信号是否存在干扰；丢弃有干扰的接收信号；虚拟扩展接收信号；融合所述的无干扰接收信号和所述的虚拟扩展信号；利用融合信号估计目标源的参数。
根据本申请的一个实施例，所述的检测接收信号是否存在干扰，是通过分别检测各频带的接收信号和对应的发射信号之间的相关性系数判断。
根据本申请的一个实施例，当相关系数大于阈值时，所述的接收信号无干扰。
根据本申请的一个实施例，所述的虚拟扩展可以基于两个或者多个不同的载波频率对应的接收信号进行扩展。
根据本申请的一个实施例，将所述的载波频率进行线性组合后作为虚拟扩展后的载波频率。
根据本申请的一个实施例，所述融合是指将无干扰的接收信号和虚拟扩展信号进行线性组合得到融合信号。
根据本申请的一个实施例，所述目标源的参数包括距离、高度、DOA和相对速度。
根据本申请的一个实施例，所述参数估计方法可以是ML算法、APES算法、ESPRIT算法、MUSIC算法、AV算法、Capon算法和GLRT算法。
本文还披露了一种雷达系统，包括：发射端，接收来自信号源的发射信号；选择模块，从多个待选择的载波频率中检测干扰较小或没有干扰的频段；发射链路，利用所述检测的频率产生载波信号，利用所述的载波信号对发射信号进行调制并发射。
根据本申请的一个实施例，所述的发射信号是高斯序列、多相码或 者空时码。
根据本申请的一个实施例，所述的发射信号之间相互正交或者部分相关。
根据本申请的一个实施例，所述的检测干扰较小或没有干扰的频段可以通过基于能量检测或特征检测的频谱感知方法实现。
本文还披露了一种雷达通信系统，包括：接收端，接收目标源反射的信号；接收链路，利用载波频率对应的滤波器对接收信号进行滤波；利用对应的载波频率将滤波后的接收信号下变频至基带信号；检测模块，检测各频带的接收信号是否存在干扰；丢弃有干扰的接收信号；扩展单元，虚拟扩展接收信号；融合中心，融合所述的无干扰接收信号和所述的虚拟扩展信号；计算模块，利用融合信号估计目标源的参数。
根据本申请的一个实施例，所述的检测干扰可以通过分别检测各频带的接收信号和对应的发射信号之间的相关性系数判断。
根据本申请的一个实施例，当相关系数大于阈值时，所述的接收信号无干扰。
根据本申请的一个实施例，所述的虚拟扩展可以基于两个或者多个不同的载波频率对应的接收信号进行扩展。。
根据本申请的一个实施例，将所述的载波频率进行线性组合后作为虚拟扩展后的载波频率。
根据本申请的一个实施例，所述融合是指将无干扰的接收信号和虚拟扩展信号进行线性组合得到融合信号。
根据本申请的一个实施例，所述目标源的参数包括距离、高度、DOA和相对速度。
根据本申请的一个实施例，所述参数估计方法可以是ML算法、APES算法、ESPRIT算法、MUSIC算法、AV算法、Capon算法和GLRT算法。
附图说明
图1是雷达通信系统的一个应用场景示意图。
图2是系统发射端的示意图。
图3是系统接收端的示意图。
图4是系统运作的一个流程图。
图5是干扰检测过程的流程图。
图6是分析模块内部结构示意图。
图7是分析模块运作的流程图。
图8是系统发射信号和接收信号的示意图。
图9是系统运作的一个具体实施例的流程图。
图10-A～E是该系统运行时的一个具体实施例的实验结果图。
具体实施方式
本说明书涉及一种雷达通信系统，该系统可以用于获取目标源的多种参数，例如但不限于目标源方位、目标源距离、目标源高度、目标源角度、目标源斜距、目标源相对速度等。该雷达通信系统可以应用于多种场景，包括但不限于预警、搜索、检测、跟踪、引导指挥、遥控、监视等。具体地，该雷达通信系统可以应用于测距和测速领域等，包括但不限于交通运输领域、智能监控领域、精密仪器控制领域、海上监测、空中监测、地形探测等。
本发明所涉及的雷达通信系统可以获取目标源的一种或多种参数，例如目标源方位、目标源距离、目标源高度、目标源角度、目标源斜距、目标源相对速度等。该雷达系统可以包含发射端、接收端、发射天线、接收天线、外部设备等。其中发射端可以包含控制模块、选择模块和发射链路等。接收端可以包含接收链路、检测模块和分析模块等。发射端可以选择一个或多个载波频率对原始信号进行加载波处理，并可以发射一个或多个发射信号至目标源。接收端可以接收来自一个或多个目标源的一个或多个反射信号。接收端还可以对接收信号进行处理、分析和计 算等。接收端的分析模块可以对接收端两个或者多个不同的载波频率对应的真实接收信号进行虚拟扩展，得到一个或者多个发送频点对应的虚拟接收信号。此时相当于增加了接收信号的多重性，但同时不需要在发射端使用相应的载波频率对原始信号进行加载波处理。该系统可以在无需提高发射脉冲数目(即无需加重系统负担)的情况下，满足测量结果的准确度。该系统使得可以在有多个载波频率或频段可以选择的情况下，灵活地挑选出不受干扰的载波频段和频率进行信号的发射，并在信号到达接收端之后挑选出不受频率干扰的信号进行虚拟载波频率信号的扩展。例如，在有四个载波频率f1，f2，f3，f4可以对信号进行加载波处理时，假设其中有两个载波频率，例如f3和f4，存在干扰，本发明的一个实施例可以利用载波频率f1和f2进行虚拟扩展，生成另外两个不同载波频率的虚拟接收信号，从而可以成功地避开干扰，而基本仍然有使用四个载波频率的效果。该系统可以实际减少需使用的载波频率或频段，从而节约带宽，提高频段使用效率。该系统可以对周围或附近或一定距离内的可能存在的目标源进行监测。监测过程可以是连续的，也可以是不连续的。监测过程可以是定时的，也可以是不定时的。该系统可以将所获取的目标源的各项参数实时或非实时地传输至与该系统相关的外部设备，例如远程遥控系统、远程服务器、显示设备等。
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动的前提下，可以根据这些附图将本发明应用于其他类似情景。除非从语言环境中显而易见或另做说明，图中相同标号代表相同结构和操作。
如本说明书和权利要求书中所示，除非上下文明确提示例外情形，“一”、“一个”、“一种”和/或“该”等词并非特指单数，也可包括复数。一般说来，术语“包括”与“包含”仅提示包括已明确标识的步骤和元素，而这些步骤和元素不构成一个排它性的罗列，方法或者设备也可能包含其它的步骤或元素。
图1展示的是雷达通信系统的一个应用场景示意图。该雷达通信系统可以包括但不限于一个或多个发射端110、一个或者多个接收端120，一个或多个发射天线130T，一个或多个接收天线130R、一个或多个目标源140、和/或一个或多个外部设备150等。
