WO2017069679A1 - Appareil radar et procédé avec détection d'interférence - Google Patents

Appareil radar et procédé avec détection d'interférence Download PDF

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Publication number
WO2017069679A1
WO2017069679A1 PCT/SE2016/050993 SE2016050993W WO2017069679A1 WO 2017069679 A1 WO2017069679 A1 WO 2017069679A1 SE 2016050993 W SE2016050993 W SE 2016050993W WO 2017069679 A1 WO2017069679 A1 WO 2017069679A1
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Prior art keywords
radar apparatus
region
interest
roi
operable
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PCT/SE2016/050993
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English (en)
Inventor
Thomas PERNSTÅL
Gary SMITH JONFORSEN
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Qamcom Technology Ab
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Publication of WO2017069679A1 publication Critical patent/WO2017069679A1/fr

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Classifications

    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • 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
    • G01S7/021—Auxiliary means for detecting or identifying radar signals or the like, e.g. radar jamming signals
    • 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
    • G01S7/023—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
    • G01S7/0232—Avoidance by frequency multiplex
    • 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
    • G01S7/0234—Avoidance by code multiplex
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
    • B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
    • B61L23/041—Obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L29/00—Safety means for rail/road crossing traffic
    • B61L29/24—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning
    • B61L29/28—Means for warning road traffic that a gate is closed or closing, or that rail traffic is approaching, e.g. for visible or audible warning electrically operated
    • B61L29/30—Supervision, e.g. monitoring arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/22—Systems for measuring distance only using transmission of interrupted, pulse modulated waves using irregular pulse repetition frequency
    • G01S13/222—Systems for measuring distance only using transmission of interrupted, pulse modulated waves using irregular pulse repetition frequency using random or pseudorandom pulse repetition frequency
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/343—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using sawtooth modulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/346—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using noise modulation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G01S13/347—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal using more than one modulation frequency
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/883—Radar or analogous systems specially adapted for specific applications for missile homing, autodirectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/46—Indirect determination of position data
    • G01S2013/468—Indirect determination of position data by Triangulation, i.e. two antennas or two sensors determine separately the bearing, direction or angle to a target, whereby with the knowledge of the baseline length, the position data of the target is determined

Definitions

  • the present disclosure relates to radar apparatus, for example radar apparatus that is operable to emit and receive electromagnetic radiation at a frequency of substantially 77 GHz for interrogating a spatial region.
  • the present disclosure concerns methods of operating aforesaid radar apparatus, for example methods of operating aforesaid radar apparatus for enabling the radar apparatus to distinguish more effectively between desired and interfering signals.
  • the present disclosure is concerned with computer program products comprising a non-transitory computer-readable storage medium having computer-readable instructions stored thereon, the computer-readable instructions being executable by a computerized device comprising processing hardware to execute aforesaid methods.
  • radar apparatus is well known and includes an emitting arrangement for emitting electromagnetic radiation towards a region of interest (ROI) and a receiving arrangement for receiving a portion of the emitted electromagnetic radiation that is reflected back in operation from the region of interest.
  • ROI region of interest
  • the radar apparatus is capable of mapping out the region of interest.
  • time-of-flight and Doppler frequency shift information included in the portion of the emitted electromagnetic radiation that is reflected back in operation from the region of interest enables one of more objects in the region of interest to be monitored, for example as in Doppler radar systems for selectively measuring speeds of road vehicles.
  • a radar apparatus that is arranged to transmit electromagnetic energy in pulse repetition intervals and to receive reflections or echoes of the transmitted electromagnetic energy from objects in range gates intended for such purpose, wherein the range gates are provided with Doppler filters.
  • the radar apparatus is arranged to approve ambiguous echoes that are desirable and to suppress ambiguous echoes that are of no interest or that interfere with a display function of the radar apparatus.
  • the radar apparatus operates with a frequency of electromagnetic radiation, that is emitted therefrom and is received thereat, that varies according to a staggered or wobbling temporal pattern.
  • the respective ambiguous echoes produce only one pulse in respective range gates concerned, within a predetermined number of periods.
  • a respective Doppler filter concerned is arranged to work with an impulse function response that only consists of a small number of samples.
