WO2017175427A1 - 周波数変調回路、fm-cwレーダおよび高速変調レーダ - Google Patents
周波数変調回路、fm-cwレーダおよび高速変調レーダ Download PDFInfo
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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
- G01S7/40—Means for monitoring or calibrating
-
- 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
-
- 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
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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
- 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
- G01S13/345—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 triangular 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
- 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
- G01S7/35—Details of non-pulse systems
-
- 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
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4008—Means for monitoring or calibrating of parts of a radar system of transmitters
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03C—MODULATION
- H03C3/00—Angle modulation
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03J—TUNING RESONANT CIRCUITS; SELECTING RESONANT CIRCUITS
- H03J7/00—Automatic frequency control; Automatic scanning over a band of frequencies
- H03J7/02—Automatic frequency control
- H03J7/04—Automatic frequency control where the frequency control is accomplished by varying the electrical characteristics of a non-mechanically adjustable element or where the nature of the frequency controlling element is not significant
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
- H03L7/00—Automatic control of frequency or phase; Synchronisation
- H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
- H03L7/08—Details of the phase-locked loop
- H03L7/085—Details of the phase-locked loop concerning mainly the frequency- or phase-detection arrangement including the filtering or amplification of its output signal
-
- 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
- G01S7/35—Details of non-pulse systems
- G01S7/352—Receivers
- G01S7/358—Receivers using I/Q processing
Definitions
- the present invention relates to a radar frequency modulation circuit that performs frequency modulation, an FM-CW radar, and a high-speed modulation radar.
- a conventional FM-CW radar that employs an FM-CW (Frequency Modulated-Continuous Waves) system with a relatively simple circuit configuration uses the frequency of a beat signal between a frequency-modulated transmission signal and a reception signal reflected from a target. Measure and calculate the relative distance and relative speed with the target.
- a conventional FM-CW radar that employs the FM-CW system is provided with a voltage controlled oscillator (VCO) that is a voltage-controlled oscillator.
- VCO voltage controlled oscillator
- the VCO outputs an oscillation frequency signal that is frequency-modulated according to the modulation control voltage, and this oscillation frequency signal requires high modulation linearity.
- the VCO is a semiconductor device whose frequency is controlled by voltage, it exhibits nonlinear frequency characteristics with respect to voltage. Further, the frequency characteristics of the VCO fluctuate due to variations in individual differences or temperature characteristics. For this reason, it is essential to adjust the modulation linearity by measuring the oscillation frequency signal of the VCO in the shipping inspection process, which is an obstacle to reducing the inspection time during mass production.
- the conventional FM-CW radar represented by Patent Document 1 corrects the oscillation frequency signal of the VCO with a modulation control voltage LUT (Look Up Table), or a frequency modulation circuit.
- a modulation control voltage LUT Look Up Table
- the characteristics of the VCO due to deterioration over time after shipment can be dealt with.
- the conventional FM-CW radar represented by Patent Document 1 is an IF signal that is an intermediate frequency signal obtained by frequency-dividing the oscillation frequency signal of the VCO with a frequency divider DIV (Divider) and then down-converting the local signal.
- the (Intermediate Frequency) signal is converted into a digital signal by an analog-to-digital converter (ADC) that is an analog-to-digital converter.
- ADC analog-to-digital converter
- the instantaneous frequency is measured by the microcomputer from the instantaneous phase information of the IF signal by the orthogonal demodulation method.
- the microcomputer is referred to as a microcomputer.
- the oscillation frequency of the VCO is calculated from the frequency of the local signal and the frequency division number, the time-frequency data measured by the orthogonal demodulation method is poor in measurement accuracy, and high frequency modulation linearity is obtained even by feedback control. There was a problem that I could not.
- the present invention has been made in view of the above, and an object thereof is to obtain a frequency modulation circuit capable of obtaining high frequency modulation linearity.
- a frequency modulation circuit of the present invention includes a digital-analog converter that outputs modulation control time voltage data, and a modulation control time voltage data output from the digital analog converter.
- the frequency divider that divides and outputs the oscillation frequency signal of the voltage controlled oscillator, and the frequency conversion that down-converts the divided signal output from the frequency divider Converter, a single-phase differential converter that converts a single-phase intermediate frequency signal output from the frequency converter into a differential signal, and a differential signal that is output from the single-phase differential converter.
- Frequency is measured based on the analog-digital converter that converts the signal into a digital signal and the differential signal of each analog-digital converter. And updates the modulation control time voltage data based on the frequency, characterized in that a signal processing circuit for correcting the time error of the oscillation frequency signal of the voltage controlled oscillator.
- the figure which shows the frequency modulation circuit of FM-CW radar which concerns on embodiment of this invention The flowchart which shows the modulation correction operation in the microcomputer shown in FIG. Timing chart for explaining the modulation correction operation in the microcomputer shown in FIG.
- the figure which shows the structure which measures a frequency from phase information by an orthogonal demodulation system using the IF signal input into the signal processing circuit shown in FIG. The figure for demonstrating the time calculation method in the signal processing circuit shown in FIG.
