CN104076352A - Low-interception speed measurement method and radar device - Google Patents
Low-interception speed measurement method and radar device Download PDFInfo
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- CN104076352A CN104076352A CN201410295153.3A CN201410295153A CN104076352A CN 104076352 A CN104076352 A CN 104076352A CN 201410295153 A CN201410295153 A CN 201410295153A CN 104076352 A CN104076352 A CN 104076352A
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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
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- 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
- G01S7/352—Receivers
- G01S7/354—Extracting wanted echo-signals
Abstract
A low-interception speed measurement method comprises the steps that 1, frequency modulated continuous waves are generated, echo signals of an object with measured speed are received through an antenna, frequency mixing is carried out on the echo signals and B-path signals, and baseband signals are obtained; 2, the baseband signals are converted into digital signals, sampling and zero filling are carried out, FFT is carried out on the rising part of trace frequency, FFT is carried out on the reduction part of return trace frequency after conjugate taking, and frequency spectrums corresponding to positive/negative frequency modulation slopes are obtained; 3, the frequency spectrums corresponding to the positive/negative frequency modulation slopes are subtracted after module taking, the difference value is changed into an absolute value, and an objective frequency spectrum is obtained; 4, whether an object to be detected exists or not is determined, and if the object to be detected exists, the frequency corresponding to two peak value points within the frequency spectrum normalization range is found out in the objective frequency spectrum, and the speed of the object to be detected is worked out. The invention further discloses a low-interception speed measurement radar. The low-interception speed measurement method and radar have the advantage that the probability that the lower-measurement-speed radar is intercepted by a radar detector can be effectively reduced due to the adoption of the frequency modulated continuous waves with low-interception-probability wave forms.
Description
Technical field
The present invention relates to Radar Technology field, specifically refer to a kind of low intercepting and capturing speed-measuring method and velocity radar.
Background technology
Velocity radar has the advantages such as low price, degree of accuracy are high, flexible arrangement because of it, in the control that has been widely used in highway communication at present and monitoring, by public security traffic control department as the first-selected instrument whether exceeding the speed limit for detection of vehicle.
Existing velocity radar adopts single-frequency continuous wave system, and it has the very narrow feature of emission spectrum, utilizes Doppler effect to record the speed of target.Fig. 1 is a kind of existing single-frequency continuous wave velocity radar device.At radiating portion, controller produces frequency by controlled frequency source and is
f 0single-frequency continuous wave and be entered into directional coupler, directional coupler will be wherein a road signal as local oscillation signal, input to frequency mixer, by another road frequency, be
f 0simple signal through circulator and aerial radiation, arrive space.If target is with radial velocity
v r with respect to radar motion, the signal reflecting from target can make carrier frequency
f 0produce Doppler shift
f d =2
v r /
λ.In formula
λfor radar wavelength,
f d by target travel direction, determined for positive and negative number.At receiving unit, antenna reception, after echoed signal, outputs to low noise amplifier and wave filter through circulator, and then with frequency is
f 0local oscillation signal carries out mixing, obtains frequency to be
f d low frequency signal, the baseband signal obtaining after mixing is carried out to filter and amplification, be then sent to ADC, ADC is converted into digital signal by the simulating signal of input.In signal processing, digital signal is sent into digital signal processor, by signal, process the frequency that obtains baseband signal
f d , calculate the target velocity of Doppler signal
v r .Finally, in control section and display section, controller is controlled the speed that display demonstrates treated gained target
v r .
But due to single-frequency continuous wave radar transmitting be the continuous wave of single-frequency, on frequency spectrum, energy height is concentrated, the counter radar knotmeter that is easily used sweep-frequency Békésy audiometer superhet is intercepted and captured.Counter radar knotmeter also claims cyberdog, is a kind of equipment that detects velocity radar, is arranged in automobile, can in certain distance, detect and whether have velocity radar signal around.There is the low problem of anti-intercepting and capturing performance in existing velocity radar, causes some over-speed vehicles under the help of cyberdog, successfully to hide radar velocity measurement device, reduced the effect of traffic safety law enforcement.
Be illustrated in figure 2 the spectrum diagram of single-frequency continuous wave signal and linear frequency modulation continuous wave signal.On single-frequency continuous wave signal spectrum, energy height is concentrated, and easily by cyberdog, is intercepted and captured.Therefore, can consider warbled mode, frequency modulation (PFM) can produce low probability of intercept (LPI) signal in broadband, and the increase of signal bandwidth will cause the dispersion of energy on frequency spectrum, reduces the probability of being intercepted and captured.Linear frequency modulation is a kind of effective LPI technology, the frequency spectrum of its signal is almost rectangle on modulation band-width, transmitted signal bandwidth is wider, Acquisition Receiver needs the reception of larger bandwidth ability settling signal, the increase that receives bandwidth will cause the decline of signal to noise ratio (S/N ratio), and energy dispersion degree on frequency spectrum is very high, signal is easily hidden in noise, reduces the probability being intercepted by cyberdog.Radar receiving end receives by coupling, can obtain very high signal processing gain, extracts accurately target information.