发射端110可以实现对原始信号的多种处理操作，例如但不限于信号类型转换、信号频率转换、滤波处理、调制处理、信号放大等。信号类型转换可以通过比如模数转换器(Analog/Digital)实现，且模数转换过程可以设置多种采样频率。模数转换可以将时间及幅值连续的模拟信号转换为时间及幅值离散的数字信号。频率转换的方式包括但不限于混频、频率合成、生成射频信号等。滤波处理可以包括但不限于低通滤波、高通滤波、带通滤波、带阻滤波。调制处理可以包括但不限于角度调制、相位调制、频率调制、幅度调制等。具体例如但不限于矩形振幅调制、线性调频、脉内相位编码、矩形调频、正弦调频、相位编码、双边带调制、单边带调制、残余边带调制、幅度偏移调制、相位偏移调制、正交幅度调制、频率偏移调制、连续相位调制、正交频分复用、脉冲编码调制、脉冲宽度调制、脉冲幅度调制、脉冲位置调制、脉冲密度调制、三角积分调制等调制方法中的一种或几种。信号放大的过程可以通过比如射频功率放大器实现。经过处理后的信号可以实时或非实时地传输至发射天线130T，并由发射天线130T实时或非实时地发射。发射方式可以是连续波发射，也可以是脉冲发射。发射端110可以用于发射一个、一组、和/或多个或多组发射信号。当发射一个或者多个信号时，可以分时发射，也可以分集发射。发射的信号可以属于单个频段，也可以属于多个频段。发射的信号可以是高斯序列，可以是多相码(Frank码、P1序列、P2序列、P3序列和P4序列等)，也可以是空时码。发射端110按照工作频段分类，可以分为包括但不限于短波、米波、分米波、厘米波、毫米波等。发射端110的工作频率可以分为但不限于3-30KHz、30-300KHz、0.3-3MHz、3-30MHz、30-300MHz、0.3-3GHz、3-30GHz、30-300GHz等。发射端110可以使用的发射管包括但不限于微波三极管、微波四极管、磁控管、速调管、行波管、前向波管等。上文所描述的发 射端110中的各个过程或结构并不是必须的，也并不局限于上文所列的顺序步骤。对于本领域的专业人员来说，在了解本发明内容和原理后，都可能在不背离本发明原理、结构的情况下，对该模块进行形式和细节上的各种修正和改变，而这些修正和改变仍在本发明的权利要求保护范围之内。例如，发射端110内部可以有多个发射模块(图中未体现)，多个发射模块可以同时或分时发射多个信号。
接收端120用于通过接收天线130R接收经目标源140反射的一个、一组、和/或多个或多组反射信号。接收端120可以实时地接收反射信号，也可以非实时地接收反射信号。接收端120的工作频段可以是高频、中频、低频中的一种或多种。接收端120的电路结构可以包括但不限于微波单片集成电路(MMIC)、中频单片集成电路(IMIC)、专用集成电路(ASIC)等。接收端120可以实现对所接收的反射信号的处理，包括但不限于去噪、放大、滤波、解调、转换、检测、分析、计算等。其中去噪操作可以去除接收信号中存在的明显可以识别的噪声。放大操作的方法可以包括但不限于使用高频放大器、中频放大器、多频段放大器等。实现滤波操作的方法可以包括但不限于使用低通滤波器、高通滤波器、带通滤波器、带阻滤波器。转换处理可以是频率转换、频率合成等。实现检测操作的技术可以包括但不限于采用频谱感知技术：具体的方法包括能量检测算法、匹配滤波器检测算法及循环平稳检测算法等。分析和计算方法可以包括但不限于常见的数学运算、统计分析、数据处理等。上文所描述的接收端120中的各个过程或结构并不是必须的，也并不局限于上文所列的顺序步骤。对于本领域的专业人员来说，在了解本发明内容和原理后，都可能在不背离本发明原理、结构的情况下，对该模块进行形式和细节上的各种修正和改变，而这些修正和改变仍在本发明的权利要求保护范围之内。例如，上述提到的多种信号处理操作并不一定具有严格的先后顺序，可以根据具体需要调整各个操作步骤的顺序，或删减其中一个或多个步骤等。进一步地，在信号处理过程中，可以根据不同的应用情况设置相应的处理条件参数。
发射天线130T和接收天线130R用于发射或接收信号。发射天线 130T和接收天线130R的种类包括但不限于反射面天线和阵列天线。其中反射面天线可以包括但不限于旋转抛物面天线、切割抛物面天线、抛物柱面天线、卡塞格伦天线、单脉冲天线、叠层波束天线、赋形波束天线和偏馈天线等。阵列天线可以包括但不限于直排阵列天线、垂射阵列天线、端射阵列天线、绕杆式天线、对数周期偶极阵列天线等。发射天线130T和接收天线130R包括但不限于定向天线、全向天线、智能天线等。发射天线130T和接收天线130R都可能同时包含多根天线。发射天线130T或接收天线130R中的多根天线可以随机排列在发射端110或接收端120的周围，也可以以一定形式围绕在发射端110或接收端120周围，这些形式可以包括但不限于环形、蝶形、扇形、线性阵、矩形面阵、圆形面阵、拱面形等阵列形式。当进行天线阵列排布时，天线之间的间距可以是相等的，也可以是不等的。
目标源140可以是单个目标源，可以是随机排列的多个目标源，也可以是按照一定规律排列的多个目标源。目标源140也可以是一组或多组具有相同特征或类似特征的目标源，例如但不限于距离相近的一组目标源、高度相近的一组目标源、角度类似的一组目标源、速度相近的一组目标源等。多个目标源140可以都位于发射端110或接收端120的任意一侧，也可以随机离散分布在发射端110或接收端120周围的任意位置，也可以随机组合分布在发射端110或接收端120周围的任意位置。多个目标源140与发射端110或接收端120之间的距离可以是相同的，也可以是不同的。类似地，多个目标源140与发射端110或接收端120之间的高度、角度、相对速度、斜距等均可以是相同的，也可以是不同的。
外部设备150泛指与该雷达通信系统的某一个或多个模块或组件直接或间接相关的设备。外部设备150可以是本地的，也可以是远程的。外部设备150可以是有线的，也可以是无线的。外部设备150可以是存储设备，例如移动硬盘、软盘、光盘、RAM(random access memory)、ROM(read-only memory)、云盘等存储设备。该设备150可以用于存储信号源中的原始信号，发射端110可以实时或非实时地从该设备150读 取原始信号。该设备150也可以用于存储接收端120所接收的反射信号。该设备150也可以用于存储信号处理过程中所涉及的信号处理条件参数、信号处理中间数据等。外部设备150也可以是显示设备，例如LED(light emitting diode)、LCD(liquid crystal display)等电子显示屏和电阻技术触摸屏、电容技术触摸屏、等离子触摸屏、矢量压力传感技术触摸屏、红外线技术触摸屏等触摸屏。该设备150可以用于显示发射信号或接收信号的各项信号参数，也可以用于显示对发射或接收信号的处理、分析或计算结果，也可以显示该雷达系统计算获取的目标源参数等。该设备150也可以是远程控制设备、远程操作系统、远程监测系统、数据库系统等。
发射端110或接收端120中可以包括一个或多个处理器。发射端110或接收端120的各个模块或单元可以分布式地处在一个或多个处理器上，也可以集成在一个或多个处理器上。例如，发射端110可以是一个微处理器。发射端110和接收端120也可以在一个或多个微处理器上。一个或多个微处理器可以和存储设备(图中未体现)、外部设备150、发射天线130T和/或接收天线130R之间通信。处理器可以从存储设备(图中未体现)或外部设备150中读取信号，可以对读取的信号进行如文中其他部分所描述的分析、计算或处理操作。一个或多个处理器可以与其他可能与该系统直接相关或间接相关的设备无线或有线地相连。例如，远程控制设备、远程操作系统、远程监测系统、显示设备、数据库系统等。