  • the Doppler filter is also arranged, during the predetermined number of periods, to give rise to a plurality of independent samples from reflectors within the radar apparatus' unambiguous range. When the independent samples exceed a small number of samples, the radar apparatus approves the ambiguous echo; otherwise, it is suppressed. In such a manner, ambiguous echoes are prevented from interfering with reception at the radar apparatus, or display of the echoes on a display screen of the radar apparatus.
  • the suppression of asynchronous interferences for example pulses from other radar stations, can also be made easier in a simple way.
  • a radar apparatus that is capable of detecting continuously, for example for trapping and tracking a target in a military situation, even if interfering waves are transmitted from the target, when the target is a menace such as a enemy aircraft.
  • the radar apparatus utilizes information regarding interfering electromagnetic radiation, for example its centre frequency and a bandwidth of its signal components, emitted from the target. In operation, an operating frequency of the radar apparatus is changed to avoid a frequency regime in which the interfering electromagnetic radiation from the target occurs.
  • the system includes a transmitter for transmitting radar signals into a region, a receiver for receiving return signals of the radar signals returned from within the region, and a processor for processing the return signals to discriminate between return signals returned from a first object and return signals returned from a second object, where the return signals from the second object comprise both zero and non-zero Doppler components and interfere with the return signals from the first object.
  • the radar system is operable to discriminate between the return signals when the return signals are received at a distance from the second object that is less than a proximity limit based on the geometry of the object.
  • a detection and ranging apparatus including a probe signal generating unit that generates a probe signal according to a first modulation method. There is also included a transmitting unit that transmits the generated probe signal, and a receiving unit that receives a signal including at least one of a reflection signal and an interference signal according to a second modulation method. Moreover, there is also included a demodulating unit that demodulates the reception signal according to a method corresponding to at least one of the first modulation method and the second modulation method.
  • an interference signal detecting unit that detects the interference signal from the demodulated signal
  • an interference signal identifying unit that identifies specifications and a delay amount of the interference signal from the demodulated signal.
  • an interference signal removing unit that removes the interference signal within the reception signal by using the identified specifications and the identified delay amount of the interference signal.
  • a system that comprises a main antenna for radiating a transmitting radio wave onto a target and receiving a reflected wave therefrom.
  • a target detector for detecting the target from the reflected wave received by the antenna, and disturbing wave detecting means for receiving a disturbing wave and detecting its incoming direction and its transmission frequency.
  • a frequency control circuit that is operable to switch the transmission frequency of a radio wave transmitted from the antenna from a first frequency that is incoherent to the disturbing wave to a second frequency that is incoherent to the disturbing wave.
  • the radio wave transmitted from the antenna is used to identify the incoming direction of the disturbing wave, and returns the transmission frequency of the transmitted wave from the second frequency to the first frequency when the frequency of the transmitted wave is identified to be other than in the incoming direction.
  • the received reflection signal may be sampled, digitized, digitally preprocessed and digitally filtered in the individual distance gates.
  • a non-linear digital filter optionally a sliding median filter, is used for filtering purposes to suppress transient disturbances.
  • a median is determined from an odd number of consecutive sampled values of a reflection signal detected in operation within a distance gate.
  • interference can occur in operation of a given radar system, for example various forms of deliberate or coincidental interference, for example from on-board vehicle radar systems in a congested traffic situation.
  • radar systems are employed to provide automated braking and/or automated steering of vehicles on highways, such interference can potentially cause hazardous situations to arise. There is therefore a need to improve radar apparatus to make it less susceptible to interference.
  • the present disclosure seeks to provide an improved radar apparatus that is more effectively capable of distinguishing signals arising from one or more interfering sources in a region of interest (ROI) in comparison to reflections of interrogating radiation from one or more objects within the region of interest (ROI).
  • ROI region of interest
  • the present disclosure seeks to provide an improved method of operating a radar system for more effectively distinguishing signals arising from one or more interfering sources in a region of interest (ROI) in comparison to reflections of interrogating radiation from one or more objects within the region of interest (ROI).