Continuous Wave with frequency modulation (FMCW) radar is a kind of by continuous wave is carried out to the radar system that frequency modulation (PFM) comes acquisition speed and range information, has advantages of that intercept probability is low.But, in the process of utilizing frequency modulated continuous wave radar to test the speed, also there are some problems, for example, how under fixed clutter background, to extract moving target information, how how the coupling of computing speed-distance, improve rate accuracy.A Granted publication day, be on November 20th, 2013, Granted publication CN 203299378 U, name is called in the Chinese utility model patent of " a kind of continuous wave velocity radar " and has proposed to adopt the radar of Continuous Wave with frequency modulation system to test the speed to vehicle.But this device has only been pointed out velocity radar structure, the waveform parameter of Computational Method of Velocity Measurement and radar is not fully disclosed, therefore cannot really realize and apply according to its patent the Continuous Wave with frequency modulation velocity radar that it is pointed out.Meanwhile, this patent also propose to solve that clutter suppresses and computing speed-apart from the speed-measuring method of coupled problem, does not solve the problem in the process of utilizing frequency modulated continuous wave radar to test the speed.
Summary of the invention
In order to obtain low intercepting and capturing performance, the present invention has designed the fixed low intercepting and capturing velocity radar that a kind of transmitted waveform is Continuous Wave with frequency modulation, proposed to solve that clutter suppresses and computing speed-and apart from the speed-measuring method of coupled problem.Its objective is the signal that makes cyberdog be difficult to detect velocity radar transmitting under practical application scene, thereby reduce the probability that velocity radar signal is intercepted and captured, the problem of its result of use of reduction that solution cyberdog brings to existing velocity radar.
Low intercepting and capturing speed-measuring method of the present invention is a kind of Computational Method of Velocity Measurement that adopts positive and negative journey frequency to offset.Comprise the steps:
Step 1. generates Continuous Wave with frequency modulation, and the Continuous Wave with frequency modulation of generation is divided into A, B two-way, and A road is through antenna transmission;
By the tested the speed echoed signal of target of antenna reception, echoed signal and B road signal are carried out to mixing, obtain baseband signal
s(
t);
Step 2. is converted into digital signal by baseband signal, sample, zero padding, respectively trace frequency rising part is made FFT, made FFT after flyback frequency sloping portion is got to conjugation, obtain the frequency spectrum that positive/negative chirp rate is corresponding, after conversion, obtain the frequency spectrum that positive frequency modulation slope is corresponding
x(
k 1) and frequency spectrum corresponding to negative frequency modulation slope
x(
k 2);
Step 3. is by frequency spectrum corresponding to positive frequency modulation slope
x(
k 1) and frequency spectrum corresponding to negative frequency modulation slope
x(
k 2) subtract each other and again difference taken absolute value after delivery, obtain target spectrum
x(
k)=||
x(
k 1) |-|
x(
k 2) ||;
Step 4. determines whether target to be measured exists, if exist, at target spectrum
x(
k) middle two peak point respective frequencies finding frequency spectrum normalization amplitude
f 1,
f 2, solve the speed of target to be measured.
Preferably, in described step 1, B road signal is divided into two-way constant amplitude and differs the orthogonal signal of 90 degree;
By the tested the speed echoed signal of target of antenna reception, echoed signal is divided into two-way constant amplitude in-phase signal, carry out mixing with aforesaid two-way orthogonal signal respectively separately, obtain two-way baseband signal.
Further, in described step 1, Continuous Wave with frequency modulation is symmetric triangular Continuous Wave with frequency modulation.
Preferably, in described step 4, utilize permanent empty early warning thresholding to confirm whether target to be measured exists.
Preferably, the Continuous Wave with frequency modulation generating in described step 1 is triangle stepping Continuous Wave with frequency modulation.
The invention also discloses a kind of low intercepting and capturing velocity radar, comprise the waveform generator, directional coupler, circulator and the antenna that are linked in sequence, also comprise the controller being connected with waveform generator, with the digital signal processor of control linkage;
It is characterized in that, also comprise that branch road is amplified in the first mixing and branch road is amplified in the second mixing, two mixing are amplified branch road and are formed by frequency mixer and AD converter, and the output terminal of described frequency mixer connects AD converter input end;
Also comprise the 3dB electric bridge being connected with directional coupler, the power splitter being connected with circulator; Two output terminals of described 3dB electric bridge, power splitter connect respectively different mixing and amplify the frequency mixer input end in branch road; Described 3dB electric bridge is divided into constant amplitude by input signal and differs the two paths of signals of 90 degree, and power splitter is divided into input signal the two paths of signals of constant amplitude homophase;
The AD converter output terminal of two mixing amplification branch roads is connected with digital signal processor.
Between described circulator and power splitter, between frequency mixer and AD converter, be also connected with amplifier and the wave filter of the form of series connection.
Preferably, described waveform generator is comprised of the Direct Digital Frequency Synthesizers being linked in sequence, phaselocked loop and frequency multiplier, the phase-locked control end of the frequency control terminal of described Direct Digital Frequency Synthesizers, phaselocked loop is connected with controller respectively, the frequency input end of described Direct Digital Frequency Synthesizers is as the input end of waveform generator, and the output terminal of described frequency multiplier is as the output terminal of waveform generator.