以上对适用领域的描述仅仅是具体的示例，不应被视为是唯一可行的实施方案。显然，对于本领域的专业人员来说，在了解此雷达系统的基本原理后，可能在不背离这一原理的情况下，对实施上述方法和系统的应用领域形式和细节上的各种修正和改变，但是这些修正和改变仍在以上描述的范围之内。例如，一个雷达设备可能同时包含所述的发射端110和接收端120。所述的发射天线130T和接收天线130R可能由一个或者多个收发天线实现。收发天线允许同时接收或发送信号，或者收发天线允许在接收或者发射信号之间进行切换。
图2是发射端110内部结构的示意图。发射端110可以包含控制模块210、选择模块220和发射链路230。发射端110与信号源240、发射 天线130T和外部设备150相连接。控制模块210可以用于实现对选择模块220和发射链路230的控制以及发射端110的运行控制等。例如，控制模块210可以实现开关的作用，开启时，则启用选择模块220；关闭时，则直接运行发射链路230。类似地，控制模块210也可以实现对发射端110的开启和关闭控制功能，开启时，启动发射端110；关闭时，关闭发射端110的同时开启接收端120，或关闭发射端110后延时开启接收端120。上述对控制模块210的功能的描述仅仅是为了举例说明，并不代表控制模块210的功能仅限于此。例如，控制模块210还可以用于控制发射链路230从信号源240读取原始信号的频率、读取原始信号的数量、读取原始信号的类型等。
选择模块220可以用于检测或计算获得一种或多种可选择的信号处理条件。选择模块220与发射链路230相连接。发射链路230可以选择性地从选择模块220中读取可选择的处理条件，对原始信号进行处理操作后再将信号发射出。可选择的处理条件包括但不限于模数转换(A/D)参数、放大系数、载波频率、调制方式、调制条件、发射速率、发射条件等。选择模块220可以利用多种探测方法、检测方法及计算分析方法获取可选择的信号处理条件。可以根据系统参数预设定多种信号处理条件，也可以通过外部输入信号处理条件。选择模块220内部可以集成相应的存储单元(图中未体现)，用于存储信号处理条件。该模块220内部也集成相应的控制单元(图中未体现)，用于控制信号处理条件的获取及读取。上述对选择模块220的描述仅仅是为了举例说明，并不代表选择模块220的功能仅限于此。例如，控制信号处理条件的获取及读取操作也可以由控制模块210实现。选择模块220还可以根据信号源240中的信号类型，选择性设置不同的信号处理条件。
发射链路230可以从信号源240中读取原始信号并对原始信号进行处理操作。信号源240可以包括多种信号类型，例如但不限于模拟信号和数字信号。其中数字信号的类型具体例如但不限于高斯序列信号和多相码信号等。发射链路230可以实时或非实时地从信号源240读取原始信号。发射链路230可以实时或非实时地对所读取的原始信号进行处理。 发射链路230处理信号的方式可以包括但不限于信号类型转换、信号频率转换、滤波处理、调制处理、信号放大等。信号类型转换过程可以是模数转换(Analog/Digital)，可以通过模数转换器实现。信号频率转换过程可以通过振荡器、频率合成器等设备实现。滤波的方式可以包括但不限于低通滤波器、高通滤波器、带通滤波器、带阻滤波器。调制处理可以包括但不限于角度调制、相位调制、频率调制、幅度调制等。具体例如但不限于矩形振幅调制、线性调频、脉内相位编码、矩形调频、正弦调频、相位编码、双边带调制、单边带调制、残余边带调制、幅度偏移调制、相位偏移调制、正交幅度调制、频率偏移调制、连续相位调制、正交频分复用、脉冲编码调制、脉冲宽度调制、脉冲幅度调制、脉冲位置调制、脉冲密度调制、三角积分调制等调制方法中的一种或几种。信号放大的方式包括但不限于单频道放大器、多频段放大器、多波段放大器等。经过转换、放大、滤波、调制等操作处理后的信号，可以传输至发射天线130T，将信号发射出。发射天线130T可以实时地发射经过处理的信号，也可以非实时地发射信号。发射天线130T可以同时发射多个信号，也可以分时地连续发射多个信号。发射天线130T可以向发射端110周围的任意方向发射任意个数的信号。例如，在MIMO(Multiple-Input Multiple-Output)雷达系统中，发射天线130T发射的信号波形可以是相互正交或者部分相关的。
发射端110中的各个模块可以任意组合集成在一起，通过同一个设备实现一个以上模块的功能。以上对发射端110的描述仅仅是具体的示例，不应被视为是唯一可行的实施方案。上述每一个模块或单元均可通过一个或多个部件实现，每个模块或单元的功能也并不局限于此。显然，对于本领域的专业人员来说，在了解信号发射和信号处理的基本原理后，可能在不背离这一原理的情况下，对发射端110的具体实施方式与步骤进行形式和细节上的各种修正和改变，还可以做出若干简单推演或替换，在不付出创造性劳动的前提下，对各模块或单元的顺序作出一定调整或组合，但是这些修正和改变仍在以上描述的范围之内。例如，选择模块220并非必须的，发射链路230并不一定必须从选择模块220读取处理 条件，而可以根据系统默认值或发射链路默认值对原始信号进行处理，例如进行转换、放大、调制、滤波等处理。具体例如，发射链路230可以直接利用系统默认的载波频率对原始信号进行加载波处理，载波频率数据并不一定从选择模块220中读取。另外地，发射端110中可以集成相应的存储模块(图中未体现)，该存储模块(图中未体现)用于实现信号的存储或缓存。或者该存储模块(图中未体现)可以集成在选择模块220中，用以存储多种信号处理条件。类似地，发射端110中的各个模块或单元中均可以集成相应的存储模块或单元(图中未体现)。
图3是接收端120内部结构的示意图。接收端120可以包含接收链路310、检测模块320和分析模块330。接收端120与接收天线130R和外部设备150相连接。接收天线130R接收目标源140反射的信号。接收链路310用于对目标源140反射的信号进行预处理。预处理方式可以包括但不限于去除噪声、去除干扰、信号放大等。去除噪声及去除干扰处理可以将接收信号中的可明显识别的噪声及干扰去除。放大信号的方式可以包括但不限于单频道放大器、多频段放大器、多波段放大器等。另外地，接收链路310还可以对接收信号进行滤波处理、频率转换、频率合成等。滤波的方式可以包括但不限于低通滤波器、高通滤波器、带通滤波器、带阻滤波器。频率转换和频率合成的过程可以是：通过振荡器对信号进行频率转换，或进一步地可以利用频率合成器将信号转换为基带信号等。值得注意的是，滤波处理、频率转换、频率合成等操作也可以由检测模块320实现。接收链路310还可以进一步包括接收端保护器(图中未体现)、混频器(图中未体现)等设备。
