WO2021087759A1 - Procédé de suppression d'interférences en cofréquences, radar à ondes continues à modulation linéaire en fréquence, plateforme mobile et support de stockage - Google Patents

Procédé de suppression d'interférences en cofréquences, radar à ondes continues à modulation linéaire en fréquence, plateforme mobile et support de stockage Download PDF

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WO2021087759A1
WO2021087759A1 PCT/CN2019/115762 CN2019115762W WO2021087759A1 WO 2021087759 A1 WO2021087759 A1 WO 2021087759A1 CN 2019115762 W CN2019115762 W CN 2019115762W WO 2021087759 A1 WO2021087759 A1 WO 2021087759A1
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Prior art keywords
delay
signal
target
probability
continuous wave
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PCT/CN2019/115762
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English (en)
Chinese (zh)
Inventor
李勋
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深圳市大疆创新科技有限公司
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Priority to CN201980039413.1A priority Critical patent/CN112313529A/zh
Priority to PCT/CN2019/115762 priority patent/WO2021087759A1/fr
Publication of WO2021087759A1 publication Critical patent/WO2021087759A1/fr

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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
    • G01S7/36—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
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/411—Identification of targets based on measurements of radar reflectivity

Definitions

  • This application relates to the field of radar detection, in particular to a co-frequency interference suppression method, chirp continuous wave radar, and non-volatile computer-readable storage media.
  • the transmission time between multiple radars is generally controlled artificially, so that the interference caused by other radars’ emission signals on the current radar is outside the bandwidth of the current radar’s filter, thus Realize anti-interference between multiple radars.
  • the hardware of each radar it is difficult to manually control the transmission time of each radar signal, and it cannot be adjusted adaptively after the radar hardware changes (such as hardware aging, damage, etc.) To suppress interference between multiple radars.
  • the embodiments of the present application provide a co-channel interference suppression method, a chirp continuous wave radar, and a non-volatile computer-readable storage medium.
  • the embodiment of the application provides a co-frequency interference suppression method, which is applied to a chirp continuous wave radar.
  • the co-frequency interference suppression method includes: transmitting a periodic chirp signal, and each period of the periodic chirp signal includes rising Interval, the first delay and down interval of the first fixed frequency after the rising interval in time sequence; receiving a signal to identify an interference target; and when the probability of identifying the interference target is greater than a probability threshold, adjusting the The first delay.
  • the embodiment of the present application also provides a chirp continuous wave radar, the radar includes a signal transmitter and a signal receiver, the signal transmitter is used to transmit a periodic chirp signal, and each period of the periodic chirp signal Including the rising interval, the first time delay of the first fixed frequency after the rising interval in time sequence, and the falling interval; the signal receiver is used to receive signals to identify interference targets; the signal transmitter is also used to identify When the probability of the interference target is greater than the probability threshold, the first delay is adjusted.
  • the embodiment of the present application also provides a mobile platform, which includes a fuselage and a chirp continuous wave radar.
  • the radar is installed on the fuselage.
  • the radar includes a signal transmitter and a signal receiver, the signal transmitter is used to transmit a periodic chirp signal, and each period of the periodic chirp signal includes a rising interval, which is after the rising interval in time sequence.
  • the first delay and the falling interval of the first fixed frequency; the signal receiver is used to receive signals to identify the interference target; the signal transmitter is also used to adjust the interference target when the probability of identifying the interference target is greater than the probability threshold The first delay.
  • the embodiment of the present application provides another co-frequency interference suppression method, which is applied to chirp continuous wave radars.
  • the co-frequency interference suppression method includes: transmitting a periodic chirp signal, and each period of the periodic chirp signal includes A rising interval, a first delay of a first fixed frequency after the rising interval in time sequence, a falling interval, and a second delay of a second fixed frequency after the falling interval in time sequence; receiving a signal to identify An interference target; and when the probability of identifying the interference target is greater than a probability threshold, adjusting the first delay and the second delay.
  • the embodiments of the present application also provide a non-volatile computer-readable storage medium containing computer-executable instructions.
  • the processors are caused to execute the co-channel interference suppression method.
  • the co-channel interference suppression method includes: transmitting a periodic chirp signal, each cycle of the periodic chirp signal includes a rising interval, and a first delay of a first fixed frequency after the rising interval in time sequence And a drop interval; receiving a signal to identify an interference target; and when the probability of identifying the interference target is greater than a probability threshold, adjust the first delay.
