CN114814817B - Moving object speed deblurring method and device, electronic equipment and storage medium - Google Patents
Moving object speed deblurring method and device, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN114814817B CN114814817B CN202210437233.2A CN202210437233A CN114814817B CN 114814817 B CN114814817 B CN 114814817B CN 202210437233 A CN202210437233 A CN 202210437233A CN 114814817 B CN114814817 B CN 114814817B
- Authority
- CN
- China
- Prior art keywords
- target
- doppler
- phase difference
- transmitting antenna
- range
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 abstract description 12
- 230000008569 process Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 10
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 2
- 238000002592 echocardiography Methods 0.000 description 2
- 230000003595 spectral effect Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/415—Identification of targets based on measurements of movement associated with the target
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a moving target speed deblurring method, a moving target speed deblurring device, electronic equipment and a storage medium, wherein the moving target speed deblurring method comprises the following steps: driving three antennas of the radar to sequentially emit pulse signals; acquiring an echo signal of the pulse signal, and obtaining a corresponding range-Doppler image according to the echo signal; calculating a first phase difference and a second phase difference from the range-doppler image; and calculating Doppler frequency according to the first phase difference and the second phase difference, and calculating the current speed of the moving target according to the Doppler frequency. The technical scheme provided by the invention can solve the problems of small maximum non-blurring speed caused by low pulse repetition frequency and blurring speed measurement caused by the occurrence of a high-speed target in the speed measurement process of the moving target by the radar in the prior art.
Description
Technical Field
The present invention relates to the field of radar signal processing technologies, and in particular, to a moving object velocity deblurring method, a moving object velocity deblurring device, an electronic device, and a storage medium.
Background
The radar is a sensing device for detecting by using a radio technology, and transmits electromagnetic waves to a target and receives echoes thereof, thereby obtaining information such as the distance from the target to an electromagnetic wave transmitting point, the distance change rate, the azimuth, the altitude and the like. With the rapid development of digital signal processing technology and the continuous improvement of corresponding hardware level, the radar system has been applied and popularized in various fields, such as automobile assisted driving, remote sensing, geological exploration, atmosphere detection and the like.
Multiple-input Multiple-output (MIMO) radar introduces Multiple inputs and Multiple outputs technologies in a wireless communication system into the radar field and combines with digital array technology to produce a radar. MIMO technology refers to the use of multiple transmit antennas at the transmitting end and multiple receive antennas at the receiving end, with signals being transmitted over multiple channels formed between the transmitting and receiving ends. The space-concurrent multi-observation channel enables the MIMO radar to acquire echo data carrying information of different amplitudes, time delays or phases of targets in real time, improves the energy utilization rate and angle measurement precision, adapts to changeable environments and improves the overall performance of the system. However, in the prior art, there is a technical problem of speed ambiguity when the speed is measured by the MIMO radar system.
The radar measures the moving speed of a target by using the Doppler effect generated by electromagnetic waves on the moving target, and when there is relative motion between the radar and the target, the Doppler effect is represented by the difference between the frequency of an echo signal and the frequency of a transmitting signal. Doppler radar uses the difference between the two frequencies, the doppler shift, to achieve a measurement of the velocity of a target. When the radar system adopts an intermediate frequency signal or a low frequency signal, the pulse repetition frequency is lower, the Doppler frequency of the target echo may exceed the pulse repetition frequency, so that the corresponding relation between the spectral line of the echo and the spectral line of the emission signal is disordered, different target Doppler frequency shifts can be read into the same Doppler frequency shift, the moving target speed analyzed according to the blurred Doppler image may correspond to a plurality of measuring speeds, and the radar system is difficult to accurately measure the real speed of the moving target.
Disclosure of Invention
The invention provides a moving target speed deblurring method, a moving target speed deblurring device, electronic equipment and a storage medium, and aims to effectively solve the problem that in the prior art, in the speed measurement process of a radar on a moving target, the maximum unblurring speed is small due to low pulse repetition frequency, and the speed measurement is fuzzy when a high-speed target appears.
According to an aspect of the present invention, there is provided a moving object velocity deblurring method, the method comprising:
driving a first target transmitting antenna, a second target transmitting antenna and a third target transmitting antenna to sequentially transmit a first pulse signal, a second pulse signal and a third pulse signal, wherein the signal periods of the first pulse signal and the second pulse signal are the same, and the signal period of the third pulse signal is different from the signal periods of the first pulse signal and the second pulse signal, the transmitting time sequences of the first target transmitting antenna, the second target transmitting antenna and the third target transmitting antenna are adjacent, and the interval between the first target transmitting antenna and the second target transmitting antenna is equal to the interval between the second target transmitting antenna and the third target transmitting antenna;
Acquiring a first echo signal, a second echo signal and a third echo signal which are returned by the same moving target and respectively aim at the first pulse signal, the second pulse signal and the third pulse signal, and acquiring a corresponding first range-Doppler image, a second range-Doppler image and a third range-Doppler image according to the first echo signal, the second echo signal and the third echo signal;
calculating a first phase difference from target range-doppler cell position information in the first and second range-doppler images, and calculating a second phase difference from target range-doppler cell position information in the second and third range-doppler images;
and calculating Doppler frequency according to the first phase difference and the second phase difference, and calculating the current speed of the moving target according to the Doppler frequency.