Preferably, described waveform generator is by Direct Digital Frequency Synthesizers, frequency synthesizer, a N frequency mixer, N+1 bandpass filter forms, described frequency mixer is connected with bandpass filter interval, the input end of first bandpass filter is connected with Direct Digital Frequency Synthesizers, the local frequency input end of each frequency mixer is connected with an output terminal of frequency synthesizer, and the output terminal of end bandpass filter is as the signal output part of waveform generator, and N is positive integer
The invention has the beneficial effects as follows: owing to having adopted a kind of Continuous Wave with frequency modulation with low probability of intercept waveform, can effectively reduce the probability that velocity radar is intercepted and captured by cyberdog.Meanwhile, the Computational Method of Velocity Measurement that adopts positive and negative journey frequency to offset, can effectively solve the problem that clutter suppresses and computing speed-distance is coupled, and obtains the range information of target when obtaining target velocity information.In addition, use the zero padding algorithm of Fourier transform, can effectively improve rate accuracy.This invention technology is simple, and dependable performance, realizes cost lower, can replace existing velocity radar.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of velocity radar in prior art;
Fig. 2 is the spectrum diagram that prior art is used simple signal and linear FM signal;
Fig. 3 is a kind of embodiment structured flowchart of low intercepting and capturing velocity radar of the present invention;
Fig. 4 is the signal processing flow figure of the Computational Method of Velocity Measurement that offsets of positive and negative journey frequency disclosed by the invention; CFAR in Fig. 4 represents CFAR thresholding confirmation target, and FFT represents Fourier transform,
Fig. 5 is transmitting and target echo signal waveform schematic diagram of symmetric triangular frequency modulated continuous wave radar;
Fig. 6 is the inner structure block diagram of a kind of waveform generator of a kind of low intercepting and capturing velocity radar embodiment 1 corresponding to the present invention, and the DDS in Fig. 6 represents Direct Digital Frequency Synthesizers;
Fig. 7 carries out to being listed as the baseband sampling order of positive and negative chirp rate the spectrum diagram obtaining after Fourier transform;
Fig. 8 removes the later spectrum diagram of clutter;
Fig. 9 is the structured flowchart of a kind of low intercepting and capturing velocity radar embodiment 2 corresponding to the present invention;
Figure 10 is the schematic diagram that transmits of triangular form stepping frequency modulated continuous wave radar.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
Fig. 3 is a kind of embodiment schematic diagram of low intercepting and capturing velocity radar of the present invention.
Radiating portion comprises waveform generator 2, directional coupler 3, circulator 5 and antenna 6.Wherein waveform generator 2 needs controller 1 to write control word to produce required triangle Continuous Wave with frequency modulation (FMCW) waveform to it, and FMCW signal is input to directional coupler 3, above-mentioned directional coupler 3 Jiang Yi road output signal input 3dB electric bridges 4, it is identical and have a signal of 90 ° of phase differential that 3dB electric bridge 4 Jiang Yi road input signals are divided into two-way amplitude, send into respectively again frequency mixer 9_1,9_2, as local oscillation signal; Meanwhile, above-mentioned directional coupler 3 is by another road signal output, and output signal is launched FMCW signal through circulator 5 and antenna 6;
Antenna 6 receives after echoed signal, through circulator 5, output to low noise amplifier and wave filter 7, by power splitter 8, be divided into two paths of signals again, two paths of signals enters respectively frequency mixer 9_1, the signal mixing that frequency mixer 9_2 and two-way are mutually orthogonal, by frequency mixer 9_1, will carry out mixing by 3dB electric bridge 4 output Yi road local oscillation signals and echoed signal A, by frequency mixer 9_2, signal and the echoed signal B of another Lu Yuqi quadrature by 4 outputs of 3dB electric bridge are carried out to mixing, the radiofrequency signal that is about to receive is converted into intermediate-freuqncy signal, and by intermediate-freuqncy signal difference input filter/amplifier 10_1/2, wave filter/amplifier 10_1/2 is respectively by signal filtering, after amplification, be input to respectively again ADC11_1/2, ADC11_1/2 is converted into digital signal by the simulating signal of input.
Above-mentioned signal processing comprises digital signal processor 12.Wherein the digital signal of receiving unit output enters digital signal processor 12, and digital signal processor 12 carries out clutter by the digital signal receiving to be suppressed to process and carries out Fourier transform with the coupling of computing speed-distance, draws target velocity.
Be illustrated in figure 6 a kind of specific implementation inner structure block diagram of waveform generator, this waveform generator can produce symmetric triangular Continuous Wave with frequency modulation, its middle controller 1 is by the sequential of clock and DDS(Direct Digital Frequency Synthesizers) frequency control word K control, make it produce symmetric triangular Continuous Wave with frequency modulation (STLFMCW) intermediate-freuqncy signal of required bandwidth range, through the spuious component of bandpass filter elimination, embodiment three bandpass filter of employing and two frequency mixer in Fig. 6 are interconnected, the local frequency of frequency mixer is produced and upconvert by frequency synthesizer, through two-stage up-conversion, can obtain carrier wave initial frequency is
f 0, bandwidth is
bradiofrequency signal, wherein the required local oscillation signal of up-conversion is produced by frequency synthesizer.