- the figure which shows the comparative example with respect to FM-CW radar which concerns on embodiment of this invention The figure which shows the 1st modification of the FM-CW radar which concerns on embodiment of this invention
- the figure which shows the 2nd modification of the FM-CW radar which concerns on embodiment of this invention The figure which shows the 3rd modification of the FM-CW radar which concerns on embodiment of this invention
- the figure which shows the 4th modification of the FM-CW radar which concerns on embodiment of this invention The figure which shows the 5th modification of the FM-CW radar which concerns on embodiment of this invention
- the figure which shows the high-speed modulation radar which concerns on embodiment of this invention The figure showing the frequency specification in FM-CW radar concerning an embodiment of the invention
- FIG. 1 is a diagram showing a frequency modulation circuit of an FM-CW radar according to an embodiment of the present invention.
- the FM-CW radar 100-1 shown in FIG. 1 includes a frequency modulation circuit 110-1, a transmission antenna 1 connected to the frequency modulation circuit 110-1, and a reception antenna 14 connected to the frequency modulation circuit 110-1. Is provided.
- the frequency modulation circuit 110-1 generates a triangular wave voltage signal that is a modulation control voltage based on the modulation signal output from the high frequency circuit 2 connected to the transmission antenna 1 and the reception antenna 14 and the high frequency circuit 2 to generate the high frequency circuit 2 And a signal processing circuit 6 for outputting to the VCO 5.
- the frequency modulation circuit 110-1 includes a single-phase differential converter 18, a baseband amplifier circuit 11, an LPF (Low Pass Filter) 24, an LPF 25, a control circuit 15, and an ambient temperature monitor 23.
- the high frequency circuit 2 generates an oscillation frequency signal, which is a modulation signal frequency-modulated by the modulation control voltage transmitted from the signal processing circuit 6, and outputs most of the output of the VCO 5 to the amplifier 3, and the remaining output Is provided as a local signal to a MIX (Mixer) 12 that is a frequency converter.
- the high frequency circuit 2 amplifies the output of the power distributor 4 and outputs the amplified signal to the transmission antenna 1, the low noise amplifier 13 that amplifies the reception signal received by the reception antenna 14, and the amplification by the low noise amplifier 13.
- the MIX 12 is provided by down-converting the converted signal into an IF signal using a local signal.
- the high frequency circuit 2 also divides and outputs the frequency signal of the oscillation frequency signal of the VCO 5, a reference frequency generator 21 that outputs a local signal, a frequency-divided signal output from the DIV 19, and an output from the reference frequency generator 21. And a MIX 20 that mixes with the local signal and down-converts the frequency-divided signal into an IF signal using the local signal.
- the frequency of the IF signal corresponds to the difference frequency between the frequency of the divided signal and the frequency of the local signal.
- Each element of the high-frequency circuit 2 is configured by MMIC (Microwave Monolithic IC).
- the single-phase differential converter 18 converts a single-phase IF signal output from the MIX 20, that is, a single-ended signal, into a differential signal and outputs the differential signal.
- the LPF 25 suppresses and outputs unnecessary waves and noise of the positive-phase differential signal output from the single-phase differential converter 18.
- the LPF 24 suppresses unnecessary waves and noise of the negative-phase differential signal output from the single-phase differential converter 18 and outputs the result.
- the baseband amplifier circuit 11 amplifies the output signal of the MIX 12 and outputs it as a received signal.
- the output signal of the LPF 24 is input to the ADC 16 in the signal processing circuit 6, and the output signal of the LPF 25 is input to the ADC 17 in the signal processing circuit 6, and is used for updating the triangular wave voltage signal data in the LUT 22.
- the signal processing circuit 6 includes a microcomputer 10 that is a main circuit unit that mainly performs transmission processing and measurement processing, and a digital analog that converts a triangular wave voltage signal transmitted from the microcomputer 10 into an analog signal and outputs the analog signal to the VCO 5 of the high-frequency circuit 2. It includes a DAC (Digital to Analog Converter) 7 that is a converter.
- DAC Digital to Analog Converter
- the signal processing circuit 6 also converts an ADC 16 that converts the output signal of the LPF 24 into a digital signal, an ADC 17 that converts the output signal of the LPF 25 into a digital signal, and a received signal output from the baseband amplifier circuit 11 into a digital signal.
- ADC 9 for outputting to the microcomputer 10 is provided.
- the microcomputer 10 includes a LUT 22 that stores data for a triangular wave voltage signal applied to the VCO 5 and a nonvolatile memory 8.
- An ambient temperature monitor 23 that measures the ambient temperature of the microcomputer 10 is connected to the microcomputer 10.
- the control circuit 15 controls various control voltages supplied to each MMIC in the high-frequency circuit 2 by the microcomputer 10. Specifically, since each MMIC in the high-frequency circuit 2 varies depending on the manufacturing lot, the control voltage value adjusted and determined for each MMIC is stored in the nonvolatile memory in the microcomputer 10 for actual operation. The microcomputer 10 sometimes reads the control voltage value from the nonvolatile memory 8 and supplies it to each MMIC in the high-frequency circuit 2 via the control circuit 15.
- the VCO 5 is an FM-CW which is a high-frequency oscillation frequency signal composed of an ascending modulation signal whose frequency rises within a certain period and a descending modulation signal whose frequency falls within a certain period by a triangular wave voltage signal output from the signal processing circuit 6. Generate a signal.
- the FM-CW signal is input to the power distributor 4, most of which is supplied to the transmission antenna 1, and millimeter wave radio waves are emitted from the transmission antenna 1 toward the target.