  • ROI region of interest
  • radar apparatus including an antenna arrangement for emitting interrogating radiation to a region of interest (ROI) and for receiving corresponding reflected radiation from the region of interest (ROI), and a signal processing arrangement (DSP) for generating signals for providing the interrogating radiation and for processing received signals corresponding to the reflected radiation, characterized in that:
  • the radar apparatus is operable to emit repetitively in the interrogating radiation a sequence of test tones for interrogating the region of interest (ROI);
  • the signal processing arrangement is operable to process the reflected radiation to determine from test tone information included in the reflected radiation one or more objects in the region of interest (ROI);
  • the radar apparatus in a listening period between repetitive emission of the sequence of test tones, is operable to detect one or more interfering signals being emitted from the region of interest (ROI), for distinguishing signal components arising from the one or more objects from the one or more interfering signals.
  • ROI region of interest
  • the invention is of advantage in that the radar apparatus is susceptible to being operated for more effectively identifying the one or more sources of interrogating radiation by employing the sequence of test tones in combination with the listening period.
  • the radar apparatus is operable to detect at least one spatial range of at least one source giving rise to the one or more interfering signals. More optionally, the radar apparatus is operable to compute the at least one spatial range by employing at least one triangulation measurement, and to apply a Kalman filter to measurement results of the at least one triangulation measurement. Yet more optionally, in the radar apparatus, the Kalman filter is operable to employ a motion estimation of motion of the at least one source.
  • the radar apparatus is operable to generate the sequence of test tones to include one or more chirped tones.
  • the radar apparatus is operable to generate the sequence of test tones in a pseudo-random manner.
  • the radar apparatus is operable to vary at least one of:
  • the radar apparatus is operable to process received signals during the listening period in a plurality of time periods, and to detect for signal components corresponding to the one or more interfering signals for each of the plurality of time periods.
  • the radar apparatus is operable to emit to, and receiver radiation from, the region of interest (ROI) at an electromagnetic frequency range in a range of 30 GHz to 200 GHz, more optionally in a range of 50 GHz to 150 GHz, and yet more optionally substantially 77 GHz.
  • ROI region of interest
  • the radar apparatus is arranged to interrogate the region of interest (ROI), wherein the region of interest (ROI) includes at least one of: (a) a railway crossing;
  • a method of using radar apparatus including an antenna arrangement for emitting interrogating radiation to a region of interest (ROI) and for receiving corresponding reflected radiation from the region of interest (ROI), and a signal processing arrangement (DSP) for generating signals for providing the interrogating radiation and for processing received signals corresponding to the reflected radiation, characterized in that the method includes:
  • the radar apparatus in a listening period between repetitive emission of the sequence of test tones, is operable to detect one or more interfering signals being emitted from the region of interest (ROI), for distinguishing signal components arising from the one or more objects from the one or more interfering signals.
  • ROI region of interest
  • the method includes operating the radar apparatus to detect at least one spatial range of at least one source giving rise to the one or more interfering signals. More optionally, the method includes operating the radar apparatus to compute the at least one spatial range by employing at least one triangulation measurement, and to apply a Kalman filter to measurement results of the at least one triangulation measurement. Yet more optionally, the method includes using a Kalman filter that is operable to employ a motion estimation of motion of the at least one source. Optionally, the method includes operating the radar apparatus to generate the sequence of test tones to include one or more chirped tones.
  • the method includes operating the radar apparatus to generate the 5 sequence of test tones in a pseudo-random manner.
  • the method includes operating the radar apparatus to vary at least one of:
  • the method includes operating the radar apparatus to process received signals during the listening period in a plurality of time periods, and to detect for signal components corresponding to the one or more interfering signals for each of the plurality of time periods.
  • the method includes operating the radar apparatus to emit to, and receiver radiation from, the region of interest (ROI) at an electromagnetic frequency range in a range of 30 GHz to 200 GHz, more optionally in a range of 50 GHz to 150 GHz, and yet more optionally substantially 77 GHz.
  • ROI region of interest
  • the method includes arranging tor the radar apparatus to interrogate the region of interest (ROI), wherein the region of interest (ROI) includes at least one of: (a) a railway crossing;
  • a computer program product comprising a non-transitory computer-readable storage medium having computer-readable instructions stored thereon, the computer-readable instructions being executable by a computerized device comprising processing hardware to execute a method pursuant to the second aspect.