  • a first delay with a first fixed frequency is set after the rising interval of the periodic chirp signal transmitted by the radar .
  • the radar receives the signal and the probability of identifying the interfering target is greater than the probability threshold, it means that the radar at this time may be interfered by other radars.
  • the current radar launch time can be made to match the launch time of other radars.
  • the time difference is constantly changing until the probability of interfering with the target is less than or equal to the probability threshold, the first delay is no longer adjusted, no manual adjustment is required, and the adjustment process is only carried out based on whether the probability of the interfering target is greater than the probability threshold, and the hardware changes Time (such as hardware aging, damage, etc.) can also be adjusted adaptively to achieve the suppression of co-frequency interference among multiple radars.
  • FIG. 1 is a schematic diagram of the characteristics of receiving an intermediate frequency signal by a filter of a chirp continuous wave radar in some embodiments.
  • Figure 2 (a) is a schematic diagram of the anti-jamming principle of chirp continuous wave radar in some embodiments
  • Figure 2(b) is a block diagram of the principle of a linear frequency modulation continuous wave radar in some embodiments
  • FIG. 3 is a schematic diagram of interference of transmitted signals and interference signals in some embodiments
  • FIG. 4 is a schematic diagram of a scene of a co-channel interference suppression method according to some embodiments of the present application.
  • FIG. 5 is a schematic flowchart of a co-channel interference suppression method according to some embodiments of the present application.
  • Fig. 6 is a schematic diagram of a trapezoidal modulation signal in some embodiments of the present application.
  • Figures 7(a) and 7(b) are schematic diagrams of co-channel interference suppression methods in some embodiments of the present application.
  • FIG. 12 and FIG. 13 are schematic diagrams of the principles of co-channel interference suppression methods according to some embodiments of the present application.
  • FIG. 17 is a schematic diagram of a scene of a co-channel interference suppression method according to some embodiments of the present application.
  • FIG. 18 is a schematic structural diagram of a linear frequency modulation continuous wave radar according to some embodiments of the present application.
  • FIG. 19 is a schematic diagram of the connection between a processor and a computer-readable storage medium in some embodiments of the present application.
  • first and second are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality of” means two or more than two, unless otherwise specifically defined.
  • connection should be understood in a broad sense, unless otherwise clearly specified and limited.
  • it can be a fixed connection or a detachable connection.
  • Connected or integrally connected it can be mechanically connected, or electrically connected or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two components or the interaction of two components relationship.
  • connection should be understood according to specific circumstances.
  • the signals emitted by other radars generally need to be outside the bandwidth of the current radar’s filter.
  • the bandwidth is (f_min, f_max), where f_max represents the maximum receiving frequency and f_min represents the minimum receiving frequency; the frequency of the intermediate frequency signal obtained by mixing other radar signals by the radar receiver needs to be outside the interval (f_min, f_max), It will be filtered out by the filter as an interference signal.
  • f_min will be set smaller. Therefore, in order to realize that the current radar is not interfered by other radars, the signals emitted by other radars are generally mixed by the radar receiver to obtain the intermediate frequency signal The frequency of is outside the interval (f_min, f_max).
  • FIG. 2(a) The schematic diagram of radar anti-jamming shown in Figure 2(a), the upper part of Figure 2(a) shows the schematic diagram of the frequency of the radar transmitted signal and the received signal with time, in which the triangular waveform of the solid line S1 represents the radar transmitted signal The frequency changes with time.
  • the dashed line S2 represents the frequency of the normal echo signal received by the radar over time
  • the dotted line S3 represents the frequency of the interference signal received by the radar over time
  • the lower part of Figure 2(a) represents It is the frequency change with time of the intermediate frequency signal obtained after the above three signals are received and mixed by the radar.
  • the dashed line S4 represents the echo intermediate frequency signal
  • the dotted line S5 represents the interference intermediate frequency signal
  • the AB segment represents the signal frequency within the rising edge of the triangle wave Change with time
  • the CD segment represents the change of signal frequency with time within the falling edge of the triangle wave
  • f2 f4>f_max; it can be seen from the lower part of Figure 2(a) that the greater the delay of the interference signal relative to the transmission time of the transmitted signal, the greater the values of f2 and f4.
  • the filter filters out the interference of other radars to the current radar.
