CN108287335A - A method of ranging and range rate being carried out to multiple target using the frequency modulated signal of LFMCW radars - Google Patents
A method of ranging and range rate being carried out to multiple target using the frequency modulated signal of LFMCW radars Download PDFInfo
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- CN108287335A CN108287335A CN201810356508.3A CN201810356508A CN108287335A CN 108287335 A CN108287335 A CN 108287335A CN 201810356508 A CN201810356508 A CN 201810356508A CN 108287335 A CN108287335 A CN 108287335A
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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 discloses a kind of frequency modulated signals using LFMCW radars come the method for carrying out ranging and range rate to multiple target, and to existing triangle frequency modulation LFMCW radar FM signals, it is T to increase a lengthm2Modulation period, which is T including 2 lengthm2/ 2 and frequency be respectively fs1And fs2Simple signal；To being solved after two simple signal echo FFT transform | fd|, further according to the phase difference of two simple signal echo spectrum main lobe peak pointsSolve target range R and fR, to obtain | fR±fd| result；By the result and Tm1Result in modulation period after echo FFT transform is matched, and determines the echo spectrum component of moving target；Remaining Tm1Echo spectrum component main lobe is corresponding in modulation period is all | fR|, the corresponding f of static target is directly obtained between positive slope regionR, to obtain the distance R of static target.The present invention simplifies the solution procedure of the multiple target distance of single channel down coversion LFMCW radars, while improving the measurement accuracy of moving target distance.
Description
Technical field
The invention belongs to radar system technical fields, and in particular to a kind of frequency modulated signal using LFMCW radars come
The method that ranging and range rate is carried out to multiple target.
Background technology
LFMCW (linear frequency modulation continuous wave) radar generates and processing broadband signal, can obtain very high range measurement essence
Degree, and fuzzy distance will not be introduced, thus be often applied in target distance measurement.The frequency of LFMCW radar emission signals with
Linearly variation, is changed generally according to triangle or zigzag rule.The target echo signal and local oscillation signal received
It is directly mixed, since frequency modulation(PFM) rule is linear rule, the time difference for receiving signal and emitting between signal can bring
Frequency difference, thus the Beat Signal of gained will be frequency and target range linearly related signal after mixing, then can utilize
The frequency of Beat Signal carries out ranging to target.
Since Moving Target Return signal frequency has coupled Doppler frequency shift so that only use single-slope segment signal can not be accurate
The distance of target is measured, this utilizes the Beat Signal obtained by triangular modulation negative slope section often, with beat obtained by positive slope section
Combined signal solves, to solve target range and speed.And in the LFMCW radars using single channel down coversion, positive and negative frequency
Rate information is fuzzy, if measured to multiple target, only leaning on positive negative slope section to carry out range-rate measurement can introduce again
Miscellaneous frequency spectrum matching and decoupling computational problem.
Invention content
It is a kind of using LFMCW radars present invention aims at providing in order to solve the above problem of the existing technology
Frequency modulated signal carrys out the method for carrying out ranging and range rate to multiple target.
The technical solution adopted in the present invention is：
A method of ranging and range rate, including step being carried out to multiple target using the frequency modulated signal of LFMCW radars：
S1, positive slope region is divided between the frequency modulation(PFM) period between negative slope region, frequency fm1, modulation period Tm1
Single channel down coversion structure triangle frequency modulation LFMCW radar FM signals, in every adjacent 2 modulation periods of Tm1Between increase
It is T to add a lengthm2Modulation period form new frequency modulation(PFM) combination signal, which is including 2 length
Tm2/ 2 and frequency be respectively fs1And fs2Simple signal, the frequency intervals of the two simple signals is Δ f；
S2, to being solved after two simple signal echo FFT transform | fd|, further according to two simple signal echo spectrums
The phase difference of main lobe peak pointTarget range R is solved, the f of moving target is then obtainedR, to obtain | fR±fd| knot
Fruit；
S3, by the obtained results of S2 and Tm1Result in modulation period after echo FFT transform is matched, and then determines fortune
The echo spectrum component of moving-target；
S4, remaining Tm1Echo spectrum component main lobe is corresponding in modulation period is all | fR|, between positive slope region directly
Obtain the corresponding f of static targetR, to obtain the distance R of static target.
Specifically, signal such as formula (2) is combined in the new frequency modulation(PFM)：
Wherein fs1=fs2+ Δ f, K=2fm1/Tm1。
Further, in the step S2, | fd| solution procedure be：
First, FFT changes formula such as formula (3)：
WhereinX [k] is discrete digital frequency spectrum, if spectrum peak is in k points, then corresponding
Then have
F in formulasampleIt is system sampling frequency, λ is system carrier frequency f0Corresponding wavelength.