  • FIG. 1 is a schematic illustration of a radar apparatus pursuant to the present disclosure for interrogating a region of interest (ROI);
  • FIG. 2 is a graph illustrating a regime of test frequencies, which are optionally chirped, with listening periods therebetween; and
  • FIG. 3 is a graph illustrating a frequency and amplitude distribution for test and interfering signals of the radar apparatus of FIG. 1 when in operation.
  • an underlined number is employed to represent an item over which the underlined number is positioned or an item to which the underlined number is adjacent.
  • a non-underlined number relates to an item identified by a line linking the non-underlined number to the item.
  • the non-underlined number is used to identify a general item at which the arrow is pointing.
  • radar apparatus including an antenna arrangement for emitting interrogating radiation to a region of interest (ROI) and for receiving corresponding reflected radiation from the region of interest (ROI), and a signal processing arrangement (DSP) for generating signals for providing the interrogating radiation and for processing received signals corresponding to the reflected radiation, characterized in that: (i) the radar apparatus is operable to emit repetitively in the interrogating radiation a sequence of test tones for interrogating the region of interest (ROI);
  • the signal processing arrangement is operable to process the reflected radiation to determine from test tone information included in the reflected radiation one or more objects in the region of interest (ROI);
  • the radar apparatus in a listening period between repetitive emission of the sequence of test tones, is operable to detect one or more interfering signals being emitted from the region of interest (ROI), for distinguishing signal components arising from the one or more objects from the one or more interfering signals.
  • ROI region of interest
  • the radar apparatus pursuant to the first aspect is susceptible to being operated for more effectively identifying the one or more sources of interrogating radiation by employing the sequence of test tones in combination with the listening period.
  • the radar apparatus is operable to detect at least one spatial range of at least one source giving rise to the one or more interfering signals. More optionally, the radar apparatus is operable to compute the at least one spatial range by employing at least one triangulation measurement, and to apply a Kalman filter to measurement results of the at least one triangulation measurement. Yet more optionally, in the radar apparatus, the Kalman filter is operable to employ a motion estimation of motion of the at least one source.
  • the radar apparatus is operable to generate the sequence of test tones to include one or more chirped tones.
  • the radar apparatus is operable to generate the sequence of test tones in a pseudo-random manner.
  • the radar apparatus is operable to vary at least one of: a duration of the listening period; and
  • the radar apparatus is operable to process received signals during the listening period in a plurality of time periods, and to detect for signal components corresponding to the one or more interfering signals for each of the plurality of time periods.
  • the radar apparatus is operable to emit to, and receiver radiation from, the region of interest (ROI) at an electromagnetic frequency range in a range of 30 GHz to 200 GHz, more optionally in a range of 50 GHz to 150 GHz, and yet more optionally substantially 77 GHz.
  • ROI region of interest
  • the radar apparatus is arranged to interrogate the region of interest (ROI), wherein the region of interest (ROI) includes at least one of:
  • a method of using radar apparatus including an antenna arrangement for emitting interrogating radiation to a region of interest (ROI) and for receiving corresponding reflected radiation from the region of interest (ROI), and a signal processing arrangement (DSP) for generating signals for providing the interrogating radiation and for processing received signals corresponding to the reflected radiation, characterized in that the method includes:
  • the radar apparatus is operable to detect one or more interfering signals being emitted from the region of interest (ROI), for distinguishing signal components arising from the one or more objects from the one or more interfering signals.
  • the method includes operating the radar apparatus to detect at least one spatial range of at least one source giving rise to the one or more interfering signals. More optionally, the method includes operating the radar apparatus to compute the at least one spatial range by employing at least one triangulation measurement, and to apply a Kalman filter to measurement results of the at least one triangulation measurement. Yet more optionally, the method includes using a Kalman filter that is operable to employ a motion estimation of motion of the at least one source.
  • the method includes operating the radar apparatus to generate the sequence of test tones to include one or more chirped tones.
  • the method includes operating the radar apparatus to generate the 5 sequence of test tones in a pseudo-random manner.