  • FIG. 2(b) shows the principle block diagram of the frequency modulated continuous wave.
  • the triangular wave generator provides the required modulation signal, which is controlled by the VCO to generate a continuous high-frequency constant-amplitude wave whose frequency changes in a triangle in time. It is amplified by the power amplifier and radiated out through the transmitting antenna, and the other part is used as the local oscillator signal after the power splitter. After the radio wave encounters the target, it returns to the receiving antenna. At this time, the frequency of the echo signal changes compared with the local oscillator signal, and it is the beat signal after the mixer comes out.
  • the frequency of the beat signal is related to the distance and speed of the target.
  • the beat signal is filtered, amplified and sampled by AD before signal processing.
  • the main task of signal processing is to extract the frequency of the beat signal, and obtain the true distance and distance of the target through it. Speed and other information.
  • an embodiment of the present application provides a co-frequency interference suppression method, which is applied to a chirp continuous wave radar 100, and the co-frequency interference suppression method includes:
  • Each cycle of the periodic chirp signal includes a rising interval ab, a first delay bc of a first fixed frequency after the rising interval ab in time sequence, and a falling interval cd;
  • the embodiment of the present application also provides a linear frequency modulation continuous wave radar 100.
  • the linear frequency modulation continuous wave radar 100 includes a signal transmitter 10 and a signal receiver 20.
  • the signal transmitter 10 is used to transmit periodic chirp signals; the signal receiver 20 It is used to receive signals to identify the interference target; the signal transmitter 10 is also used to adjust the first delay bc when the probability of identifying the interference target is greater than the probability threshold.
  • step 011 and step 013 can be implemented by the signal transmitter 10.
  • Step 012 can be implemented by the signal receiver 20.
  • the signal transmitter 10 transmits a periodic chirp signal.
  • the periodic chirp signal may be a triangular wave, a trapezoidal wave or other periodic chirp waveforms (such as square waves). Wave, sawtooth wave, etc.), as shown in FIG. 6, the periodic chirp signal S8 of the present application is a trapezoidal modulation signal (ie, trapezoidal wave), and each cycle of the trapezoidal modulation signal includes a rising interval ab, and is rising in timing.
  • the modulation signal has a falling edge in the falling interval cd (the falling edge gradually decreases with the passage of time t, and the frequency f of the transmitted signal gradually decreases).
  • the frequency of the transmitted signal within the delay bc of the trapezoidal modulation signal is a fixed value (that is, the first fixed Frequency fbc), the first fixed frequency fbc is equal to the maximum frequency of the rising edge and the falling edge.
  • the difference of the first delay bc between the plurality of trapezoidal modulation signals is arbitrary.
  • the number of multiple radars 100 can be two, three, four, or more. The following uses multiple radars 100 as two as an example for description. When there are more than two radars 100, the principle is basically similar, and will not be repeated here. Go into details. As shown in Figure 7(a), the solid line S9 is the transmitted signal, and the dashed line S10 is the interference signal 1.
  • the period of the current radar 100 is T1
  • the period of the jamming radar 100 is T2
  • the common multiple of T1 and T2 is E
  • K E/T1
  • the period difference between the two radars 100 is generally small (that is, the period between the two radars 100 generally does not differ by an integer multiple). Therefore, the greater the common multiple of the period of the two radars 100, the trapezoidal wave of interference will be generated. That is to say, when the difference between the first delay bc of the two radars 100 is greater (that is, the difference between the periods of the two radars 100 is greater, so that the common multiple of the periods of the two radars 100 The greater), the smaller the probability of co-channel interference.
  • the value of m is generally not too large.
  • the unit delay ⁇ t is determined according to the maximum effective bandwidth of the current radar 100 and the slope of the rising edge in the rising interval ab in the trapezoidal modulation signal, and the slope of the falling edge in the falling interval cd in the trapezoidal modulation signal.
  • the radar 100 can determine the slope CSR of the trapezoidal modulation wave according to the slopes of the rising and falling edges in the trapezoidal modulation signal, and the unit delay ⁇ t satisfies the following relationship: ⁇ t ⁇ 2f_max/CSR, so as to reasonably determine the unit delay ⁇ t .
  • the signal receiver 20 is capable of receiving signals, and the received signals include not only the echo signals received by reflection of the target D under test, but also interference signals emitted by other radars 100.
  • the signal receiver 20 recognizes the received signal to determine the interference target.