检测模块320可以用于对接收信号进行干扰检测。接收链路310对接收信号进行一系列预处理操作后，可以将接收信号传输至检测模块320。该模块320可以对接收信号中可能存在的干扰频点或干扰频带进行检测。检测手段可以包括但不限于采用频谱感知技术：具体的方法包括能量检测算法、匹配滤波器检测算法以及循环平稳检测算法等。检测过程可以包括但不限于处理、计算和判断等。其中处理过程可以包括但不限于一个滤波过程、频率转换和频率合成等，滤波的方式可以包括但 不限于低通滤波器、高通滤波器、带通滤波器、带阻滤波器。所述的滤波处理、频率转换以及频率合成也可以在接收链路310中实现。计算过程可以包括但不限于常见的数学运算、基于基准信号的扫描处理、信号特征提取等。信号特征可以是时延、相关性系数、峰值、频率、周期、相位、SNR(Signal-Noise Rate)、BER(Bit Error Rate)、S/I(Signal/Interference)等。特别地，所述基准信号可以是发射信号。特别地，所述信号特征可以是待处理信号与发射信号的相关性系数。判断过程可以是将所述信号特征与预设定的阈值进行比较判断，根据比较判断结果检测出可能存在的干扰频点或干扰频带。检测模块320可以将检测结果传输至接收链路310，接收链路310可以根据该检测结果有选择性地保留接收信号中的频点或频带，并传输至分析模块330进行进一步的分析处理。检测模块320也可以将检测结果传输至分析模块330，由该模块330根据检测结果进行进一步的分析处理。
分析模块330可以用于接收信号的分析和计算等。分析和计算方法可以包括但不限于常见的数学运算、统计分析、数据处理等。分析和计算方法可以是直接的数学运算，也可以是基于经验值的估计，也可以是基于软件的编程分析。分析和计算过程所涉及的数据形式可以是具体的数值，也可以是抽象的数学表达式，也可以是数据之间的关系信息。分析和计算过程中所产生的中间数据可以作为其他过程的初始数据或中间数据。该模块330的计算结果可以包括但不限于目标源的方位、距离、高度、角度、相对速度、DOA(Direction Of Arrival)等中的一个或多个。上文所描述的分析模块330中的各个过程并不是必须的，也并不局限于上文所列的顺序步骤。对于本领域的专业人员来说，在了解本发明内容和原理后，都可能在不背离本发明原理、结构的情况下，对该模块进行形式和细节上的各种修正和改变。各个过程可以任意排列组合，可以根据需要添加或删减部分过程，而这些修正和改变仍在本发明的权利要求保护范围之内。例如，在分析或计算过程中，可以使用同一种分析方法或计算方法，也可以同时使用两种或两种以上分析方法或计算方法。例如，可以对同一个信号采用两种或两种以上的分析方法或计算方法，通 过比对不同方法的分析结果或计算结果，对多个结果取平均值处理。或者其中某一个分析结果或计算结果作为参考以验证其他分析或计算结果的合理性等。分析或计算过程中可以添加缓存步骤，用于存储分析模块330运行过程中涉及的实时或非实时的数据。
以上对接收端120的描述仅仅是具体的示例，不应被视为是唯一可行的实施方案。上述每一个模块或单元均可通过一个或多个部件实现，每个模块或单元的功能也并不局限于此。显然，对于本领域的专业人员来说，在了解信号接收和信号处理的基本原理后，可能在不背离这一原理的情况下，对接收端120的具体实施方式与步骤进行形式和细节上的各种修正和改变，还可以做出若干简单推演或替换，在不付出创造性劳动的前提下，对各模块或单元的顺序作出一定调整或组合，但是这些修正和改变仍在以上描述的范围之内。例如，接收端120中的各个模块可以任意组合集成在一起，通过同一个设备实现一个以上模块的功能。检测模块320并非必须的，经过目标源反射的信号可以由接收链路310接收并处理后直接传输至分析模块330进行进一步的分析处理。接收链路310可以同时接收多个反射信号，也可以分时地连续接收多个反射信号。接收端120内部可以集成相应的存储模块(图中未体现)，用于存储接收信号或用于存储接收端信号处理过程中产生的实时数据或任何中间数据。
图4是该雷达通信系统的一个运作流程图。系统运作过程可以包含以下步骤：首先运行选择/判断步骤410，决定是否进行处理条件选择。该选择/判断步骤410可以由选择模块220执行。如果选择执行处理条件选择，则执行步骤420，从当前可选择的处理条件中选择性读取一个或多个。当前可选择的处理条件可以存储在选择模块220中，也可以存储在系统的存储设备(图中未体现)中，也可以存储在选择模块220内部集成的存储单元(图中未体现)中。之后根据当前所读取的处理条件，执行步骤430，对原始信号进行相应的处理。如果在步骤420选择不执行处理条件选择，则直接执行步骤430，根据系统已有的或系统默认的处理条件，对原始信号进行处理。特别地，可以利用一个或多个载波频 率对原始信号进行加载波处理。信号处理步骤430可以由发射链路230执行。经过处理后的原始信号，在步骤440发射出。发射信号的过程可以由发射天线130T执行。发射信号到达一个或多个目标源140，经过目标源140反射并返回相应的反射信号。反射信号在步骤450被接收。反射信号可以由接收天线130R接收并传输至接收端120。接收端120接收反射信号后，可以对信号进行一系列的预处理步骤(图中未体现)，可以包括但不限于去除噪声、去除干扰、信号放大等。反射信号经过一系列预处理后，可以进行干扰检测步骤460。该步骤460可以由检测模块320实现。该步骤460可以包括但不限于处理、计算和判断等。处理过程可以包括但不限于一个滤波过程、频率转换和频率合成等。滤波的方式可以包括但不限于低通滤波器、高通滤波器、带通滤波器、带阻滤波器。频率转换和频率合成的过程可以是：可以通过振荡器对信号进行频率转换，或进一步地可以利用频率合成器将信号转换为基带信号等。值得注意的是，滤波、频率转换和频率合成过程也可以由接收链路310实现。计算过程可以包括但不限于常见的数学运算、基于基准信号的扫描处理、信号特征提取等。信号特征可以是时延、相关性系数、峰值、频率、周期、相位等。判断过程可以是将所述信号特征与预设定的阈值进行比较判断，根据比较判断结果检测出可能存在的干扰频点或干扰频带。将步骤460检测出的干扰频点或频带舍弃，将满足阈值条件的频点或频带保留。该步骤460可以循环进行，直至将接收信号的频点或频带检测完毕。经过干扰检测后，含有保留的频点或频带的接收信号部分可以进行分析步骤470的操作。步骤470可以对接收信号进行分析和计算等操作。分析和计算结果可以包括但不限于目标源的目标源的方位、距离、高度、角度、相对速度、DOA等中的一个或多个。信号分析步骤结束后，可以返回步骤440，继续发射新的信号，开始一个新的流程。此处所描述的方法和步骤可以在适当的情况下以任何合适的顺序出现，或同时实现。另外，在不偏离此处所描述的主题的精神和范围的情况下，可以从任何一个方法中删除各单独的步骤。上文所描述的任何示例的各方面可以与所描述的其他示例中的任何示例的各方面相结合，以构成进一步的 示例，而不会丢失寻求的效果。例如，处理条件选择步骤420并非必须的，对原始信号进行处理时，可以随机读取系统已存的处理条件，而并非一定要从选择模块220中读取。进一步地，干扰检测步骤460也并非必须的，如果发射信号时已经选择了不存在干扰的频点或频带作为处理条件，则在接收反射信号后可以省略干扰检测步骤。步骤450和步骤460之间可以添加一个存储步骤(图中未体现)，可以用于存储接收信号，从而步骤460可以实时或非实时地执行。类似地，任意两个步骤间均可以添加相应的存储步骤。