Low intercepting and capturing speed-measuring method based on said apparatus comprises the steps:
Step 1. generates Continuous Wave with frequency modulation, and the Continuous Wave with frequency modulation of generation is divided into two-way, and a road is through antenna transmission, and another road is divided into two-way constant amplitude and differs the orthogonal signal of 90 degree;
By the tested the speed echoed signal of target of antenna reception, echoed signal is divided into two-way constant amplitude in-phase signal, carry out mixing with aforesaid two-way orthogonal signal respectively separately, obtain two-way baseband signal
s 1(
t),
s 2(
t);
Be illustrated in figure 5 and using symmetric triangular Continuous Wave with frequency modulation (STLFMCW) as transmitting and target echo signal waveform schematic diagram.In figure, solid line is expressed as the waveform that transmits, and its frequency is linear change in time, and Modulation Types is symmetric triangular ripple, and dotted line is expressed as Moving Target Return signal waveform.If be modulation period
t r , the carrier wave initial frequency that transmits is
f 0, bandwidth is
b, the frequency range of signal be [
f 0,
f 0+
b], echoed signal with respect to the time delay producing that transmits is
τ.Meanwhile, because the relative motion of target and radar produces the change that Doppler shift causes frequency, corresponding effective receiving window be [
τ,
t r / 2].
Take positive frequency modulation slope as example, establish transmit into
s t +(
t), the expression formula transmitting is:
1
Wherein
a t for the amplitude transmitting,
k=2
b/
t r for chirp rate,
φ 0for initial phase.
To echoed signal, the echoed signal of establishing positive frequency modulation slope is
s r +(
t), because there is clutter in actual scene, be convenience of calculation, under the ideal state while there is no clutter, the expression formula of echoed signal is:
2
Wherein
a r amplitude for echoed signal.
By the two paths of signals transmitting after power splitter with by the two-way echoed signal after 3dB electric bridge carry out mixing, filtering can obtain two-way baseband signal, the two-way baseband signal of establishing positive frequency modulation slope is
s 1 +(
t),
s 2 +(
t), its expression formula is:
3
Wherein
a=
a t ?
a r , be the amplitude of baseband signal.
A roadbed band signal with positive frequency modulation slope
s 1 +(
t) be example, the distance between hypothetical target and radar is
r 0, with radial velocity
v 0towards radar motion, echo time delay
4
Wherein
cfor the light velocity, by (4) formula substitution (3) Shi Ke get:
5
Wherein 2 (
r 0-
v 0 t)/
c<
t≤
t r / 2, transmitted bandwidth
bbe generally MHz rank, and transmission frequency
f 0in radio band, reach tens of GHz, so basis
b<<
f 0,
v 0<<
ctherefore, can obtain
6
7
According to (6) formula, (7) formula, (5) formula abbreviation is obtained to baseband signal expression formula:
8
Owing to existing static clutter not ignore in actual scene, therefore the distance of establishing between clutter and radar is
r n , the amplitude of the baseband signal of static target is
a n , wherein
n=1,2,3 ...,
n, in actual scene, the expression formula of a roadbed band signal of positive frequency modulation slope should be:
9
For negative frequency modulation slope section, different from positive frequency modulation slope section: the carrier wave initial frequency that transmits is
f 0+
b, chirp rate
k '=-
k=-2
b/
t r , the distance between target and radar is
r 0-
v 0 t r / 2, echo time delay
τ=2 (
r 0-
v 0 t r / 2-
v 0 t)/
c.In like manner, a roadbed band signal of establishing negative frequency modulation slope is
s 1 -(
t), can obtain a roadbed band signal of negative frequency modulation slope
s 1 -(
t) expression formula be:
10
Step 2. is by baseband signal
s 1(
t),
s 2(
t) be converted into digital signal, sample, zero padding, the baseband signal trace frequency rising part after zero padding and flyback frequency sloping portion are made to one-dimensional discrete Fourier transform, after conversion, obtain the frequency spectrum that positive frequency modulation slope is corresponding
x(
k 1) and frequency spectrum corresponding to negative frequency modulation slope
x(
k 2);
Align the baseband signal of chirp rate
s 1 +(
t) sample, establish sampling rate and be
f s , corresponding sampling interval is
t s , be equivalent to
t=
mT s , wherein,
m=0,1 ...,
m-1,
mfor the sampling number in each cycle, the roadbed band signal expression formula after substitution (9) Shi Ke get sampling.Two-way baseband signal after sampling is sent into digital signal processor, can obtain the multiple sample sequence of base band of positive frequency modulation slope
s +(
m) be:
11
In like manner, adopt identical sampling rate respectively the two-way baseband signal of negative frequency modulation slope to be sampled, be equivalent to
t=
mT s , then send into digital signal processor, can obtain the multiple sample sequence of base band of negative frequency modulation slope
s -(
m) be:
12
To (11) formula do with
mfor variable zero padding extremely
wdiscrete Fourier transformation, to (12) formula get do after conjugation with
mfor variable zero padding extremely
wdiscrete Fourier transformation, wherein
wfor the discrete Fourier transformation after zero padding, count, can obtain the frequency spectrum that positive frequency modulation slope is corresponding
x(
k 1) and frequency spectrum corresponding to negative frequency modulation slope
x(
k 2):
13
14
Wherein,
mcounting of Fourier transform,
k 1,
k 2it is the coordinate of Fourier transform.