  • the probability of identifying the interference target is greater than the probability threshold, the first delay bc is adjusted.
  • the signal receiver 20 recognizes a target once per second, and the probability of recognizing an interfering target may be the number of times the interfering target is identified in one minute. For example, if the target is identified 60 times in one minute, a total of 40 interfering targets are identified, and the probability is 40.
  • the first delay bc can be adjusted, for example, the first delay bc is increased or the first delay bc is reduced by a certain step. After the first delay bc is adjusted, if the probability of the signal receiver 20 identifying the interference target is still greater than Probability threshold, then continue to adjust the first delay bc until the signal receiver 20 recognizes the probability of the interfering target is less than or equal to the probability threshold (that is, there is no co-frequency interference between the current radar 100 and other radars 100). Delay bc.
  • the periodic chirp signal transmitted by the radar 100 is set between the rising interval ab (specifically between the rising interval ab and the falling interval cd).
  • the time difference between the launch time of the current radar 100 and the launch time of other radars 100 can be changed continuously, until the probability of interfering with the target is less than or equal to the probability threshold, the first delay bc is no longer adjusted, and there is no need for manual adjustment to make
  • the transmission time of multiple radars 100 is synchronized, and the adjustment process is performed only according to whether the probability of the interfering target is greater than the probability threshold.
  • the hardware changes such as hardware aging, damage, etc.
  • it can also be adjusted adaptively to realize multiple radars.
  • the suppression of co-frequency interference among 100 radars can almost eliminate the influence of co-frequency interference among radar 100 at the level of the target tracking algorithm of radar 100.
  • each period of the periodic chirp signal further includes a second delay de of the second fixed frequency fde after the falling interval cd in time sequence;
  • Co-channel interference suppression methods also include:
  • the signal transmitter 10 is also used to adjust the first delay bc and the second delay de when the probability of identifying the interference target is greater than the probability threshold.
  • step 014 can be implemented by the signal transmitter 10.
  • each cycle of the periodic chirp signal also includes a second delay de of the second fixed frequency fde after the falling interval cd in time sequence.
  • the first delay bc and the second delay de may be the same, or It can be different.
  • the first delay bc and the second delay de are the same; or, the first delay bc and the second delay de are different, the first delay bc may be greater than the second delay de, or the first delay bc may Less than the second delay de.
  • the first delay bc and the second delay de are the same, which can facilitate the signal transmitter 10 to adjust the first delay bc and the second delay de.
  • the signal transmitter 10 adjusts the first delay bc and the second delay de, for example, the signal transmitter 10 adjusts the first delay bc and the second delay de at the same time; or , The signal transmitter 10 first adjusts the first delay bc, and then adjusts the second delay de; or, the signal transmitter 10 first adjusts the second delay de, and then adjusts the first delay bc.
  • the signal transmitter 10 of the present application adjusts the first delay bc and the second delay de at the same time, so as to quickly adjust the first delay bc and the second delay de until the probability of identifying the interference target is less than or equal to the probability threshold, thereby achieving Co-channel interference suppression.
  • the co-channel interference suppression method further includes:
  • the signal transmitter 10 is further configured to continue to transmit the periodic chirp signal with the first delay bc and the second delay de when the probability of identifying the interference target is less than or equal to the probability threshold.
  • step 015 can be implemented by the signal transmitter 10.
  • the transmission includes the first Delay bc and second delay de (the first delay bc and second delay de may be the initial first delay bc and second delay de of radar 100, or may be adjusted first delay
  • the trapezoidal modulation signal of bc and the second delay de) and the interference signal transmitted by other radar 100 do not have the same frequency interference, so the signal transmitter 10 does not need to adjust the first delay bc and the second delay de again.
  • the first delay bc and the second delay de to transmit trapezoidal modulation signals can ensure that the radar 100 is not interfered by the same frequency from the interference signals emitted by other radars 100.
  • the first delay bc and the second delay de are adjusted again, so as to adaptively suppress the interference signals sent by different radars 100.
  • step 013 includes:
  • the signal transmitter 10 is further configured to adjust the first delay bc and the second delay de when the number of interfering targets is identified within a predetermined period of time is greater than the number threshold.
  • step 0131 can be implemented by the signal transmitter 10.
