CN104459628A - Quasi-orthogonal frequency division multiplexing multicarrier linear FM radar signal design and processing method - Google Patents
Quasi-orthogonal frequency division multiplexing multicarrier linear FM radar signal design and processing method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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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
- G01S7/41—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
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Abstract
The invention relates to a new system quasi-orthogonal frequency division multiplexing multicarrier linear FM (LFM) radar signal and a corresponding echo processing method. The invention designs a multicarrier LFM radar waveform which has quasi-orthogonality and the polarities of adjacent subcarrier frequency modulation rates are opposite. The waveform permits a certain overlapped bandwidth between subcarriers, so as to reduce bandwidth cost. Aimed at problems of moving object speed and distance coupling in signal object echo processing, a combined speed estimation method based on subcarrier rough estimation and a minimum entropy evaluation method is provided, realizing one-time echo wave speed estimation. The operand of the method is little, and the method is easy to realize. The signal design and the processing method are mainly used in system design of new system multicarrier radars with high bandwidth efficiency.
Description
Technical Field
The invention relates to a new system multi-carrier Linear Frequency Modulation (LFM) radar waveform design and a received signal processing method thereof, which is characterized in that the contradiction between the quantity of subcarriers and the utilization rate of a system frequency spectrum in the multi-carrier waveform design is solved by adopting a quasi-orthogonal frequency division multiplexing technology. And an echo receiving and processing method is provided for the quasi-orthogonal frequency division multiplexing multi-carrier LFM radar signals, and the problem of single echo speed estimation is solved.
Background
The multi-carrier radar signal is a new radar signal form appearing in recent years, can be regarded as a quantized frequency domain signal, synthesizes a large bandwidth to obtain high-distance resolution, is suitable for obtaining the advantage of narrow-band processing by adopting a multi-channel structure in a sub-carrier form, and accords with the trend of multi-band of modern radars. The multi-carrier radar is a broadband radar signal with high distance distinguishing capability, and compared with a step frequency radar signal, the multi-carrier radar signal modulates the radar signal to a plurality of mutually orthogonal subcarriers and simultaneously transmits the radar signal, so that the multi-carrier radar has short duration, is insensitive to target motion and is more suitable for detecting a high-speed target. And the radar utilizes the information returned by a plurality of carriers to detect simultaneously, so that the target detection capability can be effectively improved. The multi-carrier ranging radar has the characteristics of large ranging range and high precision, and is applied to navigation, measurement and control and various space precision ranging systems. The method for selecting a proper waveform is to research a radar surface with a new systemFirst problem, in order to enhance the detection performance of the multi-carrier signal, it is usually desirable to set a larger number of sub-carriers within a certain frequency band, and if the sub-carrier frequency bands overlap with each other, the inter-sub-carrier interference is serious, which tends to weaken the target detection performance. If the frequency band spacing between two adjacent subcarrier signals must be increased as much as possible to minimize the cross-correlation value between the subcarrier signals, the system bandwidth overhead is greater than（BIs a bandwidth of a sub-carrier,Nnumber of signals), it is necessary to research a multicarrier design method with high spectrum utilization and a corresponding received signal processing method.
Disclosure of Invention
The invention aims to solve the problem of low frequency spectrum utilization rate of multi-carrier LFM signals, and solves the contradiction between the quantity of subcarriers and the frequency spectrum utilization rate of a system in multi-carrier waveform design by adopting a quasi-orthogonal frequency division multiplexing technology.
The invention is divided into the following aspects: the design principle of the quasi-orthogonal frequency division multiplexing technology; a received signal processing method (stationary target echo signal processing and moving target analysis); and secondary velocity compensation based on the subcarriers.
1 principle of design
Multi-carrier LFM signal set considering a set of different carrier frequenciesThe expression is
（1）
Wherein,is the carrier frequency of the k-th sub-carrier,is the subcarrier frequency spacing. At the receiving end, if the signals are to be extracted independently from the set of frequency-division LFM signalsThen the signal needs to guarantee the condition of frequency domain orthogonality, and the requirement of the formula (1) is satisfied.