- the remaining FM-CW signals are supplied to the MIX 12 as local signals.
- the reflected wave reflected by the target is captured by the receiving antenna 14 and input to the MIX 12 as a received signal.
- the MIX 12 mixes the received signal from the receiving antenna 14 and the local signal from the power distributor 4 and outputs a beat signal having a frequency corresponding to the frequency difference between the two signals. This beat signal is amplified to an appropriate level by the baseband amplifier circuit 11 and input to the microcomputer 10 via the ADC 9.
- the microcomputer 10 obtains the distance to the target object and the relative speed from the frequency in the rising modulation period and the frequency in the falling modulation period in the input beat signal, and calculates the relative distance information to the target object and the target object.
- a signal processing unit 10-1 for outputting relative speed information is provided.
- the information output from the signal processing unit 10-1 is transmitted to the vehicle control unit 200 provided in the vehicle on which the FM-CW radar 100-1 is mounted.
- the vehicle control unit 200 has a function of comprehensively controlling the operation of the vehicle on which the FM-CW radar 100-1 is mounted.
- the vehicle control unit 200 performs processes such as clutter removal and target identification based on these pieces of information.
- the FM-CW signal of VCO 5 is dropped to a frequency of 1 / integer by DIV 19 and input to MIX 20.
- MIX 20 the frequency-divided signal output from DIV 19 and the local signal output from reference frequency generator 21 are mixed and an IF signal is output.
- the IF signal is converted into a differential signal by the single-phase differential converter 18, and the differential signal is input to the microcomputer 10 via the ADC 16 and ADC 17 after unnecessary waves and noise are removed by the LPF 24 and LPF 25.
- the microcomputer 10 measures the frequency from the phase information of the IF signal by the quadrature demodulation method, performs correction processing using the measurement result, and obtains a voltage table necessary for ensuring the modulation linearity of the frequency of the oscillation frequency signal. Calculate and update the control voltage LUT 22. As a result, the data for the triangular wave voltage signal output in the next cycle with respect to the VCO 5 is updated. The updated triangular wave voltage signal data is converted by the DAC 7 into an analog signal which is modulation control time voltage data and input to the VCO 5.
- the initial value of the modulation control data is stored in the microcomputer 10 as a predetermined default chirp data, and a measure is taken such that it is not output until the LUT 22 is updated after the frequency is measured.
- FIG. 2 is a flowchart showing the modulation correction operation in the microcomputer shown in FIG.
- FIG. 3 is a timing chart for explaining the modulation correction operation in the microcomputer shown in FIG.
- the waveform of the modulation control voltage is shown on the upper side of FIG. 3.
- a modulation frequency characteristic is shown on the lower side of FIG.
- Reference numerals (1) to (8) shown in FIG. 3 correspond to the numbers S1 to S8 shown in FIG.
- the VCO 5 When the microcomputer 10 outputs the modulation control voltage of the default chirp, the VCO 5 outputs a modulation signal of the default chirp corresponding to this modulation control voltage (S1), and the microcomputer 10 measures the frequency of the first VCO frequency division signal. (S2).
- the voltage-frequency data for the default chirp data is approximated by an nth-order polynomial (n is an integer of 2 or more), for example, a cubic function, and a voltage table necessary for ensuring linearity is calculated from the result. In this calculation, modulation correction is performed by inverse function correction (S3).
- the VCO 5 When the microcomputer 10 outputs the modulation control voltage after the inverse function correction, the VCO 5 outputs a modulation signal corresponding to the modulation control voltage (S4), and the microcomputer 10 measures the frequency of the VCO frequency division signal for the second and subsequent times. (S5).
- the microcomputer 10 approximates the time-frequency data by n-order polynomial approximation, for example, cubic function approximation, calculates the time error with respect to the ideal frequency line at the second and subsequent updates of the LUT 22, and corrects each time data. This calculation is modulation correction by time error correction (S6).
- the VCO 5 By outputting the modulation control voltage after the time error correction, the VCO 5 outputs a modulation signal corresponding to this modulation control voltage (S7), and the modulation correction is completed (S8).
- the modulation frequency is corrected to the waveform shown in (8) of FIG.
- FIG. 4 is a diagram showing a configuration for measuring the frequency from the phase information by the orthogonal demodulation method using the IF signal inputted to the signal processing circuit shown in FIG.
- the ADC 16 and the ADC 17 correspond to the ADC 16 and the ADC 17 shown in FIG. 1, and after the IF signal is digitized, the microcomputer 10 calculates V ′ by performing differential arithmetic processing.
- the microcomputer 10 includes an LPF 10-2, a MIX 10-3, a frequency generation unit 10-4, a MIX 10-5, an LPF 10-6, an LPF 10-7, an instantaneous phase difference calculation unit 10-8, an instantaneous frequency calculation unit 10-9, and a multiplication Part 10-10.
- Quadrature demodulation processing is performed by the MIX 10-3, the frequency generator 10-4, the MIX 10-5, and the multiplier 10-10.
- the data sampled by the ADC 16 is separated into two signals of an I (In-phase) component and a Q (Quadrature) component by quadrature detection.
- the digital IF signal harmonics and unwanted wave components are suppressed.