  • the signal receiver 20 when determining whether the probability of identifying an interfering target is greater than the probability threshold, it may be determined according to whether the number of interfering targets identified within a predetermined period of time is greater than the number threshold. For example, the signal receiver 20 recognizes a target once per second, and can identify one or more interfering targets each time (for example, if there is only one interfering radar 100, it will generally identify one interfering target each time. If there are multiple interfering radars 100, Then multiple interference targets may be identified), the signal receiver 20 has identified 60 interference targets in a predetermined period of time (for example, the predetermined period is 1 minute), and a total of 40 interference targets have been identified.
  • the predetermined period for example, the predetermined period is 1 minute
  • the signal receiver 20 can quickly determine whether the probability of interfering targets is greater than the probability threshold according to the number of interfering targets identified within a predetermined period of time and the threshold value.
  • the signal transmitter 10 Adjust the first delay bc and the second delay de, and stop adjusting the first delay bc and the second delay de until the number of interfering targets identified within the predetermined time period is less than or equal to the number threshold.
  • step 012 includes:
  • the measured target D is determined to be an interference target.
  • the signal receiver 20 is also used to determine that the distance of the measured target D decreases and then increases, and the moving speed of the measured target D is greater than the speed threshold.
  • Target D is the interference target.
  • step 0121 can be implemented by the signal receiver 20.
  • the solid line S12 is the transmitted signal
  • the dashed line S13 is the interference signal.
  • the first delay bc and the second delay de (shown in FIG. 6) of the two radars 100 will continuously change over time.
  • the first delay bc and the second delay de change so that the time difference between the transmission moments of the two radars 100 is small, and the intermediate frequency signal f1 generated by the interference signal is just less than f_max (that is, at time t1), then Will produce co-channel interference targets.
  • the intermediate frequency signal generated by the interference signal will continuously change.
  • the change trend of the intermediate frequency signal of the signal presents a "V"-shaped change trend (as shown in Figure 13 the change curve of frequency f versus time t).
  • the distance for the radar 100 to detect the target D can be calculated based on the intermediate frequency signal generated by the received signal (in this case, the intermediate frequency signal of the interference signal).
  • the intermediate frequency signal of the interference signal 13 When the change trend of the intermediate frequency signal of the interference signal 13 first decreases and then increases, It means that the distance between the measured target D and the current radar 100 first decreases and then increases, and because the clock of the radar 100 changes extremely fast, if the measured target D is a false target (ie, an interfering target) produced by the interfering radar 100, the interference The speed of the target will be very large. Therefore, after determining that the distance between the measured target D and the current radar 100 is first reduced and then increased, the distance between the measured target D and the current radar 100 and the time required for the change are determined.
  • the moving speed of the measured target D can be calculated.
  • the moving speed of the measured target D is greater than the speed threshold (such as 150 m/s) it means that the measured target D is not the real measured target D, but caused by interference The jamming target produced by the radar 100 jamming.
  • step 013 includes:
  • 0132 Increase the first delay bc and the second delay de by a predetermined step.
  • the signal transmitter 10 is further configured to increase the first delay bc and the second delay de by a predetermined step length when the probability of identifying the interfering target is greater than the probability threshold.
  • step 0132 can be implemented by the signal transmitter 10.
  • the signal transmitter 10 increases the first delay bc and the second delay by a predetermined step.
  • the first delay bc and the second delay de are N times the unit delay ⁇ t
  • N is a positive integer
  • the predetermined step length is M times the unit delay ⁇ t
  • M is also a positive integer.
  • N is greater than 1, and M is less than N.
  • the predetermined step length for each increase should not be too large.
  • M can generally be set smaller than N. Since both M and N are positive integers, N needs to be set to a positive integer greater than 1 (ie, N is at least 2), so that the first delay is increased by a predetermined step.
  • bc and the second delay de the first delay bc and the second delay de do not change too much, so that the same frequency can be determined without greatly changing the first delay bc and the second delay de
  • the predetermined step size includes a first sub-step size and a second sub-step size
  • step 0132 includes:
  • the signal transmitter 10 is also used to increase the first delay bc and the second delay de by the first substep when the first delay bc and the second delay de are adjusted for the odd number of times. ; And when the first delay bc and the second delay de are adjusted for the even number of times, the first delay bc and the second delay de are increased by the second sub-step.
  • step 01321 and step 01322 can be implemented by the signal transmitter 10.