Step 3. is by frequency spectrum corresponding to positive frequency modulation slope
x(
k 1) and frequency spectrum corresponding to negative frequency modulation slope
x(
k 2) subtract each other and again difference taken absolute value after delivery, obtain target spectrum
x(
k)=||
x(
k 1) |-|
x(
k 2) ||;
In theory, in the situation that there is no noise jamming, the baseband signal that aligns respectively chirp rate is made Fourier transform, the normalized frequency corresponding to peak point of two amplitude-frequency spectrogram intermediate frequency spectrum amplitudes of gained after making Fourier transform and the baseband signal of negative frequency modulation slope being got to conjugation
f 1,
f 2should be respectively:
15
16
But, in actual application scenarios, inevitably can there is this diversity of settings in the surrounding of target, the echo that these backgrounds produce is that clutter can affect the detection of radar to real goal, therefore comprise surveyed moving-target speed and range information in the spectrogram obtaining after Fourier transform
f 1,
f 2may be submerged in clutter.So, want to extract the information of target from fixed clutter, must first remove clutter.Clutter is equivalent to movement velocity
v 0the static target of=0m/s, will
v 0=0m/s brings (15), (16) Shi Ke get into:
17
18
From (17), (18) formula, static target in the baseband signal of positive and negative chirp rate is identical in the frequency obtaining after Fourier transform, and from (15), (16) formula, the moving target in the baseband signal of positive and negative chirp rate is different in the frequency obtaining after Fourier transform.Therefore, by the baseband signal of positive frequency modulation slope, do the mould of the frequency spectrum that Fourier transform obtains |
x(
k 1) |, the baseband signal that deducts negative frequency modulation slope is done the mould of the frequency spectrum that Fourier transform obtains |
x(
k 2) |, then its result is taken absolute value and obtained ||
x(
k 1) |-|
x(
k 2) ||, just can remove the impact that static target detects moving-target.
Bring (11) formula into (13) respectively, (12) formula is brought (14) formula into, can align do after the baseband sampling sequence zero padding of chirp rate with
mfor the discrete Fourier transformation result of variable and to the baseband sampling sequence of negative frequency modulation slope get do after conjugation zero padding with
mdiscrete Fourier transformation result for variable:
19
20
Wherein
φ 0 +with
φ 0 -be respectively the phase place of baseband signal of the positive and negative chirp rate of moving target,
φ n +with
φ n -be respectively static target and be the phase place of baseband signal of the positive and negative chirp rate of clutter.
By the baseband signal of positive frequency modulation slope, do the mould of the frequency spectrum that Fourier transform obtains |
x(
k 1) |, the baseband signal that deducts negative frequency modulation slope is done the mould of the frequency spectrum that Fourier transform obtains
x(
k 2) |, then its result is taken absolute value and obtained ||
x(
k 1) |-|
x(
k 2) ||, just can obtain removing the later spectrogram of clutter, order
x(
k)=||
x(
k 1) |-|
x(
k 2) ||:
?21
Step 4. determines whether target to be measured exists, if exist, at target spectrum
x(
k) middle two peak point respective frequencies finding frequency spectrum normalization amplitude
f 1,
f 2, solve the speed of target to be measured.
Two normalized frequencies corresponding to peak point of the frequency spectrum normalization amplitude finding in the spectrogram obtaining after removing clutter are
f 1,
f 2, then by
f 1,
f 2obtain two about velocity to moving target and range equation, now, then simultaneous (15) formula and (16) formula, can calculate speed and the distance of target:
22
?23
In detections of radar, conventionally by setting CFAR threshold value, determine whether detect target exists, the detection of radar signal is always carried out under jamming pattern, these interference comprise the thermonoise of receiver inside, and the noise jamming such as atural object, sleet, wave, the active and passive interference that sometimes also has party to be detected to discharge.When external interference Strength Changes, radar can be adjusted its sensitivity automatically, and the false-alarm probability of radar is remained unchanged.
Below provide two specific embodiments of the present invention:
Embodiment 1
The Computational Method of Velocity Measurement that the present embodiment adopts above-mentioned positive and negative journey frequency to offset, wherein, transmits and adopts symmetric triangular linear frequency modulation continuous wave, receiving unit to adopt orthogonal double channels to receive.
In the present embodiment, waveform generator produces transmitting of symmetric triangular frequency modulated continuous wave radar as shown in Figure 5, and the target echo signal obtaining as shown in Figure 5.In Fig. 5, solid line is expressed as the waveform that transmits, and its frequency is linear change in time, and Modulation Types is symmetric triangular ripple, and dotted line is expressed as Moving Target Return signal waveform.If the distance range that velocity radar is measured is: 50m-150m, the scope of testing the speed is: 10m/s-70m/s.The modulation period transmitting
t r =3ms, carrier wave initial frequency
f 0=10.525GHz, modulating bandwidth
b=100MHz, sampling rate
f s =1MHz, corresponding sampling interval
t s =1 μ s, antenna employing beam angle is the conical-horn antenna of 1 °.Meanwhile, make that in the situation of echo baseband signal signal to noise ratio snr=0dB, to set the parameter of moving target as follows: target velocity
v=60m/s, distance
r=100m, scattering cross-section amasss RCS=2m
2.And be located at apart from velocity radar
r 1=50m and
r 2, there are two static targets at=150m place, and the RCS of static target is respectively 2 of moving target
1/2doubly with 1 times.In this scene, the effective receiving window of the positive frequency modulation slope section in a sampling period is [0.002ms, 1.5ms], the effective receiving window of negative frequency modulation slope section is [1.502ms, 3ms], in the effective receiving window of positive and negative chirp rate section, get respectively 1498 sampled points, then by sampling number zero padding, the W=2 that counts of the discrete Fourier transformation after zero padding
16.