- the quadrature detection by the multiplier 10-10 separates the IF signal into two signals, an I (In-phase) signal and a Q (Quadrature) signal, and then the second-stage LPFs 10-6 and 10-7
- the sum frequency component (f IF + f Lo ) at the time of multiplication processing is suppressed, and only the difference frequency component (f IF ⁇ f Lo ) is passed.
- ⁇ Tan ⁇ 1 (Q / I) of the IF signal is calculated from the I signal and the Q signal by the instantaneous phase difference calculation unit 10-8
- the instantaneous frequency of the IF signal is calculated by the instantaneous frequency calculation unit 10-9.
- f ⁇ / ⁇ t is measured.
- ⁇ t is a time step.
- FIG. 5 is a diagram for explaining a time calculation method in the signal processing circuit shown in FIG.
- FIG. 6 is a diagram for explaining an ideal frequency curve calculation method in the signal processing circuit shown in FIG. 5 and 6, the horizontal axis represents time, and the vertical axis represents frequency.
- Time-frequency data f DETECT1 (t) is approximated by an nth order polynomial in the relationship between time and frequency. Equation (1) below shows frequency measurement data f DETECT1, A (t) after polynomial approximation. Further, when the following formula (1) is expanded to the i-th discrete data, the following formula (2) is obtained. a n , a n ⁇ 1 ,... a 0 (n is a natural number) are coefficients, and ⁇ t is a time step.
- Time error ⁇ t (t) is calculated from the following equation (3). Further, when the following equation (3) is expanded to the i-th discrete data, ⁇ t (i) as the following equation (4) is obtained.
- ⁇ ′ (t) is a modulation gradient, and is calculated by differentiating f DETECT1, A once.
- the following equation (5) shows the modulation gradient ⁇ ′ (t). Further, when the above equation (4) is expanded to the i-th discrete data, ⁇ ′ (i) as in the following equation (6) is obtained.
- F IDEAL (t) in the above equation (3) is an ideal frequency curve, as shown in the following equation (7).
- equation (8) is obtained.
- ⁇ is a modulation slope theoretical value.
- f IDEAL at point A (T1 + T / 2) shown in FIG. 6 is obtained by the following equation (9).
- the relationship of the following equation (10) is established under the condition that f DETECT1, A and f IDEAL are equal at the point A (T1 + T / 2).
- ⁇ shown in the following equation (11) is calculated from the following equation (10).
- the microcomputer 10 calculates an arbitrary i-th time error ⁇ t (i) from the above equations (2), (8), and (11), and uses the calculated time error ⁇ t (i).
- ⁇ t (i) i-th time error from the above equations (2), (8), and (11)
- FIG. 7 is a diagram showing a comparative example for the FM-CW radar according to the embodiment of the present invention.
- the FM-CW radar 100 shown in FIG. 7 differs from the FM-CW radar 100-1 of the embodiment in the following points.
- (1) In the frequency modulation circuit 110 of the FM-CW radar 100, a single-phase IF signal output from the MIX 20 is input to the LPF 26.
- (2) The output signal of the LPF 26 is input to the ADC 16 in the signal processing circuit 6 and converted into a digital signal.
- the instantaneous frequency is measured from the instantaneous phase information of the IF signal by the quadrature demodulation method using the signal converted into the digital signal by the ADC 16.
- the oscillation frequency of the VCO 5 is calculated from the frequency of the local signal source and the frequency division number.
- the time-frequency data measured by this orthogonal demodulation method has poor measurement accuracy and cannot be feedback-controlled to obtain high frequency modulation linearity.
- the signal processing circuit 6 performs differential arithmetic processing on the IF signal by the differential arithmetic processing program of the microcomputer 10 by the orthogonal demodulation method
- the frequency is measured from the phase information obtained by the program execution process, and the n-th order polynomial (n is an integer of 2 or more) for the time-frequency data of the IF signal output by the modulation control voltage of the chirp after the inverse function correction Approximation is performed, and modulation correction is performed to correct the time error.
- Frequency measurement method By converting the IF signal of the divided output of the VCO into a differential output and performing a differential calculation process with the differential calculation processing program of the microcomputer 10, a DC offset, even harmonics included in the signal, and Common mode noise can be suppressed, and measurement errors during frequency measurement in the orthogonal demodulation method can be improved.
- the differential ADC is used for the ADC 16 shown in FIG. 7, not only the component cost increases but also the area occupied by the modules constituting the differential ADC increases.
- the FM-CW radar 100- 1 can use ADCs 16 and 17 corresponding to only a single end, and the frequency of components can be measured with high accuracy while suppressing the component cost. Further, by performing this highly accurate frequency measurement, the modulation correction accuracy is improved.
- the modulation linearity is improved, and the distance to the target object and the relative speed can be obtained with higher accuracy.
- the modulation band of the VCO 5 is wide, and even after down-converting to an IF signal, especially in the low band of the modulation band, the second harmonic component is applied to the modulation band and is difficult to suppress by the LPF 26 configured by hardware.
- the differential calculation process it is possible to suppress the second harmonic component in the low band of the modulation band.
- the microcomputer 10 measures the instantaneous frequency f of the IF signal based on the single-phase IF signal output from the MIX 20.
- the instantaneous frequency f of the IF signal is a frequency measured by the above-described instantaneous frequency calculation unit 10-9.
- the microcomputer 10 performs the modulation correction described with reference to FIGS. 2 and 3 on the frequency-time waveform of the frequency in the rising modulation period of the IF signal and the frequency in the falling modulation period of the IF signal.