  • the first delay bc and the second delay de are increased by a predetermined step
  • the first delay bc and the second delay de are increased by a fixed predetermined step
  • the delay bc and the second delay de (that is, the first delay bc and the second delay de are increased by a predetermined step multiple times) can make the probability of identifying the interference target less than or equal to the probability threshold.
  • the first delay bc and the second delay de can be increased by the first substep, or the first delay bc and the second delay can be increased by the second substep.
  • the second delay de is a predetermined step
  • the first sub-step length is P times the unit delay ⁇ t
  • the second sub-step length is Q times the unit delay ⁇ t
  • P and Q are both positive integers
  • both P and Q are less than N (that is, the first The sub-step length and the second sub-step length are both smaller than the first delay time bc and the second delay time de).
  • P and Q are set to be less than N
  • the first sub-step size and the second sub-step size can be set differently, for example, the first sub-step size is greater than the second sub-step size, or the first sub-step size is smaller than the second sub-step size. In this embodiment, the first sub-step size is greater than the second sub-step size.
  • the signal transmitter 10 can first increase the first delay bc and the second delay de with a larger first sub-step, so as to quickly enlarge the current radar 100 and the jamming radar 100 The difference between the first delay bc and the second delay de, if the first delay bc and the second delay de are increased by a larger first sub-step, the probability of identifying the interference target is still greater than the probability threshold, At this time, the first delay bc and the second delay de are adjusted for the even number of times (such as the second, fourth, ..., or 2n) time, and the signal transmitter 10 can have a smaller second sub-step.
  • the first sub-step and the second sub-step are used to alternately adjust the first delay bc and the second delay de, which are larger than each time.
  • the first sub-step increases the first delay bc and the second delay de, not only can the difference between the first delay bc and the second delay de of the current radar 100 and the jamming radar 100 be quickly increased, but also Will make the increased first delay bc and second delay de become too large.
  • increase the first delay bc and the second delay de by the second substep that is, the first delay bc and the second delay de
  • the signal transmitter 10 For example, after the first delay bc and the second delay de are adjusted for the fourth time, the signal transmitter 10
  • the delay bc and the second delay de are trapezoidal modulation signals transmitted by 19 ⁇ t.
  • the probability that the signal receiver 20 recognizes the interference target is less than or equal to the probability threshold, which means that the first delay bc and the second delay de are adjusted successfully.
  • the signal transmitter 10 transmits a trapezoidal modulation signal with the first delay bc and the second delay de being 19 ⁇ t to achieve co-frequency interference suppression.
  • the co-channel interference suppression method according to another embodiment of the present application includes:
  • Each cycle of the periodic chirp signal includes the rising interval ab, the first delay bc of the first fixed frequency fbc after the rising interval ab in the time sequence, the falling interval cd, and the time sequence The second delay de of the second fixed frequency fde after the falling interval cd;
  • the signal transmitter 10 is also used to transmit periodic chirp signals; the signal receiver 20 is also used to receive signals to identify interfering targets; the signal transmitter 10 is also used to identify interfering targets with greater than When the probability threshold is used, the first delay bc and the second delay de are adjusted.
  • step 021 and step 023 can be implemented by the signal transmitter 10, and step 022 can be implemented by the signal receiver 20.
  • step 011 for the explanation of step 021
  • step 012 for the explanation of step 022
  • step 014 for the explanation of step 023, which will not be repeated here.
  • the mobile platform 1000 of the present application includes a fuselage 200 and a chirp continuous wave radar 100.
  • the radar 100 is mounted on the fuselage.
  • the mobile platform 1000 may be a flying device (such as a drone), a mobile robot, a vehicle (such as an unmanned vehicle), etc.
  • the radar 100 is used to detect obstacles in front (that is, the detected target).
  • the mobile platform 1000 is a drone.
  • the periodic chirp signal transmitted by the radar 100 is set with a first delay bc.
  • the radar 100 receives the signal and recognizes the interference target, the probability is greater than the probability threshold.
  • the radar 100 of may be interfered by other radars 100.
  • the first delay bc By adjusting the first delay bc, the time difference between the launch time of the current radar 100 and the launch time of other radars 100 can be changed continuously until the probability of interfering with the target is less than or equal to the probability Threshold value, the first delay bc is no longer adjusted, no manual adjustment is required to synchronize the transmission time of multiple radars 100, and the adjustment process is only performed based on whether the probability of interfering targets is greater than the probability threshold.