According to aforesaid low intercepting and capturing speed-measuring method, target is tested the speed, has following result:
As Fig. 7, (a), (b) carry out the spectrum diagram that Fourier transform obtains after the baseband sampling order that aligns chirp rate is carried out Fourier transform and the baseband sampling sequence of negative frequency modulation slope is got to conjugation again.In two amplitude-frequency spectrograms, due to the interference of two place's Clutters, cannot determine the normalized frequency that moving target is corresponding.But comparison diagram 7 (a) and comparison diagram 7 (b) can be found out, static target in the baseband signal of positive and negative chirp rate is identical in the normalized frequency obtaining after Fourier transform, and the normalized frequency that moving target obtains after Fourier transform is different.Therefore the clutter suppression method in summary of the invention, can remove clutter.
If Fig. 8 is for removing the later spectrogram of clutter, the schematic diagram of the threshold value that in figure, dotted line is CFAR detection.Two normalized frequencies corresponding to peak point of the frequency spectrum normalization amplitude finding in the spectrogram obtaining after removing clutter are
f 1,
f 2, then by
f 1,
f 2obtain two about velocity to moving target and range equation, now, then these two equations of simultaneous, can calculate speed and the distance of target:
v=60m/s, distance
r=99.9m.
Embodiment 2
Fig. 9 is the another kind of implementation of a kind of low intercepting and capturing velocity radar of the present invention.The signal processing of the present embodiment equipment therefor and display control section are all identical with embodiment 1, and different is that transmitting of the present embodiment adopts triangular form stepping Continuous Wave with frequency modulation, and receiving unit adopts single channel to receive simultaneously.The embodiment of radiating portion and receiving unit is as follows:
Radiating portion transmitting triangular form stepping Continuous Wave with frequency modulation (SFCW), the generation of triangular form SFCW adopts the method for DDS excitation PLL, is about to the output signal of DDS as the reference signal of PLL.By controller respectively to DDS and PLL write frequency control word
kwith phase-locked control word
m, the control M of PLL only writes once when start, after this constantly changes the frequency control word of DDS
kreach the object of frequency hopping.Output signal frequency
f 0=
m(
f i / 2
l ) K, wherein
lfor the figure place of DDS phase accumulator, therefore step frequency is spaced apart Δ
f=
m(
f i / 2
l ).The triangular form SFCW signal producing by said method is obtained to carrier frequency after frequency multiplier is
f 0transmit, by carrier frequency, be
f 0triangular form SFCW signal be input to directional coupler, directional coupler Jiang Yi road output signal is as local oscillation signal input mixer.Meanwhile, above-mentioned directional coupler, by another road signal output, is gone out output signal through circulator and antenna transmission.Antenna reception is after echoed signal, through circulator, output to low noise amplifier and wave filter, again echoed signal is sent into frequency mixer and carried out mixing with the local oscillation signal of being exported by directional coupler, the radiofrequency signal receiving is converted into intermediate-freuqncy signal, again by intermediate-freuqncy signal input filter/amplifier, wave filter/amplifier will be input to ADC after signal filtering, amplification again, and ADC is converted into digital signal by the simulating signal of input and sends into digital signal processor again.
The low intercepting and capturing speed-measuring method that the present embodiment is corresponding is also different from embodiment 1, and it is transmitted waveform that the velocity radar that the present embodiment is corresponding adopts triangular form SFCW.
If Figure 10 is the schematic diagram that transmits of triangular form stepping frequency modulated continuous wave radar.Triangular form SFCW radar had both contained frequency increments part (being called trace), contained again frequency decreasing portion (being called flyback).If the start signal frequency of step frequency signal
f c =10.525GHz, frequency step increment Delta
f=50kHz, trace frequency step number
n=2048, negative journey frequency step number is
n-1=2047, signal bandwidth
b=(
n-1) Δ
f=102.35MHz, the frequency range of signal be [
f c ,
f c + (
n-1) Δ
f], the
ithe start-phase that transmits of individual frequency is
φ i , the residence time of each frequency step
t s =1 μ s, antenna employing beam angle is the conical-horn antenna of 1 °.Meanwhile, make that in the situation of echo baseband signal signal to noise ratio snr=0dB, to set the parameter of moving target as follows: target velocity
v=20m/s, distance
r=100m, scattering cross-section amasss RCS=2m
2.The parameter of static target is as follows: apart from velocity radar
r 1=50m and
r 2, there are two static targets at=150m place, and the RCS of static target is respectively 2 of moving target
1/2doubly with 1 times.
Suppose take that one-period is as a processing interval, the time is
t r , the trace frequency increments of take is partly example, first triangle transmits
s t +(
t) expression formula be:
24
Wherein
a t for the amplitude of transmitting, rect() be rectangular function:
25
Wherein,
tit is the width of rectangular function.