- the FM-CW radar 100-1 transmits the FM-CW signal generated based on the LUT 22 after the modulation correction, receives the reflected wave from the target object, and then receives the received beat signal down-converted by the MIX 12 by the ADC 9.
- the received beat signal converted into the digital signal is subjected to FFT (Fast Fourier Transform) processing and signal processing, and the distance to the target object and the relative speed are calculated.
- FFT Fast Fourier Transform
- the modulation correction accuracy is improved, the modulation linearity becomes a favorable characteristic, and the calculation accuracy of the distance to the target object and the relative speed by the FM-CW radar 100-1 is improved.
- the measurement error at the time of frequency measurement can be absorbed by approximating with an nth order polynomial as in (1) above. Absorption of measurement errors enables highly accurate modulation correction.
- the frequency measurement error that occurs instantaneously can be absorbed by the n-th order polynomial approximation.
- the VCO 5 has a certain error in frequency measurement due to temperature drift due to the physical properties of the semiconductor. Therefore, if the intercept ⁇ in the above equation (7) and equation (8) of the ideal frequency curve is fixed at a theoretical value such as the slope ⁇ , the correction amount becomes excessive, and accurate modulation correction may not be performed. Therefore, in the present embodiment, by using the above equation (11), it is possible to prevent the correction amount from becoming excessive, and it is possible to perform stable modulation correction.
- FIG. 8 is a diagram showing a first modification of the FM-CW radar according to the embodiment of the present invention.
- the reference frequency generator 21 and the MIX 20 shown in FIG. 1 are omitted.
- the frequency modulation circuit 110-2 includes a DIV 19 that frequency-divides and outputs the oscillation frequency signal of the VCO 5, and a single-phase differential converter 18 that converts the frequency-divided signal output from the DIV 19 into a differential signal and outputs the differential signal. .
- One of the differential signals is input to the LPF 24, and the other differential signal is input to the LPF 25.
- the microcomputer 10 of the signal processing circuit 6 shown in FIG. 8 measures the frequency from the phase information of the differential signal by the orthogonal demodulation method, and the nth order polynomial (for the differential signal output by the modulation control voltage of the default chirp. n is an approximation of 2 or more), and modulation correction is performed to correct the time error of the differential signal.
- the reference frequency generator 21 and the MIX 20 shown in FIG. 1 are unnecessary, the configuration of the frequency modulation circuit 110-2 is simplified, the manufacturing cost can be reduced, and the reliability is improved. .
- FIG. 9 is a diagram showing a second modification of the FM-CW radar according to the embodiment of the present invention.
- the single-phase differential converter 18 shown in FIG. 1 is omitted.
- the frequency modulation circuit 110-3 includes a DIV 19 and a MIX 20 that down-converts the frequency-divided signal output from the DIV 19, converts a single-phase IF signal into a differential signal, and outputs the differential signal.
- One of the differential signals is input to the LPF 24, and the other differential signal is input to the LPF 25.
- the microcomputer 10 of the signal processing circuit 6 shown in FIG. 9 measures the frequency from the phase information of the IF signal by the quadrature demodulation method, and the nth-order polynomial (n is Approximation of an integer of 2 or more) and modulation correction for correcting the time error of the IF signal is performed.
- the single-phase differential converter 18 shown in FIG. 1 is unnecessary, the configuration of the frequency modulation circuit 110-3 is simplified, the manufacturing cost can be reduced, and the reliability is improved.
- FIG. 10 is a diagram showing a third modification of the FM-CW radar according to the embodiment of the present invention.
- the MIX 20 and the reference frequency generator 21 shown in FIG. 1 are omitted.
- the frequency modulation circuit 110-4 includes a Balun (Balanced unbalanced) 27, which is a balanced / unbalanced converter, instead of the single-phase differential converter 18 shown in FIG.
- the Balun 27 converts the single-end frequency-divided signal output from the DIV 19 into a differential type differential signal and outputs it.
- One of the differential signals is input to the LPF 24, and the other differential signal is input to the LPF 25.
- the microcomputer 10 of the signal processing circuit 6 shown in FIG. 10 measures the frequency from the phase information of the differential signal by the orthogonal demodulation method, and the nth order polynomial (for the differential signal output by the modulation control voltage of the default chirp. n is an approximation of 2 or more), and modulation correction is performed to correct the time error of the differential signal.
- the reference frequency generator 21 and the MIX 20 shown in FIG. 1 are unnecessary, the configuration of the frequency modulation circuit 110-2 is simplified, the manufacturing cost can be reduced, and the reliability is improved. .
- FIG. 11 is a diagram showing a fourth modification of the FM-CW radar according to the embodiment of the present invention.
- the MIX 20, the reference frequency generator 21, and the single-phase differential converter 18 shown in FIG. 1 are omitted.
- the DIV 19 of the frequency modulation circuit 110-5 frequency-divides the oscillation frequency signal of the VCO 5, converts the divided signal into a differential signal, and outputs it.
- One of the differential signals is input to the LPF 24, and the other differential signal is input to the LPF 25.
- the microcomputer 10 of the signal processing circuit 6 shown in FIG. 11 measures the frequency from the phase information of the differential signal by the orthogonal demodulation method, and the nth order polynomial (for the differential signal output by the modulation control voltage of the default chirp. n is an integer of 2 or more) to correct the time error of the differential signal.