  • the method includes operating the radar apparatus to vary at least one of:
  • the method includes operating the radar apparatus to process received signals during the listening period in a plurality of time periods, and to detect for signal components corresponding to the one or more interfering signals for each of the plurality of time periods.
  • the method includes operating the radar apparatus to emit to, and receiver radiation from, the region of interest (ROI) at an electromagnetic frequency range in a range of 30 GHz to 200 GHz, more optionally in a range of 50 GHz to 150 GHz, and yet more optionally substantially 77 GHz.
  • ROI region of interest
  • the method includes arranging tor the radar apparatus to interrogate the region of interest (ROI), wherein the region of interest (ROI) includes at least one of: (a) a railway crossing;
  • a computer program product comprising a non-transitory computer-readable storage medium having computer-readable instructions stored thereon, the computer-readable instructions being executable by a computerized device comprising processing hardware to execute a method pursuant to the second aspect.
  • the radar apparatus 10 employs, when in operation, a method of detecting interferences in all spatial directions of operation of the radar apparatus 10, via use of several continuous wave (CW) signals, for example by employing radar signals that have a principal frequency component in a range of 76.0 GHz to 76.5 GHz, that are relatively short in duration, for example less than 50 millisecond (ms); between periods of transmitting and correspondingly receiving radar signals, the radar apparatus 10 employs, temporally, a listening period in which interfering signals are detected by the radar apparatus 10.
  • CW continuous wave
  • a pulse train for example a pulse train having a period in a range of 2 ms to 20 ms, for example substantially a pulse train having a duration of 5 ms, for transmitting and correspondingly receiving, radar signals
  • electromagnetic radar radiation is employed to interrogate a given spatial region of interest (ROI), with a listening period therebetween that is less than 2 ms, for example less than 1 ms, for listening for interfering signals originating from the region of interest (ROI) 20.
  • the listening period is in a range of 2% to 30% of a total repetition period, wherein the total repetition period is a sum of the pulse train and the listening period.
  • the radar apparatus 10 is operable to scan to determine a magnitude, frequency location and direction of one or more sources of disturbance and/or interference 30 present within the region of interest (ROI) 20.
  • the radar apparatus 10 is operable either to select suitable frequencies of its own transmitted radar energy or to employ interference suppression algorithms.
  • the radar apparatus 10 is operable to detect the one or more sources of disturbance and/or interference 30, and, as a result, modify, namely adapt, its operating parameters so that interference is reduced, thereby improving operation of the radar apparatus 10.
  • the radar apparatus 10 is operable to estimate a range of a given interfering source of disturbance and/or interference 30, giving rise to interfering signals in the listening period by employing a multiple range model, namely a hypothesis, that is based upon utilizing several listening interval measurements. Such an approach enables the source 30 to be identified with a greater degree of certainty, and its distance determined from temporal computations.
  • the radar apparatus 10 is operable to employ triangulation, namely measurements performed at two or more spatial locations of the radar apparatus 10 relative the source 30, for determining a pattern of motion of the source 30.
  • a probability namely a likelihood, of a hypothesis of the source 30 being within a given assumed range from the radar apparatus 10; such determination is, for example, usefully implemented using a Kalman filter or similar approach.
  • the radar apparatus 10 is also assisted to detect sources 30 that are operating with an intention to cause interference, but evading detection by intelligently becoming silent during the listening period of the radar apparatus 10, for example when the sources 30 are malicious with an intention of confusing the radar apparatus 10.
  • a Kalman filter also known as a "linear quadratic estimation” , is an algorithm that uses a series of temporal measurements, containing statistical noise, for example stochastic noise, and other inaccuracies, and produces estimates of unknown variables that tend to be more precise than those based on a single measurement alone.
  • the Kalman filter algorithm functions in a two-step process including: (i) a first prediction step, wherein the Kalman filter estimates a current state of one or more variables, together with their associated uncertainties; and
  • the radar signals employed in the radar apparatus 10, to provide corresponding electromagnetic radar radiation for interrogating the region of interest (ROI) 20 and to receive corresponding reflected electromagnetic radiation therefrom is a chirped signal, namely a temporally frequency swept signal.