（2）
Wherein,is a signals i (t) The fourier transform of (a) the signal,is a signals j (t) Conjugate of fourier transform. Since the LFM signal is a time-limited signal, it is obviously difficult to satisfy the requirement of the above equation. If a set of LFM signals can be designed, the autocorrelation function of each signal has a narrow main lobe, and the cross-correlation value between different signals is negligible compared with the autocorrelation side lobe, then the set of signals can be considered to satisfy the requirement of approximate orthogonality. If the cross-correlation value between the LFM signals is made as small as possible and the band gap between two adjacent LFM signals must be increased as much as possible, the system bandwidth overhead is greater than（BFor the bandwidth of a single LFM signal,Nnumber of signals). However, if the LFM inter-signal interval is increased, the number of subcarriers within a certain bandwidth is necessarily decreased. In the actual industryIn the process, if the ratio of the cross-correlation peak to the auto-correlation peak of the signal is less than-30 dB, the effect of the interference between adjacent subcarriers on the signal detection can be ignored. Therefore, the following studies are conducted to find a condition that the LFM signals satisfy quasi-orthogonality at a certain bandwidth overlapping rate.
Designing as many quasi-orthogonal LFM signals as possible in a limited frequency band is an effective way to reduce bandwidth overhead. However, the more the frequency bands of the two signals overlap, the larger the cross-correlation value, and the more serious the inter-subcarrier interference. In order to balance the above contradictions, we use a method of constructing quasi-orthogonality of LFM signals adjacent to carrier frequencies to reduce the bandwidth overhead, and further study that the LFM signals satisfy the quasi-orthogonality condition under a certain bandwidth overlap.
Setting the initial frequencies of LFM signals to bef 1、f 2Three LFM signalsx，y，zAre respectively represented as
（3）
Wherein,zandythe LFM signals have the same initial frequency and opposite frequency modulation polarities.
When the frequency band overlapping ratio (the ratio of the overlapping frequency band between adjacent subcarriers to the bandwidth of the subcarriers) is 25%, LFM signals with opposite polarity modulation frequencies are respectively calculatedx，yAnd LFM signal with same polarity modulation frequencyx，zThe two LFM signals with the same polarity and frequency modulation can be obtained through simulation by the normalized cross-correlation maximum valuex，zThe maximum normalized cross-correlation value of-21 dB, to obtain two LFM signals with opposite polarity modulation frequenciesx，yThe maximum normalized cross-correlation value of the signal is-31 dB, and the quasi-orthogonality of the signal is better than that of the signal. However, it is not limited toxThe sidelobe of the windowed autocorrelation function is-31 dB, so that the signal cross-correlation peak value is equivalent to the autocorrelation sidelobe peak value, and the condition of multi-carrier signal quasi-orthogonality is met.
Analysis of adjacent sets of LFM signals reveals that a set of LFM signals can be designed such that the autocorrelation of each LFM signal has a narrow main lobe and low side lobes, while the cross-correlation of any two different LFM signals is negligible. A set of quasi-orthogonal LFM composite signals in a given bandwidth is provided withNAnd if the frequency modulation rate of the road radar subcarrier is negative, the polarity of the frequency modulation rate between adjacent subcarriers is opposite, and if the bandwidth overlapping rate between adjacent subcarriers is 25%, any adjacent subcarrier can keep good orthogonality under certain Doppler frequency shift. The multi-carrier signal may be represented as
（5）
Wherein,is the center frequency of the frequency band, and is,is a bandwidth of a sub-carrier,for adjusting the frequency.
2 stationary target echo signal processing
The receiving end processing method refers to the principle of step frequency radar imaging and utilizes the idea of converting time domain step frequency into frequency domain diversity by using a multi-carrier radar. The specific processing procedures are frequency modulation removal, subcarrier separation, frequency mixing processing, FFT rough distance measurement and coherent synthesis processing in sequence.