In the low intercepting and capturing speed-measuring method that the present embodiment is corresponding and embodiment 1, difference is baseband signal to sample.Sampling is that each stepping is adopted to a point, establishes sampling rate
f s =1MHz, corresponding sampling interval
t s =1 μ s, is equivalent to
t=
iT s , wherein,
i=1 ...,
n,
nfor the sampling number in each cycle.In like manner, in this scene, the effective receiving window of the positive frequency modulation slope section in a sampling period is [2 μ s, 2.048ms], the effective receiving window of negative frequency modulation slope section is [2.05ms, 4.095ms], gets respectively 2046 sampled points in the effective receiving window of positive and negative chirp rate section, again by sampling number zero padding, the W=2 that counts of the discrete Fourier transformation after zero padding
16.It is because transmitted waveform is stepping Continuous Wave with frequency modulation that the present embodiment adopts the reason of stepping sampling, therefore a point is adopted in each stepping, the baseband signal of trace chirp rate and negative frequency modulation slope is done can offset after FFT, reaches the object of eliminating clutter.
According to step 2 to the Computational Method of Velocity Measurement described in 4, target is tested the speed, can obtain recording the speed of moving target
v=20m/s, distance
r=100m.
The present embodiment receiving unit adopts single channel to receive, therefore need not be as adopted power splitter to carry out phase shift separating treatment to signal in embodiment 1, the follow-up processing mode to baseband signal is similar to Example 1, the clutter impact of align, the frequency delivery of negative frequency modulation slope subtracting each other rear elimination static target, comparison diagram 3 and Fig. 9, the present embodiment has reduced as equipment such as power splitter, frequency mixer, wave filter or amplifiers.
In embodiment 1, signal is divided into I/Q two-way, mixing Hou Yi road is that real part one tunnel is imaginary part, becomes a complex signal in signal processor, and the speed that signal obtains after processing has positive negative value, can distinguish the direction of vehicle; And in the present embodiment, simplified design, adopting single channel is the receiving unit in Fig. 9, to the trace frequency rising part in signal and negative journey frequency sloping portion, offsets, and the direction of vehicle is no longer recognized.
The low intercepting and capturing speed-measuring method that low intercepting and capturing velocity radar of the present invention and employing thereof is described below in conjunction with the intercepting and capturing equation of cyberdog is the superiority at anti-intercepting and capturing aspect of performance with respect to existing single-frequency continuous wave velocity radar.
In general, it is to intercept and capture from the main lobe direction of radar antenna wave beam that cyberdog is intercepted and captured velocity radar, and intercepting and capturing equation can be expressed as:
26
In formula,
p t for radar emission acc power,
gfor the gain of radar antenna on Acquisition Receiver antenna direction,
g i for the gain of Acquisition Receiver antenna in transmitting radar antenna direction,
λfor radar operation wavelength,
t 0for standard noise temperature (290K),
kfor Boltzmann constant,
b i for Acquisition Receiver bandwidth, with transmitted signal bandwidth
bit is relevant,
f i for Acquisition Receiver noise figure, (
s/
n)
i for the discernible minimum detectable signal to noise ratio of Acquisition Receiver.
If the system architecture of radar system structure and cyberdog is determined, and the emissive power of velocity radar
p t for certain value.In conjunction with the embodiments 1, if establish, transmit as symmetric triangular linear frequency modulation continuous wave signal, the modulation period transmitting
t r =3ms, carrier wave initial frequency
f 0=10.525GHz, modulating bandwidth
b=100MHz, can be in the hope of the maximum engagement range of cyberdog by (26) formula
r 1.If establish, transmit as single-frequency continuous wave signal, same, the modulation period that order transmits
t r =3ms, carrier wave initial frequency
f 0=10.525GHz, can be regarded as out the bandwidth transmitting
b=1/
t r =1/3kHz, can be in the hope of the maximum engagement range of cyberdog by (26) formula
r 2.Due to Acquisition Receiver bandwidth
b i with transmitted signal bandwidth
brelevant, and
b i with
b 1/2be directly proportional, by (26) Shi Ke get
r 1with
r 2meet following relation:
R2 approximates 23.4*R1 27
By (27) formula, can be found out, under an identical modulation period, cyberdog is about 23.4 times of Symmetrical Triangular LFMCW Radar to the maximum engagement range of single-frequency continuous wave radar.If order
r 1=10m, cyberdog all can not intercept above-mentioned Symmetrical Triangular LFMCW Radar in velocity radar 10m-234m, and can intercept single-frequency continuous wave radar.This explanation is when one timing of radar emission power, and single-frequency continuous wave radar is is more easily intercepted and captured by cyberdog, increases transmitted signal bandwidth and can reduce the probability that velocity radar is intercepted and captured by cyberdog.This velocity radar of having verified a kind of low intercepting and capturing of employing of the present invention is the superiority in anti-intercepting and capturing performance with respect to existing single-frequency continuous wave velocity radar.
The software module that the method that in the present invention, the disclosed embodiments are described or the step of algorithm can directly use hardware, processor to carry out, or the combination of the two is implemented.Software module can be placed in the storage medium of any other form known in random access memory (RAM), internal memory, ROM (read-only memory) (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technical field.
Previously described is each preferred embodiment of the present invention, preferred implementation in each preferred embodiment is if not obviously contradictory or take a certain preferred implementation as prerequisite, each preferred implementation arbitrarily stack combinations is used, design parameter in described embodiment and embodiment is only the invention proof procedure for clear statement inventor, not in order to limit scope of patent protection of the present invention, scope of patent protection of the present invention is still as the criterion with its claims, the equivalent structure that every utilization instructions of the present invention and accompanying drawing content are done changes, in like manner all should be included in protection scope of the present invention.