  • FIG. 2 there is shown a temporal graph of a signal employed by the radar apparatus 10 when in operation.
  • the radar apparatus 10 is operable to employ the signal to generate interrogating radiation 50 to emit towards the region of interest (ROI) 20, and to receive at the radar apparatus 10 corresponding reflected radiation 60 from the region of interest (ROI) 20.
  • the signal corresponds to a plurality of different frequency steps 70A, 70B, 70C, 70D and so forth, for example wherein a chirp frequency sweep is employed within each step, following by a listening period 80, during which the radar apparatus 10 is operable to listen to potentially interfering signals generated within the region of interest (ROI) 20.
  • the frequency steps 70A, 70B, 70C, 70D and so forth optionally employ a sequence of operating frequencies that are repeated after each listening period; such a repeated form of signal is beneficially correlated with the reflected radiation from the region of interest (ROI) 20 during detection, to achieve an improved reliability of detection of one or more objects in the region of interest (ROI) 20.
  • the frequency steps 70A, 70B, 70C, 70D and so forth are optionally varied in a pseudo-random manner to prevent hostile interfering sources in the region of interest (ROI) 20 from recognizing the sequence of steps 70A, 70B, 70C, 70D and so forth and deliberately attempting to disrupt operation of the radar apparatus 10; again, aforementioned correlation of the reflected radiation 60, as a corresponding received signal in the radar apparatus 10, with pseudo-random changes employed when generating the interrogating radiation 50, is able to enable the radar apparatus 10 to detect more reliably one or more objects in the region of interest (ROI) 20.
  • embodiments of the present disclosure employ a special form of radar signal in the radar apparatus 10, including a period for listening for interfering radar radiation from other sources in the region of interest (ROI) 20.
  • an abscissa axis 100 denotes increasing frequency from left to right
  • an ordinate axis 110 denotes increasing amplitude from bottom to top
  • a 76.5 GHz jamming signal 120 emitted from the region of interest (ROI) 20, for example from a source of noise or interfering radiation
  • the radar apparatus 10 pursuant to the present disclosure is operable to select a 76.0 GHz operation with a chirp to substantially 76.5 GHz, namely is operable to employ chirped signals at various CW test frequencies denoted by 130;
  • a 5 ms pulse train of chirp signals is emitted from the radar apparatus 10 as the interrogating radiation 50 to the region of interest (ROI) 20, after which a 1 msec (ms) listening period is employed to listen for identifying interfering radiation being generated in the region of interest (ROI) 20.
  • the duration of the pulse trains is varied, for example in a predetermined or pseudo-random manner, to circumvent a situation that an interfering source present in the region of interest (ROI) 20 becomes aware of the manner of operation of the radar apparatus 10, and synchronizes to be inactive during the listening period of the radar apparatus 10, thereby attempting to avoid detection.
  • ROI region of interest
  • the radar apparatus 10 is operable to partition the listening period into a plurality of temporal portions, for example by using time-gates in the radar apparatus 10, and to analyze signals generated by interfering sources in the region of interest (ROI) 20 for each of these temporal portions; such an approach is advantageously combined with making the pulse train period and/or the listening period temporally varying, for example in a pre-determ ined or pseudorandom manner; in such case, it is very difficult for an interfering source of radiation present in the region of interest (ROI) 20 to evade detection for any extensive period of time.
  • ROI region of interest
  • Frequency modulated continuous wave (FMCW) radar systems employ chirp bandwidths of several 100 MHz.
  • chirped signals are emitted in operation as the interrogating radiation 50 to the region of interest (ROI) 20, resulting in reflected radiation 60 being reflected therefrom.
  • the reflected radiation 60 is de-chirped with reference to a given signal employed to generate the interrogating radiation 50, wherein such de-chirping demodulates the received reflected radiation 60 down to baseband signals for subsequent processing in the radar apparatus 10, for example for time-gating and/or correlation algorithms.
  • the radar apparatus 10 there are employed a plurality of continuous wave (CW) tones covering an instantaneous bandwidth of the radar waveform employed; it is then feasible to process a signal corresponding to the reflected radiation 60 to determine a spatial location, frequency range and emitting power of one or more interfering sources within the region of interest 20.