Hypothetical distance receiverRThe echo signal of a stationary target is
（6）
Wherein,is the received signal delay. At the receiving end, the received multi-carrier signal is firstly subjected to frequency modulation processing, namely the signal and a transmitting reference signalMixing the phases to obtain a baseband signal of
（7）
Then low-pass filtering the mixed signal and separating the sub-carriers, and then respectively making the frequency difference phase with the odd number of sub-carriersFrequency difference phase with even number of sub-carrierMixing and obtaining a subcarrier baseband signal of
（8）
The odd and even paths in the above formula are respectively processed by distance compression (i.e. FFT and IFFT), so as to obtain:
（9）
the above formula is subjected to modulus extraction to obtain a sinc function spectrum peak, and the position of the peak is shown as
（10）
As can be seen from the formula (10), the position of the detected target determines the position of the spectral peak of the sinc function, so that the rough measurement distance of the target can be obtained, and the rough measurement distance unit where the target is located is taken to compensate the redundant phaseAnd do all the sub-carrier signals on the range unitNIFFT of points, expressed as
（11）
Taking the modulus of the formula (11) to obtain:
（12）
this completes the coherent synthesis process of a range bin, as can be seen from equation (12) aboveA peak occurs, and thus, the measured target distance isThe pulse is synthesized to have a width from the main lobe ofNarrow pulse of sinc function type.
3 moving object analysis
Assume a target distance ofR 0And performing uniform linear motion to the transmitting station at a speed v. The transmit echo delay can be expressed as
（13）
Then the sub-carriers are separated and mixed to obtain the secondiRoad radar subcarrier signal:
（14）
wherein. The odd and even paths are respectively processed by distance compression (i.e. FFT and IFFT), and then the distance compression is obtained by modulus:
（15）
from the above formula, after distance compression and modulus calculation, the amplitude of the signal issincA function, and peaks occur when the following equation is satisfied:
（16）
thus, a rough distance of the target can be obtained:
（17）
from the above equation, it can be seen that the doppler frequency of the moving object is coupled to the distance information, and the above equation must be compensated to accurately measure the object distance.
4 Secondary velocity compensation based on sub-carrier
As can be seen from the above equation (16), after FFT modulo calculation, the narrow pulse is only roughly measured at the Doppler unit where the target is located, assuming the firstiSub-carriers andi+kafter respectively performing distance compression and modulus calculation, the method isAndobtain the peak values of two sinc functions, thenAndcan be expressed as:
（18）
（19）
from the above formulas (18) and (19), it can be obtained:
（20）
the rough side out target speed may be:
（21）
if it iskThe larger the value is, the larger the peak value distance of the two subcarriers after distance compression and modulo calculation is, so that the peak value difference can be more accurately estimated。
In order to further accurately estimate the speed of the target, the minimum entropy method is adopted to carry out secondary compensation on the target speed. For the roughly measured range profile obtained after FFT modulo calculation, the envelope distribution divergence can be measured by entropy, and the larger the entropy value is, the lower the waveform sharpening degree of each image point is, and the phenomenon of defocusing can occur; the smaller the entropy value is, the higher the waveform sharpening degree of each image point is, and the better the image is focused. The minimum entropy method is to normalize the amplitude of the one-dimensional distance image after velocity compensation, construct an entropy value, and find an accurate target velocity for minimizing the entropy valuev 0. Assuming that the target is at speedvThe discrete sequence of the lower rough range profile amplitude isLet us orderNormalized amplitude ofThen, thenCan be defined as
（22）
H(A) Reflect and make a stand ofA(v) In sequence (a)The higher the concentration of each component, the sharper the target range image envelope,A(v) The more components in the sequence that are negligible,H(A) The smaller the value of (a), and vice versa,H(A) The larger the value of (c). The specific algorithm is as follows:
step 1, compressing and taking a model through distance, and passing through the first stepiSub-carriers andi+kcoarse measurement of target speed by subcarrier informationv。
Step 2: assuming a velocity compensation accuracy ofv 0Then according tovAndv 0the search range can be determined as [ 2 ]v-n v 0, v+n v 0]WhereinnIs a natural number.
And step 3: different in selectionnAnd obtaining a rough measurement speed, and then compensating redundant phases on each subcarrier caused by Doppler frequency shift.
And 4, step 4: to each sub-carrier wave form after compensationNPerforming a point IFFT operation to obtain an entropy function shown in equation (22)H(A)。
And 5: is gradually increasednExpanding the search range, calculating entropy values corresponding to different velocity estimation values according to the steps (3) and (4), and calculating the velocity at which the entropy value reaches the minimumAs a speedvTo accurately estimate the velocity.