  • the hardware changes such as hardware Aging, damage, etc.
  • the target tracking algorithm level of radar 100 can almost eliminate the influence of co-frequency interference among radars 100.
  • multiple radars 100 there are multiple radars 100, multiple radars 100 are arranged on the fuselage 200, and the first delays bc of the multiple radars 100 are different from each other.
  • the number of radars 100 may be two, three, four, etc. In the embodiment of the present application, the number of radars 100 is two, and the first delays bc of the two radars 100 are different from each other. One radar 100 is used as the radar 100 currently used for detection, and the other radar 100 is used as an interfering radar.
  • the probability of the current radar 100 receiving a signal and identifying an interfering target is greater than the probability threshold
  • adjust the first extension of the current radar 100 At time bc, by adjusting the first delay bc, the time difference between the launch time of the current radar 100 and the launch time of other radars 100 can be changed continuously, until the probability of interfering with the target is less than or equal to the probability threshold, the first delay is no longer adjusted
  • the trapezoidal modulation signal is transmitted with the adjusted first delay bc, without manual adjustment to synchronize the transmission time of the two radars 100, and the suppression of co-frequency interference between the two radars 100 can also be achieved.
  • FIG. 19 a non-volatile computer-readable storage medium 300 containing computer-executable instructions 302 according to an embodiment of the present application.
  • the processor 400 executes the co-channel interference suppression method of any of the foregoing embodiments.
  • the control signal transmitter 10 transmits periodic chirp signals
  • the control signal transmitter 10 adjusts the first delay bc when the probability of identifying the interfering target is greater than the probability threshold.
  • FIG. 4, FIG. 6 and FIG. 16 when the computer-readable instruction 302 is executed by the processor 400, the processor 400 is caused to perform the following steps:
  • the control signal transmitter 10 transmits periodic chirp signals
  • control signal transmitter 10 adjusts the first delay bc and the second delay de.
  • the first delay bc of the periodic chirp signal transmitted by the radar 100 can be changed.
  • the probability of the radar 100 receiving the signal and identifying the interfering target is greater than the probability threshold, it indicates that the radar 100 may be affected at this time.
  • the time difference between the current launch time of radar 100 and the launch time of other radars 100 can be changed continuously until the probability of interfering target is less than or equal to the probability threshold.
  • the first delay bc is adjusted without manual adjustment to synchronize the transmission time of multiple radars 100, and the adjustment process is only performed according to whether the probability of interfering with the target is greater than the probability threshold, when the hardware changes (such as hardware aging, damage, etc.) It can also be adjusted adaptively to achieve the suppression of co-frequency interference among multiple radars 100. At the level of the target tracking algorithm of radar 100, the influence of co-frequency interference among radars 100 can be almost eliminated.
  • a "computer-readable medium” can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices.
  • computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because it can be performed, for example, by optically scanning the paper or other medium, and then editing, interpreting, or other suitable methods when necessary. Process to obtain the program electronically and then store it in the computer memory.
  • the aforementioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

L'invention concerne un procédé de suppression d'interférences en cofréquences et un radar à ondes continues à modulation linéaire en fréquence (100). Le procédé de suppression d'interférences en co-fréquences consiste : à émettre un signal de modulation linéaire périodique en fréquence (011), chaque période du signal de modulation linéaire périodique en fréquence comprenant un intervalle de montée, un premier retard d'une première fréquence fixe après l'intervalle de montée en synchronisation et un intervalle de baisse ; à recevoir le signal pour identifier une cible d'interférences (012) ; et lorsqu'il est identifié que la probabilité de la cible d'interférence dépasse un seuil de probabilité, à régler le premier retard (013).
PCT/CN2019/115762 2019-11-05 2019-11-05 Procédé de suppression d'interférences en cofréquences, radar à ondes continues à modulation linéaire en fréquence, plateforme mobile et support de stockage WO2021087759A1 (fr)

Priority Applications (2)

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CN201980039413.1A CN112313529A (zh) 2019-11-05 2019-11-05 同频干扰抑制方法、线性调频连续波雷达、移动平台和存储介质
PCT/CN2019/115762 WO2021087759A1 (fr) 2019-11-05 2019-11-05 Procédé de suppression d'interférences en cofréquences, radar à ondes continues à modulation linéaire en fréquence, plateforme mobile et support de stockage

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