Further, in the step S2, the f of target range R and moving targetRSolution procedure is：
First, according to the phase difference of two simple signal echo spectrum main lobe peak pointsTarget range R is found out, is solved
Formula such as formula (5)：
C in formula is the light velocity；
Then the f of moving target is obtainedR=KR/2C.
Still further, in the step S5, the distance R=f of static targetR2C/K。
Beneficial effects of the present invention are：
The present invention can simplify the solution procedure of the multiple target distance of single channel down coversion LFMCW radars, to reduce original adjust
Waveform processed is in the complexity solved in spectral pair, due in Tm2It is to be moved by phase difference to measure target in modulation period
Distance also can improve the precision of range measurement under conditions of not increasing system bandwidth of operation.
Description of the drawings
Fig. 1 is the system construction drawing of existing triangle frequency modulation LFMCW radars.
Fig. 2 is existing triangle frequency modulation LFMCW radar frequency modulation law curves figure (time-frequency curve).
Fig. 3 is the triangle frequency modulation LFMCW radar frequency modulation law curve figures (time-frequency curve) of the present invention.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment does further explaination to the present invention.
Embodiment 1：
For the triangle frequency modulation LFMCW radars of single channel down coversion structure, the frequency modulation(PFM) period is divided into positive slope region
Between between negative slope region, frequency fm1, modulation period Tm1, wherein Fig. 1 is the system structure of triangle frequency modulation LFMCW radars
Figure, Fig. 2 are triangle frequency modulation LFMCW radar frequency modulation law curve figures.The triangle frequency modulation LFMCW radars FM signal can indicate
For formula (1).
K=2f in formulam1/Tm1。
Radar digital signal processing machine is in each Tm1Beat Signal is carried out between negative slope region between the positive slope region in period
FFT transform, since Beat Signal is real signal, the frequency obtained after transformation is Symmetrical, can be only to positive frequency
Component f+=| fR±fd| it is analyzed, wherein fRAnd fdCaused by indicating the frequency deviation caused by apart from time delay and movement respectively
Doppler shift, it can be seen that due to the f obtained after FFT transform+It is absolute value, in the f for solving multiple targetsRAnd fdWhen need
Repeatedly pairing is attempted, and increases solution difficulty.
The side of ranging and range rate is carried out to multiple target the present embodiment provides a kind of frequency modulated signal using LFMCW radars
Method includes the following steps：
The first step：Positive slope region being divided between the frequency modulation(PFM) period between negative slope region, frequency fm1, modulation period is
Tm1Single channel down coversion structure triangle frequency modulation LFMCW radar FM signals, in every adjacent 2 modulation periods of Tm1It
Between to increase length be Tm2Modulation period form new frequency modulation(PFM) combination signal, such as formula (2), which includes 2
A length is Tm2/ 2 and frequency be respectively fs1And fs2Simple signal, the frequency intervals of the two simple signals is Δ f, such as
Shown in Fig. 3, Fig. 3 is improved triangle frequency modulation LFMCW radars frequency modulation law curve figure.
Signal such as formula (2) is combined in new frequency modulation(PFM)：
Wherein fs1=fs2+ Δ f, K=2fm1/Tm1
Within the increased modulation period, due to being simple signal, all exist after beat is handled after static target echo
Zero-frequency position, can not solve the distance of multiple static targets, but can be used for solving the distance and velocity information of moving target.Tool
The solution procedure of body is as follows：
Second step：To being solved after two simple signal echo FFT transform | fd|, FFT transform formula is as follows.
WhereinX [k] is discrete digital frequency spectrum, if spectrum peak is in k points, then corresponding
Then have
F in formulasampleIt is system sampling frequency, λ is system carrier frequency f0Corresponding wavelength.
Further according to the phase difference of two simple signal echo spectrum main lobe peak pointsFind out target range R, solution formula
Such as formula (5).
C in formula is the light velocity.
So as to obtain the f of moving targetR=KR/2C
Further can be obtained | fR±fd| result.
Third walks：The result and T that second step is obtainedm1Result in modulation period after echo FFT transform is matched, can
To determine the echo spectrum component of moving target.
4th step：Remaining Tm1Echo spectrum component main lobe is corresponding in modulation period is all | fR|, between positive slope region
Directly obtain the corresponding f of static targetR, to obtain the R=f of static targetR2C/K
The method of the present invention can reduce original modulation waveform in the complexity solved in spectral pair, and due in Tm2It adjusts
Be in period processed by phase difference come measure target movement distance, also can under conditions of not increasing system bandwidth of operation,
Improve the precision of range measurement.