图5是干扰检测过程的一个流程图。干扰检测可以对接收信号中可能存在的干扰频点进行检测。干扰检测过程可以包含以下步骤：首先一个或多个信号在步骤510被读取，读取信号的过程可以由接收链路310执行，也可以由检测模块320执行。所读取的一个或多个信号在步骤520进行处理操作，处理操作包括但不限于放大处理、去除噪声、去除干扰、滤波处理、频率转换、频率合成等。处理过程中涉及的方法可以是但不限于数学计算、统计分析、模拟仿真等。具体例如但不限于小波变换、支持向量机(SVM)、傅里叶变换、正弦变换、余弦变换、沃尔什变换、高通滤波、低通滤波、带通滤波、维纳滤波、卡尔曼滤波、线性滤波、非线性滤波、自适应滤波等。处理信号步骤520可以由发射链路310实现，也可以由检测模块320实现，也可以由二者共同实现。处理信号的过程可以是实时的，也可以是非实时的。经过处理后的信号在步骤530进行信号特征的提取。信号特征可以包括但不限于时延、相关性系数、峰值、频率、周期、相位等。其中时延是指待检测信号相对于发射信号的时间延迟。相关性系数指待检测信号相对于发射信号的相关性。信号特征提取的方法可以包括但不限于线性函数法、对数函数法、反余切函数法、范数法、历史阈值迭代、建模法、最小二乘法、消元法、降次法、代入法、图象法、比较法、放缩法、向量法、归纳法、反证法、穷举法、配方法、待定系数法、换元法、拆项法、补项法、因式分解法、平行移动法、函数逼近法、插值法、曲线拟合法、积分法、微分法、扰动法等中的一种或多种。提取获得信号特征后，执行判断步骤540。在步骤540， 设定一个特征值阈值，将提取获得的信号特征值进行阈值判断。如果满足阈值条件(例如，特征值大于所设定的阈值)，则将该信号(或该信号对应的载波频点)保留。如果不满足阈值条件(例如，特征值小于所设定的阈值)，则将该信号(或该信号对应的载波频点)舍弃。此处所描述的方法和步骤可以在适当的情况下以任何合适的顺序出现，或同时实现。另外，在不偏离此处所描述的主题的精神和范围的情况下，可以从任何一个方法中删除各单独的步骤。上文所描述的任何示例的各方面可以与所描述的其他示例中的任何示例的各方面相结合，以构成进一步的示例，而不会丢失寻求的效果。例如，步骤510和步骤520之间可以添加一个缓存步骤(图中未体现)，用以缓存所读取的信号，由步骤520实时或非实时的读取。类似地，可以在任意两个步骤之间添加相应的存储步骤。步骤530和步骤540可以同时循环执行，对每一个接收信号进行特征提取和阈值判断，直至将每一个接收信号检测完毕。
图6是分析模块的一个具体实施例的内部结构的示意图。分析模块330可以包括处理单元610、扩展单元620、融合中心630和计算单元640。分析模块330可以接收由接收链路310传输的信号，也可以接收由检测模块320检测之后的信号。接收信号的过程可以是实时的，也可以是非实时的。处理单元610用于对所接收的信号进行处理。处理过程可以是实时的，也可以是非实时的。处理单元610可以计算或处理获取一个或多个信号处理结果。信号处理结果可以是信道系数、载波频率(载波频点)、反射系数、频点间干涉系数、噪声信号、目标时延等中的一个或多个。当接收链路310仅接收到一个载波频率的信号时，处理单元610可以对接收信号进行处理分析。当存在两个以上的信号时，扩展单元620可以根据处理单元610的两个或多个信号处理结果，获得两个或多个扩展系数，进而由两个或多个接收信号扩展生成一个或多个虚拟的接收信号。扩展方式可以基于系统预设定的规则，也可以根据所选择的多个接收信号之间的数学关系，也可以根据两个或多个信号处理结果间的数学关联。特别地，可以计算接收信号中多个载波频率之间的数学关系，推导或拟合出相应的函数表达式，从而计算获得一个或多个满足该函数表 达式的扩展系数，并由此拟合出一系列满足相应数学关系的虚拟的接收信号。生成虚拟的接收信号的过程可以是数学推导过程，也可以是模拟仿真过程。具体例如，根据一个或多个扩展系数，模拟生成相对应的载波频率，模拟仿真信号发射及接收的过程。并进一步模拟发射信号加载波处理的过程以及接收链路310对接收信号的处理过程，获得一个或多个经过模拟仿真获得的虚拟的接收信号。融合中心630用于将已有的接收信号和经过虚拟扩展获得的虚拟的接收信号进行融合。融合中心630进行信号融合的过程可以包括但不限于，物理仿真、数学仿真、半实物仿真、连续仿真、离散仿真、模拟仿真、数字仿真、混合仿真、实时仿真、超实时仿真、亚实时仿真等各种仿真计算中的一种或多种。优选地，融合中心630进行信号融合的过程可以包含如下内容：提取不同载波频率的信号，并采用其中一部分载波频率的信号进行虚拟频率扩展。利用真实接收到的信号和虚拟扩展所获得的虚拟的接收信号对雷达系统中目标源的位置信息，如方位、距离、高度、角度、斜距、相对速度、DOA等中的一种或多种等进行估算和提取。其中包含数学计算、离散信号实时处理等。
计算单元640用于计算目标源140的各项参数，例如但不限于目标源的方位、距离、高度、角度、斜距、相对速度、DOA等中的一种或多种。计算单元640可以采用ML(Maximum-Likelihood，最大似然)算法，APES(Amplitude Phase Estimation，幅度相位估计)算法、ESPRIT(Estimation of Signal Parameters by Rotational Invariance Techniques，旋转不变技术信号参数估计)算法、MUSIC(Multiple Signal Classification，多重信号分类)算法、AV(Auxiliary Vector，辅助矢量)算法、Capon算法，GLRT(Generalized-Likelihood Ratio Test，广义似然比校验)算法等一种或者多种算法对目标源的不同参数进行估计。计算过程涉及的数学计算方法可以包括但不限于线性函数法、对数函数法、反佘切函数法、范数法、历史阈值迭代、建模法、最小二乘法、消元法、降次法、代入法、图象法、比较法、放缩法、向量法、归纳法、反证法、穷举法、配方法、待定系数法、换元法、拆项法、补项法、因式分解法、 平行移动法、函数逼近法、插值法、曲线拟合法、积分法、微分法、扰动法等中的一种或多种。