- the MIX 20, the reference frequency generator 21, and the single-phase differential converter 18 shown in FIG. 1 are unnecessary, the configuration of the frequency modulation circuit 110-5 is simplified, and the manufacturing cost is reduced. And reliability is improved.
- FIG. 12 is a diagram showing a fifth modification of the FM-CW radar according to the embodiment of the present invention.
- a frequency modulation circuit 110-6 of the FM-CW radar 100-6 shown in FIG. 12 includes a Balun 27 instead of the single-phase differential converter 18 shown in FIG.
- Balun 27 converts the single-phase IF signal output from MIX 20 into a differential signal and outputs the differential signal.
- One of the differential signals is input to the LPF 24, and the other differential signal is input to the LPF 25.
- the microcomputer 10 of the signal processing circuit 6 shown in FIG. 12 measures the frequency from the phase information of the IF signal by the orthogonal demodulation method, and the nth order polynomial (n Is an integer of 2 or more), and modulation correction is performed to correct the time error of the IF signal.
- the frequency modulation circuit 110-6 similarly to the frequency modulation circuit 110-1 in FIG. 1, it is not necessary to use a differential ADC, and an increase in the occupied area can be suppressed.
- the frequency modulation circuit according to the present embodiment is provided in the FM-CW radar, which is an example of a radar that performs frequency modulation, has been described.
- the frequency modulation circuit according to the present embodiment is applied to a high-speed modulation radar. It may be provided. Both the FM-CW radar and the high-speed modulation radar are radars that perform frequency modulation, but the FM-CW radar is a radar that performs frequency modulation in a broad sense, and the high-speed modulation radar is a radar that performs frequency modulation in a narrow sense.
- FIG. 13 is a diagram showing a high-speed modulation radar according to the embodiment of the present invention.
- FIG. 14 is a diagram showing frequency specification in the FM-CW radar according to the embodiment of the present invention.
- FIG. 15 is a diagram showing frequency identification in the high-speed modulation radar according to the embodiment of the present invention.
- the difference between the FM-CW radar 100-1 shown in FIG. 1 and the high-speed modulation radar 100-7 shown in FIG. 13 is that the contents of the arithmetic processing in the signal processing unit 10-1 are different.
- the high-speed modulation radar 100-7 shown in FIG. 13 includes the frequency modulation circuit 110-1 shown in FIG. 1, but any one of the frequency modulation circuits 110-2 to 110-6 is used instead of the frequency modulation circuit 110-1. By providing any one of these frequency modulation circuits 110-2 to 110-6, the same effects as those of the FM-CW radars 100-2 to 100-6 can be obtained.
- the contents of the arithmetic processing in the signal processing unit 10-1 provided in each of the FM-CW radars 100-1 to 100-6 and the high-speed modulation radar 100-7 will be described.
- the vertical axis represents frequency
- the horizontal axis represents time.
- the signal processing unit 10-1 of the frequency modulation circuit provided in the FM-CW radars 100-1 to 100-6 is a combination of the up frequency f UP and the down frequency f DN shown in the following equations (12) and (13).
- the simultaneous equations are solved to calculate the relative distance and relative speed to the target object.
- C represents a high speed
- B represents a modulation bandwidth
- T represents a modulation time
- ⁇ represents a wavelength
- R represents a relative distance
- v represents a relative velocity.
- the vertical axis represents frequency and the horizontal axis represents time.
- the signal processing unit 10-1 of the frequency modulation circuit provided in the high-speed modulation radar 100-7 calculates the relative distance R according to the following (14). Since the high-speed modulation radar 100-7 has a higher chirp speed than the FM-CW radars 100-1 to 100-6, the relative speed v item can be ignored compared to the relative distance R. Therefore, 2v / ⁇ can be regarded as 0. Then, after collecting data for each distance bin, the signal processing unit 10-1 calculates the relative velocity v by performing Doppler processing.
- the high-speed modulation radar 100-7 has a modulation time T different from that of the FM-CW radars 100-1 to 100-6, and the modulation time T of the high-speed modulation radar 100-7 is from the FM-CW radar 100-1. Examples of the time are 1/100 or 1/100 or less of the modulation time T of 100-6. Therefore, the FM-CW radars 100-1 to 100-6 can lower the sampling frequency in the ADCs 16 and 17 compared with the high-speed modulation radar 100-7, thereby reducing power consumption.
- the high-speed modulation radar 100-7 has a higher modulation speed than the FM-CW radars 100-1 to 100-6, and can increase the processing speed such as clutter removal and target identification in the vehicle control unit 200.
- the FM-CW radars 100-1 to 100-6 according to this embodiment have high frequency modulation linearity, the relative distance and relative speed to the target object can be obtained with higher accuracy. Further, since the high-speed modulation radar 100-7 according to this embodiment has high frequency modulation linearity, the relative distance and relative speed to the target object can be obtained with higher accuracy. Furthermore, the high-speed modulation radar 100-7 according to this embodiment has higher discrimination than the FM-CW radars 100-1 to 100-6, and can determine the true distance to the target object. .