Description of the drawings:
FIG. 1: LFM signal overlapped frequency band with two opposite modulation frequencies and two same modulation frequencies
Under a certain frequency band overlapping rate (ratio of overlapping frequency band between adjacent subcarriers to frequency bandwidth of subcarriers), two LFM signals with opposite frequency modulation polarities between adjacent subcarriers are generatedx，yLFM signal with same polarity as two frequency modulation frequenciesx，zThe change of the instantaneous frequency with time is shown in FIG. 1 ifIf so, separating the two signal frequency bands, and enabling the frequency band overlapping rate to be zero; if it isThen the spectra of the two LFM signals overlap and there is interference between the signals.
FIG. 2: normalized cross-correlation function with equal and opposite modulation frequency polarities
Fig. 2 shows normalized cross-correlation values of LFM signals x, y of opposite tones and x, z of the same tones at a band overlap ratio of 25%, where the autocorrelation of the LFM signals is windowed with a hamming window, and the maximum autocorrelation sidelobe is 31 dB. It can be concluded that when the bandwidth overlap ratio is 25%, the maximum normalized cross-correlation value of two LFM signals with the same tone frequency is-21 dB from fig. 2, and the maximum normalized cross-correlation value of two LFM signals with opposite tone frequency is-31 dB, which is better than the former.
FIG. 3: two sets of LFM signal cross-correlation ratios with opposite polarities and same polarity
FIG. 3 shows two sets of LFM signals at different band overlap ratesx，yAndx，zit can be seen from the figure that, as the bandwidth overlapping rate increases, the maximum cross-correlation increment of two LFM signals with the same modulation frequency is much larger than that of the opposite modulation frequency, when the frequency band overlapping rate reaches 0.85, the maximum cross-correlation peak ratio increases by 10 times, and the subcarrier interference between LFM signals with the same modulation frequency is serious. From the above analysis, in the design of the frequency division multi-carrier signal, if the modulation frequencies with opposite polarities are used between adjacent sub-carriers, a better quasi-orthogonality is maintained between the sub-carriers under a certain bandwidth overlapping rate.
FIG. 4: graph of bandwidth overlap rate and cross-correlation function
The computer simulation shows that the relationship between CRatio and the bandwidth overlap ratio is shown in fig. 4, and it can be seen that the band overlap ratio must be less than 25% to satisfy CRatio below-31 dB.
FIG. 5: frequency response schematic diagram of quasi-orthogonal multi-carrier LFM signal
The frequency response of a set of quasi-orthogonal LFM composite signals in a given bandwidth is shown in fig. 5, provided withNAnd if the frequency modulation rate of the road radar subcarrier is negative, the polarities of the frequency modulation rates between adjacent subcarriers are opposite, and the bandwidth overlapping rate between the adjacent subcarriers is 25%.
FIG. 6: radar received echo signal processing flow
The specific processing procedures are frequency modulation removal, subcarrier separation, frequency mixing processing, FFT rough distance measurement and coherent synthesis processing in sequence.
Claims (2)
1. A quasi-orthogonal frequency division multiplexing multi-carrier linear frequency modulation radar signal design is characterized in that: the multi-carrier signal uses LFM signals of opposite polarity tones on adjacent sub-carriers, with a band overlap ratio of 25% between adjacent sub-carriers.
2. The quasi-orthogonal frequency division multiplexing multi-carrier chirp radar signal-based joint speed estimation method according to claim 1, which aims at the problem of coupling of moving target speed and distance, and provides a joint speed estimation method based on primary estimation of subcarriers and secondary estimation by a minimum entropy method, and is characterized in that: and obtaining a preliminary estimation value of the speed by utilizing the relation between the peak value of the roughly measured distance and the Doppler frequency shift, and then accurately estimating the speed by utilizing a minimum entropy value method on the basis of the preliminary estimation value of the speed.