以上对分析模块330的描述仅仅是具体的示例，不应被视为是唯一可行的实施方案。上述每一个模块或单元均可通过一个或多个部件实现，每个模块或单元的功能也并不局限于此。显然，对于本领域的专业人员来说，在了解信号分析及处理的基本原理后，可能在不背离这一原理的情况下，对分析模块的具体实施方式与步骤进行形式和细节上的各种修正和改变，还可以做出若干简单推演或替换，在不付出创造性劳动的前提下，对各模块或单元的顺序作出一定调整或组合，但是这些修正和改变仍在以上描述的范围之内。例如，分析模块330内部的各个单元并不一定是各自单独存在的，各个单元可以集成在一个或多个处理器或其他设备中，这些处理器或设备可以实现一个或一个以上单元的功能。另外地，扩展单元620并非是必须的，当发射信号时对信号的处理足够详细，或发射端可选择的处理条件足够多，即接收信号的数量及表达式足够满足系统预设的准确度时，则扩展虚拟的接收信号的过程并非是必须的。另外地，分析模块330内部可以集成相应的存储单元(图中未体现)，用于存储信号分析处理过程中的分析或处理结果，或用于存储接收信号。类似地，每一个单元中也可以在内部集成各自的存储子单元(图中未体现)。
图7是分析模块330运行过程的一个具体实施例的流程图。分析模块330的运作流程可以包含以下步骤：首先信号在步骤710被读取，已读取的信号可以直接实时地传输至处理步骤720，也可以先经过缓存步骤(图中未体现)，再传输至处理步骤720。读取的信号可以在步骤720经过一系列的信号处理操作，处理方式可以包括但不限于各种数学运算，具体例如但不限于，线性函数法、对数函数法、反余切函数法、范数法、历史阈值迭代、建模法、最小二乘法、消元法、降次法、代入法、图象法、比较法、放缩法、向量法、归纳法、反证法、穷举法、配方法、待定系数法、换元法、拆项法、补项法、因式分解法、平行移动法、函数逼近法、插值法、曲线拟合法、积分法、微分法、扰动法等中的一种或 多种。信号处理结果可以是信道系数、载波频率(载波频点)、反射系数、频点间干涉系数、噪声信号、目标时延等中的一个或多个。特别地，处理过程可以是，用发射信号对分析模块330所接收的待处理信号进行扫描处理。通过扫描处理可以估算出每个目标源的时延时间τ，根据时延时间值推导出每个目标源基于每个载波频率的接收信号部分。并进一步推导获得每个接收信号部分中的信道系数等信号特征。经过处理步骤720后，可以获得所读取的信号的一系列信号处理结果。之后可以实时或非实时地执行步骤730，该步骤可以根据所获取的信号处理结果，并根据所读取的接收信号生成一个或多个虚拟的接收信号。生成虚拟的接收信号的过程中，可以实时或非实时地读取多种数据，包括但不限于步骤720处理信号过程中的中间数据或最终数据，步骤710所读取的接收信号，以及读取信号过程中相关的其他数据，以及系统内部存储的相关数据等。步骤730生成虚拟的接收信号的过程可以由扩展单元520实现。生成的一个或多个虚拟的接收信号可以实时或非实时地传输至步骤740。在步骤740，可以将读取的接收信号及虚拟的接收信号融合成一个或多个新的接收信号。融合信号的过程可以是实时的，也可以是非实时的。融合过程中可以读取或选择的信号可以是在步骤720经过处理的信号，也可以是在步骤730生成的虚拟的接收信号。新的接收信号可以由这些信号中的任意两个、三个、四个、多个、和/或一组或多组信号融合而成。在步骤750，可以根据融合的新的接收信号计算获得与目标源相关的各项参数。这些参数可以包括但不限于目标源的方位、距离、高度、角度、相对速度、DOA等中的一种或多种。参数估计方法可以是ML算法、APES算法、ESPRIT算法、MUSIC算法、AV算法、Capon算法、GLRT算法等中的一种或多种。计算参数完毕后，可以直接返回步骤710再次读取新一个或一组信号，即开始一个新的流程。
此处所描述的方法和步骤可以在适当的情况下以任何合适的顺序出现，或同时实现。另外，在不偏离此处所描述的主题的精神和范围的情况下，可以从任何一个方法中删除各单独的步骤。上文所描述的任何示例的各方面可以与所描述的其他示例中的任何示例的各方面相结合， 以构成进一步的示例，而不会丢失寻求的效果。例如，流程运行中任意两个步骤之间均可以添加相应的存储步骤(图中未体现)，用于存储信号分析过程中所涉及的中间数据或其他数据。步骤730并非必须的，当发射信号时对信号的处理足够详细，或发射端可选择的处理条件足够多，即接收信号的数量及表达式足够满足系统预设的准确度时，则扩展虚拟的接收信号的过程并非是必须的。
图8是本发明所述的雷达通信系统收发信号过程的示意图。如图中所示，原始信号为x(t)，发射端110发射信号时，可以有f1、f2...fk...fn等n个可选择的载波频率值。其中载波频率fk表示在当前载波下存在干扰。此时发射端还可以有多种其他的可选择的处理条件，可参见文中任何部分关于发射端110的描述。发射端110可以从n个载波频率值中选择一个、一组或多个载波频率，对原始信号x(t)进行加载波处理。经过加载波处理后的信号可以由发射天线130T发出。发射信号经过目标源反射后，由接收天线130R接收并传输至接收端120。以xj(t)表示发射信号经第j个目标反射延迟之后的信号，接收信号可分别表示为x1(t)，x2(t)，...xn(t)。
当有a个发射信号和m个目标源，发射端的载波频率为f1、f2...fn时，接收信号可表示为为：
Figure PCTCN2015090049-appb-000001
其中，γij表示载波频率为fi的发射信号到目标j反射延迟的信道系数，xij(t)为第i个发射信号从目标源j反射延迟之后的接收信号部分。
接收端120中的接收链路310可以对接收信号进行预处理、滤波处理、频率转换、频率合成、放大处理等一系列操作。检测模块320检测针对各载波频率的接收信号是否存在干扰，如果存在，则舍弃该载波频率，该载波频率对应的接收信号部分不参与后续计算，例如载波频率fk的接收信号不参与后续计算。分析模块330可以对接收信号进行进一步的处理，如文中其他部分关于分析模块330的描述，并进一步根据处理结果计算目标源的参数。可以包括但不限于方位、距离、高度、角度、 相对速度、DOA等中的一种或多种。
图9是该雷达通信系统的一个具体实施例的流程图。在该实施例中，以系统具有一个发射信号、两个可用的载波频率和两个目标源为例进行相关描述。但该流程及流程中涉及的计算、分析或处理方法均适用于多个信号、多个载波频率及多个目标源的情况。
该实施例的运作流程可以包含以下步骤：首先在步骤910读取原始信号，信号可以从信号源240中读取，也可以从外部设备150中读取。读取信号的同时可以执行判断步骤920，确定是否进行载波频率选择。或读取信号之后再执行步骤920，二者并不一定必须有明显的先后顺序。频率选择步骤920可以由选择模块220执行。该模块220可以利用现有的频谱感知技术，以固定时间间隔从待选择的多个频率中探测出没有干扰的频率(步骤930)，并将没有干扰的频率保存在选择模块220中，或将没有干扰的频率保存在系统中任何一个存储模块(图中未体现)或存储单元(图中未体现)中。所述频谱感知技术的操作过程可以包括下述步骤：首先在宽带上划分子频带，然后用基于特征值的频谱感知算法来检测每一个子频带内是否存在干扰，选出没有干扰的频点，作为发射波形的载波频率。也可以通过多尺度的小波变换的方法来完成检测工作，即首先定位频谱上干扰的频带的边缘，然后判定待发射的频点是否落在干扰的频带内，从中选出没有干扰的频点，作为发射信号的载波频率。通过频谱感知算法选出可用的载波频率(不存在干扰的载波频率)，并保存在选择模块220中。发射链路230可以读取不存在干扰的载波频率，对原始信号进行加载波处理，并进行信号发射。这个操作过程确保了发射信号不落在有干扰的频带内，从而初步保证了雷达系统的发射波形不受干扰。