- the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
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Abstract
Description
図1は本発明の実施の形態に係るFM-CWレーダの周波数変調回路を示す図である。図1に示すFM-CWレーダ100-1は、周波数変調回路110-1と、周波数変調回路110-1に接続される送信アンテナ1と、周波数変調回路110-1に接続される受信アンテナ14とを備える。
図4に示すように単相差動変換器18から出力される逆相側差動信号V+がADC16に入力され、正相側差動信号V-がADC17に入力され、それぞれがディジタル化される。その後マイコン10のプログラムで差分演算処理をしてから、直交復調方式により、位相情報からIF信号の周波数を計測する。なおS2においても同様の周波数計測が行われる。S5で計測した時間-周波数データをfDETECT1(t)とする。
時間-周波数データfDETECT1(t)を、時間と周波数の関係においてn次多項式近似する。下記(1)式に多項式近似後の周波数計測データfDETECT1,A(t)を示す。また下記(1)式をi番目の離散的なデータに拡張した場合、下記(2)式のようになる。an,an-1,・・・a0(nは自然数)は係数であり、Δtは時間ステップである。
(1)FM-CWレーダ100の周波数変調回路110では、MIX20から出力される単相のIF信号がLPF26に入力されること。
(2)LPF26の出力信号は信号処理回路6内のADC16に入力されディジタル信号に変換されること。
VCOの分周出力のIF信号を差動出力化して、マイコン10の差動演算処理プログラムで差動演算処理をすることで信号に含まれるDCオフセット、偶数次高調波およびコモンモードノイズを抑圧することができ、直交復調方式における周波数計測時の計測誤差を向上することができる。また図7に示すADC16に差動ADCを使用した場合、部品コストが増加するだけでなく差動ADCを構成するモジュールの占有面積が増加するが、本実施の形態に係るFM-CWレーダ100-1ではシングルエンドのみに対応したADC16,17を用いることができ、部品コストを抑えて、高精度な周波数計測が可能である。また、この高精度な周波数計測を行うことにより、変調補正精度が向上する。その結果、変調直線性が向上して、目標物体までの距離と相対速度とをより高精度に求めることができる。またVCO5の変調帯域は広く、IF信号にダウンコンバートした後も、変調帯域の低域においては、特に2次高調波成分が変調帯域にかかり、ハードウェアで構成されるLPF26で抑圧することは難しいが、差動演算処理をすることで、変調帯域の低域における2次高調波成分も抑圧することができる。
直交復調方式による周波数計測時には、IF信号に含まれる雑音、DCオフセットおよび高調波成分により、周波数計測時の計測誤差が発生する。そのため、計測誤差を含んだ時間-周波数データを元に時間誤差を算出して時間誤差補正をすると、高精度な変調補正により高い変調直線性を得ることは難しい。本実施の形態によれば上記(1)のようにn次多項式で近似することにより周波数計測時の計測誤差を吸収することできる。計測誤差の吸収により、高精度な変調補正が可能となる。また一般的なFM-CWレーダのモジュールでは、外乱である振動、騒音および電磁ノイズの発生により、瞬時的に周波数の計測誤差が生じることを予想できるが、当該周波数の計測誤差を吸収することはできない。本実施の形態によればn次多項式近似により、瞬時的に発生する周波数の計測誤差を吸収できる。
Claims (11)
- 変調制御時間電圧データを出力するディジタルアナログ変換器と、
前記ディジタルアナログ変換器から出力される変調制御時間電圧データに基づき発振周波数信号を発振する電圧制御発振器と、
前記電圧制御発振器の発振周波数信号を周波数分周して出力する周波数分周器と、
前記周波数分周器から出力される分周信号をダウンコンバートする周波数変換器と、
前記周波数変換器から出力される単相の中間周波数信号を差動信号に変換して出力する単相差動変換器と、
前記単相差動変換器から出力される差動信号について、それぞれのアナログ信号をディジタル信号に変換するアナログディジタル変換器と、
前記アナログディジタル変換器のそれぞれの差動信号に基づき周波数計測し、計測した周波数に基づいて前記変調制御時間電圧データを更新し、前記電圧制御発振器の発振周波数信号の時間誤差を補正する信号処理回路と
を備えたことを特徴とする周波数変調回路。 - 変調制御時間電圧データを出力するディジタルアナログ変換器と、
前記ディジタルアナログ変換器から出力される変調制御時間電圧データに基づき発振周波数信号を発振する電圧制御発振器と、
前記電圧制御発振器の発振周波数信号を周波数分周して出力する周波数分周器と、
前記周波数分周器から出力される単相の分周信号を差動信号に変換して出力する単相差動変換器と、
前記単相差動変換器から出力される差動信号について、それぞれのアナログ信号をディジタル信号に変換するアナログディジタル変換器と、
前記アナログディジタル変換器のそれぞれの差動信号に基づき周波数計測し、計測した周波数に基づいて前記変調制御時間電圧データを更新し、前記電圧制御発振器の発振周波数信号の時間誤差を補正する信号処理回路と
を備えたことを特徴とする周波数変調回路。 - 変調制御時間電圧データを出力するディジタルアナログ変換器と、
前記ディジタルアナログ変換器から出力される変調制御時間電圧データに基づき発振周波数信号を発振する電圧制御発振器と、