It is not limited to above-mentioned optional embodiment, anyone can obtain other various forms under the inspiration of the present invention
Product.Above-mentioned specific implementation mode should not be understood the limitation of pairs of protection scope of the present invention, and protection scope of the present invention is answered
It is defined in claims when being subject to, and specification can be used for interpreting the claims.
Claims (5)
1. a kind of frequency modulated signal using LFMCW radars is come the method to multiple target progress ranging and range rate, it is characterised in that：
Including step：
S1, positive slope region is divided between the frequency modulation(PFM) period between negative slope region, frequency fm1, modulation period Tm1Single-pass
The triangle frequency modulation LFMCW radar FM signals of road down coversion structure, in every adjacent 2 modulation periods of Tm1Between increase by one
Length is Tm2Modulation period form new frequency modulation(PFM) combination signal, which is T including 2 lengthm2/ 2 and frequency
Rate is respectively fs1And fs2Simple signal, the frequency intervals of the two simple signals is Δ f；
S2, to being solved after two simple signal echo FFT transform | fd|, further according to two simple signal echo spectrum main lobes
The phase difference of peak pointTarget range R is solved, the f of moving target is then obtainedR, to obtain | fR±fd| result；
S3, by the obtained results of S2 and Tm1Result in modulation period after echo FFT transform is matched, and then determines movement mesh
Target echo spectrum component；
S4, remaining Tm1Echo spectrum component main lobe is corresponding in modulation period is all | fR|, it is directly obtained between positive slope region
The corresponding f of static targetR, to obtain the distance R of static target.
2. a kind of frequency modulated signal using LFMCW radars according to claim 1 is come to multiple target progress ranging survey
The method of speed, it is characterised in that：Signal such as formula (2) is combined in the new frequency modulation(PFM)：
Wherein fs1=fs2+Δf。
3. a kind of frequency modulated signal using LFMCW radars according to claim 2 is come to multiple target progress ranging survey
The method of speed, it is characterised in that：In the step S2, | fd| solution procedure be：
First, FFT changes formula such as formula (3)：
WhereinX [k] is discrete digital frequency spectrum, if spectrum peak is in k points, then correspondingThen have
F in formulasampleIt is system sampling frequency, λ is system carrier frequency f0Corresponding wavelength.
4. a kind of frequency modulated signal using LFMCW radars according to claim 3 is come to multiple target progress ranging survey
The method of speed, it is characterised in that：In the step S2, the f of target range R and moving targetRSolution procedure is：
First, according to the phase difference of two simple signal echo spectrum main lobe peak pointsTarget range R is found out, solution formula is such as
Formula (5)：
C in formula is the light velocity；
Then the f of moving target is obtainedR=KR/2C.
5. a kind of frequency modulated signal using LFMCW radars according to claim 4 is come to multiple target progress ranging survey
The method of speed, it is characterised in that：In the step S5, the distance R=f of static targetR2C/K。
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Cited By (8)
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| CN109932710A (en) * | 2018-08-08 | 2019-06-25 | 中国航空工业集团公司雷华电子技术研究所 | Distant object speed modification method based on sawtooth LFMCW waveform system velocity radar |
| CN110596671A (en) * | 2019-10-16 | 2019-12-20 | 云南大学 | Optimization processing method and system for LFMCW speed and distance measuring radar |
| CN110865350A (en) * | 2019-11-21 | 2020-03-06 | 清华大学 | Multi-target ranging and velocity measurement method and system based on dual-band triangular LFMW radar |
| CN111650576A (en) * | 2020-05-11 | 2020-09-11 | 安徽百诚慧通科技有限公司 | Speed and distance measuring method and device of FMCW radar system and storage medium |
| CN112805591A (en) * | 2019-06-20 | 2021-05-14 | 华为技术有限公司 | Radar system |
| WO2022088314A1 (en) * | 2020-10-30 | 2022-05-05 | 苏州镭智传感科技有限公司 | Target measurement method and apparatus, measurement device and storage medium |
| CN115712105A (en) * | 2022-11-30 | 2023-02-24 | 深圳锐越微技术有限公司 | Target information detection method, device, equipment and storage medium |
| CN119375899A (en) * | 2024-12-30 | 2025-01-28 | 浙江大学 | Method and device for measuring target micro-motion information based on combination of single-frequency waveform and modulated waveform |
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