  • the frequency steps employed between the individual continuous wave (CW) frequencies corresponds to a baseband bandwidth of a receiver section of the radar apparatus 10 for processing a signal corresponding to the reflected radiation 60 from the region of interest (ROI) 20.
  • a CW tone and a de-chirped baseband signal will comprise not only the return of the CW-tone, but also the interferences close to this CW tone, up to a maximum bandwidth of the baseband receiver section.
  • the radar apparatus 10 employs an array of antenna elements for generating the interrogating radiation 50 for interrogating the region of interest (ROI) 20, and also an array of antenna elements for receiving the reflected radiation 60 from the ROI.
  • ROI region of interest
  • a same array of antenna elements is employed both for emitting the interrogating radiation 50 and also receiving the reflected radiation 60.
  • signal processing functions within the radar apparatus 10 are advantageously implemented using one or more fast processors to provide digital signal processing (DSP), for generating the interrogating radiation 50 and processing the received radiation 60; for example, the one or more fast processors are advantageously implemented as one or more reduced instruction set computers (RISC), or an array of such RISC.
  • the one or more fast processors are operable to execute one or more software products, including computer instructions.
  • the radar apparatus 10 is capable of being used in many fields of application, for example:
  • on-vehicle radar systems for example for automatic vehicle braking systems and/or automatic vehicle steering systems, for example for use in autonomous self-steering vehicles; for monitoring safety-critical areas, for example railway level-crossings; for use in intruder alarm systems, for example for detecting unauthorized personnel; for use in airborne projectile guidance, for example for guiding high-velocity guided mortars; for use in obstacle detection in automated agricultural equipment, for example for use in automated combine harvesters, ploughing equipment, automated fruit picking apparatus, and so forth; for use on harbour (“harbor"; US English) facilities, for example for guiding automated equipment for handling ship containers; and so forth.
  • on-vehicle radar systems for example for automatic vehicle braking systems and/or automatic vehicle steering systems, for example for use in autonomous self-steering vehicles; for monitoring safety-critical areas, for example railway level-crossings; for use in intruder alarm systems, for example for detecting unauthorized personnel; for use in airborne projectile guidance, for example for guiding high-velocity guided mortars;
  • the radar apparatus 10 is optionally arranged to operate at radiation frequencies in a range of 30 GHz to 200 GHz, more optionally in a range of 50 GHz to 150 GHz, and yet more optionally in a range of 60GHz to 100 GHz.
  • the radar apparatus 10 is advantageously operable to avoid using test tones in the pulse train corresponding to a frequency of emission of the one or more interfering sources present in the region of interest (ROI, 20) as determined by the radar apparatus 10 during the listening period 80.

Abstract

L'invention concerne un appareil radar (10) qui comprend un agencement d'antenne pour émettre un rayonnement d'interrogation (50) vers une région d'intérêt (ROI, 20) et pour recevoir un rayonnement réfléchi correspondant (60) en provenance de la région d'intérêt (ROI, 20), et un agencement de traitement de signaux (DSP) pour générer des signaux pour fournir le rayonnement d'interrogation (50) et pour traiter des signaux reçus correspondant au rayonnement réfléchi (60). De plus, l'appareil radar (10) peut fonctionner pour émettre de manière répétée dans le rayonnement d'interrogation (50) une séquence de tonalités d'essai pour interroger la région d'intérêt (ROI, 20) et l'agencement de traitement de signaux (DSP) est opérationnel pour traiter le rayonnement réfléchi (60) pour déterminer à partir des informations de tonalité de test incluses dans le rayonnement réfléchi (60) un ou plusieurs objets dans la région d'intérêt (ROI, 20). Dans une période d'écoute (80) dans l'émission répétitive de la séquence de tonalités d'essai, l'appareil radar (10) peut être mis en œuvre pour détecter un ou plusieurs signaux d'interférence émis par la région d'intérêt (ROI, 20), permettant de distinguer les composantes de signal provenant d'un ou de plusieurs objets parmi un ou plusieurs signaux d'interférence.
PCT/SE2016/050993 2015-10-19 2016-10-13 Appareil radar et procédé avec détection d'interférence WO2017069679A1 (fr)

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