Claims (8)
1. low intercepting and capturing speed-measuring method, is characterized in that, comprises the steps:
Step 1. generates Continuous Wave with frequency modulation, and the Continuous Wave with frequency modulation of generation is divided into A, B two-way, and A road is through antenna transmission;
By the tested the speed echoed signal of target of antenna reception, echoed signal and B road signal are carried out to mixing, obtain baseband signal
s(
t);
Step 2. is converted into digital signal by baseband signal, sample, zero padding, respectively trace frequency rising part is made FFT, made FFT after flyback frequency sloping portion is got to conjugation, obtain the frequency spectrum that positive/negative chirp rate is corresponding, after conversion, obtain the frequency spectrum that positive frequency modulation slope is corresponding
x(
k 1) and frequency spectrum corresponding to negative frequency modulation slope
x(
k 2);
Step 3. is by frequency spectrum corresponding to positive frequency modulation slope
x(
k 1) and frequency spectrum corresponding to negative frequency modulation slope
x(
k 2) subtract each other and again difference taken absolute value after delivery, obtain target spectrum
x(
k)=||
x(
k 1) |-|
x(
k 2) ||;
Step 4. determines whether target to be measured exists, if exist, at target spectrum
x(
k) middle two peak point respective frequencies finding frequency spectrum normalization amplitude
f 1,
f 2, solve the speed of target to be measured.
2. low intercepting and capturing speed-measuring method as claimed in claim 1, is characterized in that, in described step 1, B road signal is divided into two-way constant amplitude and differs the orthogonal signal of 90 degree;
By the tested the speed echoed signal of target of antenna reception, echoed signal is divided into two-way constant amplitude in-phase signal, carry out mixing with aforesaid two-way orthogonal signal respectively separately, obtain two-way baseband signal.
3. low intercepting and capturing speed-measuring method as claimed in claim 2, is characterized in that, in described step 1, Continuous Wave with frequency modulation is symmetric triangular Continuous Wave with frequency modulation.
4. low intercepting and capturing speed-measuring method as claimed in claim 1, is characterized in that, utilizes permanent empty early warning thresholding to confirm whether target to be measured exists in described step 4.
5. low intercepting and capturing speed-measuring method as claimed in claim 1, is characterized in that, the Continuous Wave with frequency modulation generating in described step 1 is triangle stepping Continuous Wave with frequency modulation.
6. low intercepting and capturing velocity radar, comprises the waveform generator, directional coupler, circulator and the antenna that are linked in sequence, also comprises the controller being connected with waveform generator, with the digital signal processor of control linkage;
It is characterized in that, also comprise that branch road is amplified in the first mixing and branch road is amplified in the second mixing, two mixing are amplified branch road and are formed by frequency mixer and AD converter, and the output terminal of described frequency mixer connects AD converter input end;
Also comprise the 3dB electric bridge being connected with directional coupler, the power splitter being connected with circulator; Two output terminals of described 3dB electric bridge, power splitter connect respectively different mixing and amplify the frequency mixer input end in branch road; Described 3dB electric bridge is divided into constant amplitude by input signal and differs the two paths of signals of 90 degree, and power splitter is divided into input signal the two paths of signals of constant amplitude homophase;
The AD converter output terminal of two mixing amplification branch roads is connected with digital signal processor;
Between described circulator and power splitter, between frequency mixer and AD converter, be also connected with amplifier and the wave filter of the form of series connection.
7. low intercepting and capturing velocity radar as claimed in claim 6, it is characterized in that, described waveform generator is comprised of the Direct Digital Frequency Synthesizers being linked in sequence, phaselocked loop and frequency multiplier, the phase-locked control end of the frequency control terminal of described Direct Digital Frequency Synthesizers, phaselocked loop is connected with controller respectively, the frequency input end of described Direct Digital Frequency Synthesizers is as the input end of waveform generator, and the output terminal of described frequency multiplier is as the output terminal of waveform generator.
8. low intercepting and capturing velocity radar as claimed in claim 6, it is characterized in that, described waveform generator is by Direct Digital Frequency Synthesizers, frequency synthesizer, a N frequency mixer, N+1 bandpass filter forms, described frequency mixer is connected with bandpass filter interval, the input end of first bandpass filter is connected with Direct Digital Frequency Synthesizers, the local frequency input end of each frequency mixer is connected with an output terminal of frequency synthesizer, the output terminal of end bandpass filter is as the signal output part of waveform generator, and N is positive integer.
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| US11579248B2 (en) | 2020-04-21 | 2023-02-14 | Beihang University | Method, apparatus and electronic equipment for recognizing posture of target |
| CN116147474A (en) * | 2022-08-11 | 2023-05-23 | 中铁建电气化局集团第三工程有限公司 | Railway communication iron tower monitoring system and method and electronic equipment |
| CN116430354A (en) * | 2023-06-13 | 2023-07-14 | 天津大学合肥创新发展研究院 | FMCW laser radar target information resolving method and system |
| CN116430354B (en) * | 2023-06-13 | 2023-08-22 | 天津大学合肥创新发展研究院 | FMCW laser radar target information resolving method and system |
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