在该实施例中，从中选取两个不存在干扰的频率f1和f2作为载波频率，并在步骤940对所读取的信号进行加载波处理。如果在步骤920时选择不执行频率选择操作，则随机从系统已有的频率中读取两个频率作为载波频率，或者可将系统已有的或系统默认的频点都作为载波频率。之后执行步骤940，对所读取的信号进行加载波处理。加载波处理步骤 940可以由发射链路230实现。经过加载波处理后，执行发射信号步骤950，该步骤可以由发射天线130T执行。在该实施例中，可以选择步进频率的雷达模型实现信号的发射。步进频率源实现信号脉冲到脉冲之间频率的步进增长，发射机和接收机的前端应该是宽带的，来适应发射信号和接收信号频率的变化。在发射端，相干振荡器和频率合成器被添加到了混合器中，两部分频率之和通过一个稳定的本地震荡电路转化为射频，最终合成的信号由本地振荡器、相干振荡器以及频率合成器三部分信号组成，然后被放大和发射。
发射信号到达目标源140，经过目标源反射后，返回反射信号。反射信号由接收天线130R接收并传输至接收端120(步骤960)。反射信号被接收后，在步骤970进行预处理。预处理步骤970可以由接收链路310执行。在该实施例中，预处理过程可以包括但不限于去除噪声、去除干扰、信号放大等。接收信号经过预处理后，在步骤980进行滤波处理。该滤波处理操作的目的是对接收信号中可能的干扰频点进行检测。滤波处理步骤980可以由接收链路310或检测模块320执行。值得注意的是，预处理步骤970和滤波步骤980可以合并为同一个步骤，而并不一定单独分开执行。另外需要注意的是，在滤波处理步骤980之后，可以有一个频率转换及频率合成步骤(图中未体现)，具体可以操作过程可以是：首先经过本地振荡器转化为中频信号，然后再经过频率合成器转化为基带信号。类似地，该步骤也可以包含在步骤980里，而不必单独分开执行。在该实施例中，接收信号为y(t)，其中包含载波频率为f1和f2分别对应的接收信号部分。滤波处理过程可以是：首先对发射载波频率为f1的接收信号部分进行滤波处理，得到滤波后的信号为y1(t)；其次对发射载波频率为f2的接收信号部分进行滤波处理，得到滤波后的信号为y2(t)。
滤波处理完成后，可以执行步骤990，计算两个滤波后的信号y1(t)和y2(t)与发射信号间的相关性。在该实施例中，计算相关性的过程可以是：通过发射信号x(t)对y1(t)和y2(t)扫描，分别计算y1(t)和y2(t)与发射信号x(t)的相关性。其相关性系数分别记为ρ1和ρ2。之后执行步骤9100， 判断计算所得的相关性系数ρ1和ρ2是否满足预设的阈值判断条件。如果判断结果为大于阈值，则判定该载波频率所对应的接收信号部分受到干扰影响较小，可确定为期望信号所在频率(步骤9110)；如果判断结果为小于阈值，则判定为干扰存在，直接丢弃(步骤9120)。该干扰检测过程可以循环进行，直到将所有频点检测完毕。该干扰检测过程可以由检测模块320执行。
在具体实施中，假定发射波形为窄带信号，目标相对移动缓慢，则接收信号中接收到的由于目标导致的延迟都相同，以xj(t)表示发射信号x(t)经第j个目标反射延迟之后的信号，γij表示载波频率为fi的信号经过第j个目标反射的信道系数，所有目标源的反射系数相等，则接收信号可以简化表示为：
y(t)＝γ11·x1(t)+γ21·x1(t)+γ12·x2(t)+γ22·x2(t)+n(t)，  (2)
其中n(t)为噪声信号。
在步骤9130中可将信道系数进行恢复，这里以恢复γ11为例.
对发射载波频率为f1的接收信号，通过接收端对准f1的滤波器得到滤波并去除载波后的信号为：
y1(t)＝γ11·x1(t)+γ12·x2(t)+n(t)   (3)
通过发射信号x(t)对y1(t)进行扫描，估算每个目标的时延τj，并由此建立第j个目标反射信号xj(t)的估算值
Figure PCTCN2015090049-appb-000002
其中
Figure PCTCN2015090049-appb-000003
表示估算误差，则可得到
Figure PCTCN2015090049-appb-000004
如下：
Figure PCTCN2015090049-appb-000005
其中γ11为真实值，
Figure PCTCN2015090049-appb-000006
为恢复过程中产生的误差。由波形相关性可知，
Figure PCTCN2015090049-appb-000007
是一个很小的数值，可以忽略。同理可以恢复
Figure PCTCN2015090049-appb-000008
并根据y2(t)和
Figure PCTCN2015090049-appb-000009
恢复
Figure PCTCN2015090049-appb-000010
和
Figure PCTCN2015090049-appb-000011
获得频率f1和f2分别对应的接收信号部分的信道系数后，执行步骤9140，可以根据f1和f2扩展虚拟的载波频率。在该实施例中，可以扩展 出第三个和第四个载波频率，分别为2f1-f2和2f2-f1。进一步地，可以生成载波频率分别为2f1-f2和2f2-f1时对应的虚拟的接收信号部分(步骤9150)，分别对应的虚拟的接收信号部分分别为y′1(t)和y′2(t)。
Figure PCTCN2015090049-appb-000012
Figure PCTCN2015090049-appb-000013
根据已接收的接收信号和经过虚拟扩展出的虚拟的接收信号，可以在步骤9160将各个接收信号部分融合为一个接收信号。优选地，融合后的接收信号可以是原接收信号y(t)与虚拟的接收信号y′1(t)和y′2(t)的一个线性组合。该融合步骤9160可以由融合中心630执行。最后，在步骤9170，可以根据融合后的接收信号计算目标源的各项参数，包括但不限于方位、距离、高度、角度、相对速度、DOA等中的一种或多种。计算获得的目标源的参数可以保存在系统内，也可以传输至外部设备150。可以存储在外部设备150中，也可以由外部设备150进行展示。
在该实施例中，虚拟扩展出的虚拟接收信号的频率为2f1-f2和2f2-f1，但不表示该雷达通信系统仅能处理虚拟载波频率为2f1-f2和2f2-f1的情况。具体来说，该雷达通信系统可以处理虚拟载波频率为|nf1-mf2|，这里n，m为大于或等于1的正整数的情况。优选地，这里的正整数n，m应满足|n-m|＝1.