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| CN104849711A (en) * | 2015-04-22 | 2015-08-19 | 大连理工大学 | Doppler Compensation Method of I-OFDM MIMO Radar Signal Based on Frequency Domain |
| CN105548968A (en) * | 2015-12-14 | 2016-05-04 | 桂林电子科技大学 | Method of suppressing Doppler spread by multiband Chirp in moving target detection (MTD) |
| CN106291559A (en) * | 2015-06-08 | 2017-01-04 | 罗伯特·博世有限公司 | For the method running radar equipment |
| CN107102319A (en) * | 2016-02-19 | 2017-08-29 | 松下电器产业株式会社 | Radar installations |
| CN109188370A (en) * | 2018-10-29 | 2019-01-11 | 北京遥感设备研究所 | A kind of radar equipment LFM pulse signal envelope curve approximating method and system |
| CN110673129A (en) * | 2018-07-03 | 2020-01-10 | 松下知识产权经营株式会社 | Estimation device and estimation method |
| CN111812612A (en) * | 2020-06-18 | 2020-10-23 | 西安电子科技大学 | Design Method of Partial Correlation Waveform for MIMO Radar Based on Subarray Orthogonal LFM Signal |
| CN111929656A (en) * | 2020-09-23 | 2020-11-13 | 南京楚航科技有限公司 | Entropy value statistics-based noise estimation method for vehicle-mounted millimeter wave radar system |
| CN113074967A (en) * | 2020-01-06 | 2021-07-06 | 北京谛声科技有限责任公司 | Abnormal sound detection method and device, storage medium and electronic equipment |
| CN113687344A (en) * | 2021-07-20 | 2021-11-23 | 西安空间无线电技术研究所 | Triangular wave modulation linear frequency modulation continuous wave radar speed measurement method |
| CN115963468A (en) * | 2023-03-16 | 2023-04-14 | 艾索信息股份有限公司 | Radar target identification method, device and equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104849711A (en) * | 2015-04-22 | 2015-08-19 | 大连理工大学 | Doppler Compensation Method of I-OFDM MIMO Radar Signal Based on Frequency Domain |
| CN106291559A (en) * | 2015-06-08 | 2017-01-04 | 罗伯特·博世有限公司 | For the method running radar equipment |
| CN105548968A (en) * | 2015-12-14 | 2016-05-04 | 桂林电子科技大学 | Method of suppressing Doppler spread by multiband Chirp in moving target detection (MTD) |
| CN105548968B (en) * | 2015-12-14 | 2017-10-20 | 桂林电子科技大学 | A kind of many methods for suppressing doppler spread when moving-target is detected with Chirp |
| CN107102319A (en) * | 2016-02-19 | 2017-08-29 | 松下电器产业株式会社 | Radar installations |
| CN110673129A (en) * | 2018-07-03 | 2020-01-10 | 松下知识产权经营株式会社 | Estimation device and estimation method |
| CN110673129B (en) * | 2018-07-03 | 2024-02-06 | 松下知识产权经营株式会社 | Estimation device and estimation method |
| CN109188370A (en) * | 2018-10-29 | 2019-01-11 | 北京遥感设备研究所 | A kind of radar equipment LFM pulse signal envelope curve approximating method and system |
| CN113074967B (en) * | 2020-01-06 | 2022-12-16 | 北京谛声科技有限责任公司 | Abnormal sound detection method and device, storage medium and electronic equipment |
| CN113074967A (en) * | 2020-01-06 | 2021-07-06 | 北京谛声科技有限责任公司 | Abnormal sound detection method and device, storage medium and electronic equipment |
| CN111812612A (en) * | 2020-06-18 | 2020-10-23 | 西安电子科技大学 | Design Method of Partial Correlation Waveform for MIMO Radar Based on Subarray Orthogonal LFM Signal |
| CN111929656A (en) * | 2020-09-23 | 2020-11-13 | 南京楚航科技有限公司 | Entropy value statistics-based noise estimation method for vehicle-mounted millimeter wave radar system |
| CN113687344B (en) * | 2021-07-20 | 2023-08-11 | 西安空间无线电技术研究所 | A Triangular Wave Modulation Linear Frequency Modulation Continuous Wave Radar Velocity Measurement Method |
| CN113687344A (en) * | 2021-07-20 | 2021-11-23 | 西安空间无线电技术研究所 | Triangular wave modulation linear frequency modulation continuous wave radar speed measurement method |
| CN115963468A (en) * | 2023-03-16 | 2023-04-14 | 艾索信息股份有限公司 | Radar target identification method, device and equipment |
| CN115963468B (en) * | 2023-03-16 | 2023-06-06 | 艾索信息股份有限公司 | Radar target identification method, device and equipment |
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Application publication date: 20150325 |