前記電圧制御発振器の発振周波数信号を周波数分周して出力する周波数分周器と、
前記周波数分周器から出力される分周信号をダウンコンバートし、単相の中間周波数信号を差動信号に変換して出力する周波数変換器と、
前記周波数変換器から出力される差動信号について、それぞれのアナログ信号をディジタル信号に変換するアナログディジタル変換器と、
前記アナログディジタル変換器のそれぞれの差動信号に基づき周波数計測し、計測した周波数に基づいて前記変調制御時間電圧データを更新し、前記電圧制御発振器の発振周波数信号の時間誤差を補正する信号処理回路と
を備えたことを特徴とする周波数変調回路。 - 変調制御時間電圧データを出力するディジタルアナログ変換器と、
前記ディジタルアナログ変換器から出力される変調制御時間電圧データに基づき発振周波数信号を発振する電圧制御発振器と、
前記電圧制御発振器の発振周波数信号を周波数分周して出力する周波数分周器と、
前記周波数分周器から出力される分周信号を差動信号に変換して出力する平衡不平衡変換器と、
前記平衡不平衡変換器から出力される差動信号について、それぞれのアナログ信号をディジタル信号に変換するアナログディジタル変換器と、
前記アナログディジタル変換器のそれぞれの差動信号に基づき周波数計測し、計測した周波数に基づいて前記変調制御時間電圧データを更新し、前記電圧制御発振器の発振周波数信号の時間誤差を補正する信号処理回路と
を備えたことを特徴とする周波数変調回路。 - 変調制御時間電圧データを出力するディジタルアナログ変換器と、
前記ディジタルアナログ変換器から出力される変調制御時間電圧データに基づき発振周波数信号を発振する電圧制御発振器と、
前記電圧制御発振器の発振周波数信号を周波数分周し、分周信号を差動信号に変換して出力する周波数分周器と、
前記周波数分周器から出力される差動信号について、それぞれのアナログ信号をディジタル信号に変換するアナログディジタル変換器と、
前記アナログディジタル変換器のそれぞれの差動信号に基づき周波数計測し、計測した周波数に基づいて前記変調制御時間電圧データを更新し、前記電圧制御発振器の発振周波数信号の時間誤差を補正する信号処理回路と
を備えたことを特徴とする周波数変調回路。 - 変調制御時間電圧データを出力するディジタルアナログ変換器と、
前記ディジタルアナログ変換器から出力される変調制御時間電圧データに基づき発振周波数信号を発振する電圧制御発振器と、
前記電圧制御発振器の発振周波数信号を周波数分周して出力する周波数分周器と、
前記周波数分周器から出力される分周信号をダウンコンバートして中間周波数信号に変換する周波数変換器と、
前記周波数変換器から出力される単相の前記中間周波数信号を差動信号に変換して出力する平衡不平衡変換器と、
前記平衡不平衡変換器から出力される差動信号について、それぞれのアナログ信号をディジタル信号に変換するアナログディジタル変換器と、
前記アナログディジタル変換器のそれぞれの差動信号に基づき周波数計測し、計測した周波数に基づいて前記変調制御時間電圧データを更新し、前記電圧制御発振器の発振周波数信号の時間誤差を補正する信号処理回路と
を備えたことを特徴とする周波数変調回路。 - 前記差動信号をそれぞれフィルタリングするローパスフィルタを備えたことを特徴とする請求項1から6の何れか1項に記載の周波数変調回路。
- 前記信号処理回路は、直交復調方式による差動演算処理プログラムを格納するマイコンと前記変調制御時間電圧データを格納するメモリから構成され、
前記信号処理回路は、前記アナログディジタル変換器からのそれぞれの差動信号に基づき前記マイコンのプログラム実行処理により得られた位相情報から、前記中間周波数信号の時間周波数データを計測し、予めメモリに格納した変調制御時間電圧データに基づいて前記周波数変換器にてダウンコンバートした中間周波数信号の時間周波数データをn次多項式(nは2以上の整数)で近似し、前記n次多項式で近似した時間周波数データから算出した時間誤差に基づき、前記メモリに格納した変調制御時間電圧データとの差分から、時間誤差を補正した変調制御時間電圧データを補正し、前記メモリの変調制御時間電圧データを更新するとともに、前記電圧制御発振器から出力する発振周波数信号の時間誤差を補正することを特徴とする請求項1、3、6の何れか1項に記載の周波数変調回路。 - 前記信号処理回路は、直交復調方式による差動演算処理プログラムを格納するマイコンと前記変調制御時間電圧データを格納するメモリから構成され、
前記信号処理回路は、前記アナログディジタル変換器からのそれぞれの差動信号に基づき前記マイコンのプログラム実行処理により得られた位相情報から、前記分周信号の時間周波数データを計測し、予めメモリに格納した変調制御時間電圧データに基づいて前記周波数分周器にて分周した分周信号の時間周波数データをn次多項式(nは2以上の整数)で近似し、前記n次多項式で近似した時間周波数データから算出した時間誤差に基づき、前記メモリに格納した変調制御時間電圧データとの差分から、時間誤差を補正した変調制御時間電圧データを補正し、前記メモリの変調制御時間電圧データを更新するとともに、前記電圧制御発振器から出力する発振周波数信号の時間誤差を補正することを特徴とする請求項2、4、5の何れか1項に記載の周波数変調回路。 - 請求項1から請求項9の何れか1項に記載の周波数変調回路を備えたことを特徴とするFM-CWレーダ。
- 請求項1から請求項9の何れか1項に記載の周波数変調回路を備えたことを特徴とする高速変調レーダ。
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