在该实施例中，我们以载波频率数量为两个进行了描述，但不表示该雷达通信系统仅能处理载波频率数量为两个的情况。该系统可以适用于载波频率数量为两个以上任何数量的任何发射信号。例如但不限于，当载波频率个数为4、6、8等偶数时，以2个载波频率为一组进行频率扩展，而当发射信号的载波频率个数为3、5、7等奇数时，可分别从中选取2、4、6个脉冲，再以2个载波频率为一组进行频率扩展。当进行虚拟扩展时，也可以根据虚拟扩展得到的信号特征继续进行扩展。
图10-A～E为该雷达通信系统运行时的一个具体实施例的实验结果 图。图中形象展示了该系统用于目标源距离计算时的实验结果。其中图10-A和图10-B是本发明所述算法在固定频率干扰下，采样点个数L＝2^9、SNR(Signal Noise Ratio，信噪比)＝15dB、发射信号与干扰信号的相关性系数u＝0.1、判决门限ε＝0.98、目标源个数为6个的条件下，RMSE(Root Mean Square Error，均方根误差)随信干比S/I(Signal/Interference，信号和干扰的功率比)的变化示意图；图10-C和图10-D是本发明提供的频率干扰从f3跳变到f1的示意图。
从图10-A和图10-B中可以看出，由于实际发射四个脉冲的算法存在频率干扰的影响，所以其性能受频率干扰影响比较明显，频率干扰越严重，其性能越差。而本发明所述的算法的性能则一直是优越的。从图10-C、图10-D和图10-E中可以看出，从频率干扰的跳变图示和RMSE随动态频率干扰下的变化图可知，在1-2个周期，因为实际发射两个脉冲信号载波频率f1、f2附近不存在干扰，本发明所涉及的算法利用没有干扰的接收信号进行虚拟扩展，根据分析可知，本发明所涉及的算法其性能较好；在3-4个周期内，由于频率干扰从f3跳变到f1，所以两个脉冲算法、实际增加脉冲个数算法和本发明所涉及的算法性能都在一定程度上变差。第5个周期发射端动态调整了发射信号的载波频率，所以在5-6个周期内，两个脉冲算法和本发明所涉及算法的性能又恢复到以前的较好性能效果，而实际增加脉冲个数算法的性能是较差的。
需要注意的是，本文中所描述的各个步骤、操作过程以及各模块或单元的功能等，可以按照文中所述的情况执行，也可以在一些情况下省略部分步骤或省略部分模块或单元。类似地，文中所描述的情况并不是实现文中所述实施例的优点所必须的，而仅仅只是为了便于演示、表达、描述和说明而提供。对于本领域的普通技术人员来说，可以根据不同的需求，增加或删减部分步骤，添加或删除部分模块或单元，也可以重复执行某些步骤，也可以重复利用部分模块或单元。
还应理解的是，本文中公开描述的结构和配置在本质上是示例性的，仅仅只是为了具体举例说明，这些具体实施例不应被视为具有限制意义，对于本领域的普通技术人员来说，可以根据不同的需求做出不同的变体。 另外，本文公开的主体包括在本文中公开的各种结构和配置，以及其他的特征、功能、和/或属性的所有新颖和非显而易见的组合及子组合。

Claims (22)

  1. 一种在雷达系统中的信号发射方法，其特征在于，所述信号发射方法包含：
    接收来自信号源的发射信号；
    从多个待选择的载波频率中检测干扰较小或没有干扰的频段；
    利用所述检测的频率产生载波信号；
    利用所述的载波信号对发射信号进行调制并发射。
  2. 根据权利要求1所述的方法，其特征在于所述的发射信号是高斯序列、多相码或者空时码。
  3. 根据权利要求1所述的方法，其特征在于所述的检测干扰较小或没有干扰的频段可以通过基于能量检测或特征检测的频谱感知方法。
  4. 一种在雷达系统中的参数估计方法，其特征在于，所述参数估计方法包含：
    接收目标源反射的信号；
    利用载波信号对应的滤波器对接收信号进行滤波；
    利用对应的载波频率将滤波后的接收信号下变频至基带信号；
    检测各频带的接收信号是否存在干扰；
    丢弃有干扰的接收信号；
    虚拟扩展接收信号；
    融合所述的无干扰接收信号和所述的虚拟扩展信号；
    利用融合信号估计目标源的参数。
  5. 根据权利要求4所述的参数估计方法，其特征在于所述的检测干扰可以通过分别检测各频带的接收信号和对应的发射信号之间的相关性系数判断。
  6. 根据权利要求5所述的参数估计方法，其特征在于当相关系数大于阈值时，所述的接收信号无干扰。
  7. 根据权利要求4所述的参数估计方法，其特征在于所述的虚拟 扩展可以基于两个或者多个不同的载波频率对应的接收信号进行扩展。
  8. 根据权利要求7所述的参数估计方法，其特征在于将所述的载波频率进行线性组合后作为虚拟扩展后的载波频率。
  9. 根据权利要求4所述的参数估计方法，其特征在于所述融合是指将无干扰的接收信号和虚拟扩展信号进行线性组合得到融合信号。
  10. 根据权利要求4所述的参数估计方法，其特征在于所述目标源的参数包括距离、高度、DOA和相对速度。
  11. 根据权利要求4所述的参数估计方法，其特征在于所述参数估计方法可以是ML算法、APES算法、ESPRIT算法、MUSIC算法、AV算法、Capon算法和GLRT算法。
  12. 一种在雷达系统，包括：
    接收端，接收来自信号源的发射信号；
    选择模块，从多个待选择的载波频率中检测干扰较小或没有干扰的频段；
    发射链路，利用所述检测的频率产生载波信号，利用所述的载波信号对发射信号进行调制并发射。
  13. 根据权利要求12所述的系统，其特征在于所述发射信号是高斯序列、多相码或者空时码。
  14. 根据权利要求12所述的系统，其特征在于所述的检测干扰较小或没有干扰的频段可以通过基于能量检测或特征检测的频谱感知方法。
  15. 一种雷达系统，包括：
    接收端，接收目标源反射的信号；
    接收链路，利用载波信号对应的滤波器对接收信号进行滤波；
    利用对应的载波频率将滤波后的接收信号下变频至基带信号；
    检测模块，检测各频带的接收信号是否存在干扰；丢弃有干扰的接收信号；
    扩展单元，虚拟扩展接收信号；
    融合中心，融合所述的无干扰接收信号和所述的虚拟扩展信号；
    计算模块，利用融合信号估计目标源的参数。
  16. 根据权利要求15所述的系统，所述检测干扰可以通过分别检测各频带的接收信号和对应的发射信号之间的相关性系数判断。
  17. 根据权利要求16所述的系统，其特征在于所述相关性系数大于阈值时，所述的接收信号无干扰。
  18. 根据权利要求15所述的系统，其特征在于所述虚拟扩展可以基于两个或者多个不同载波频率对应的接收信号进行扩展。
  19. 根据权利要求15所述的系统，其特征在于将所述的载波频率进行线性组合后作为虚拟扩展后的载波频率。
  20. 根据权利要求15所述的系统，其特征在于所述融合是指将无干扰的接收信号和虚拟扩展信号进行线性组合得到融合信号。
  21. 根据权利要求15所述的系统，其特征在于所述目标源的参数包括距离、高度、DOA和相对速度。
  22. 根据权利要求15所述的系统，其特征在于所述参数估计方法可以是ML算法、APES算法、ESPRIT算法、MUSIC算法、AV算法、Capon算法和GLRT算法。
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