Further, the first target transmitting antenna and the second target transmitting antenna are adjacent in transmission timing, and the second target transmitting antenna and the third target transmitting antenna are adjacent in transmission timing.
Further, the acquiring the first echo signal, the second echo signal and the third echo signal respectively for the first pulse signal, the second pulse signal and the third pulse signal returned by the same moving object includes:
N paths of first echo signals, N paths of second echo signals and N paths of third echo signals which are respectively received by N receiving antennas and are returned by the same moving target and are aimed at the first pulse signals, the second pulse signals and the third pulse signals are obtained.
Further, the obtaining corresponding first, second and third range-doppler images from the first, second and third echo signals includes:
and respectively performing distance dimension sampling on the N paths of first echo signals, the N paths of second echo signals and the N paths of third echo signals which are obtained in one frame, and performing two-dimensional fast Fourier transform on the sampled data to obtain N first distance Doppler images, N second distance Doppler images and N third distance Doppler images.
Further, the computing a first phase difference from target range-doppler cell location information in the first range-doppler image and the second range-doppler image comprises:
respectively acquiring N first complex data corresponding to the target range-Doppler unit positions in the N first range-Doppler images, and respectively acquiring N second complex data corresponding to the target range-Doppler unit positions in the N second range-Doppler images;
The first phase difference is calculated from the N first complex data and the N second complex data.
Further, calculating a second phase difference from target range-doppler cell position information in the second range-doppler image and the third range-doppler image comprises:
respectively acquiring N second complex data corresponding to the target range-Doppler unit positions in the N second range-Doppler images, and respectively acquiring N third complex data corresponding to the target range-Doppler unit positions in the N third range-Doppler images;
the second phase difference is calculated from the N second complex data and the N third complex data.
Further, the calculating the first phase difference from the N first complex data and the N second complex data includes:
calculating the first phase difference according to:
[ψ 1 ,ψ 2 ,…,ψ N ]＝[β 1 *α 1 * ,β 2 *α 2 * ,…,β N *α N * ]，
wherein, "# is a conjugate operation, [ ψ ] 1 ,ψ 2 ,…,ψ N ]Representing the first phase difference [ alpha ] 1 ,α 2 ,…,α N ]Representing the N first complex data, [ beta ] 1 ,β 2 ,…,β N ]Representing the N second complex data.
Further, the calculating the second phase difference from the N second complex data and the N third complex data includes:
Calculating the second motion phase difference according to:
[σ 1 ,σ 2 ,*,σ N ]＝[δ 1 *β 1 * ,δ 2 *β 2 * ,*,δ N *β N * ]，
wherein, "[ sigma ] is a conjugate operation 1 ,σ 2 ,…,σ N ]Representing the second phase difference [ beta ] 1 ,β 2 ,…,β N ]Representing the N second complex data, [ delta ] 1 ,δ 2 ,…,δ N ]Representing the N third complex data.
Further, the calculating the doppler frequency from the first phase difference and the second phase difference includes:
the differential phase is calculated according to the following:
wherein "x" isTaking the conjugate operation, Δρ represents the differential phase, [ ψ ] 1 ,ψ 2 ,…,ψ N ]Representing the first phase difference [ sigma ] 1 ,σ 2 ,…,σ N ]And N represents the number of receiving antennas of the radar.
Further, the calculating the doppler frequency from the first phase difference and the second phase difference further includes:
calculating a phase angle of the differential phase;
and calculating the Doppler frequency according to the phase angle.
Further, the calculating the doppler frequency from the first phase difference and the second phase difference further includes:
calculating the Doppler frequency according to the following formula:
wherein f d The function of angle () function is the phase angle of the return vector, the unit is radian, Δρ represents the differential phase, and Δt represents the signal period of the first pulse signal or the difference between the signal period of the second pulse signal and the signal period of the third pulse signal.
Further, the calculating the current velocity of the moving object according to the doppler frequency includes:
calculating the current speed of the moving object according to the following formula:
V＝-f d ·λ/2，
wherein V represents the current speed of the moving object, f d And represents the Doppler frequency, and lambda is the wavelength.
According to another aspect of the present invention, there is also provided a moving object velocity defuzzification apparatus for a MIMO radar having at least three transmitting antennas, the apparatus comprising:
the signal transmitting module is used for driving a first target transmitting antenna, a second target transmitting antenna and a third target transmitting antenna to sequentially transmit a first pulse signal, a second pulse signal and a third pulse signal, the signal periods of the first pulse signal and the second pulse signal are the same, and the signal period of the third pulse signal is different from the signal periods of the first pulse signal and the second pulse signal, wherein the transmitting time sequences of the first target transmitting antenna, the second target transmitting antenna and the third target transmitting antenna are adjacent, and the interval between the first target transmitting antenna and the second target transmitting antenna is equal to the interval between the second target transmitting antenna and the third target transmitting antenna;
The distance Doppler image generation module is used for acquiring a first echo signal, a second echo signal and a third echo signal which are returned by the same moving target and respectively aim at the first pulse signal, the second pulse signal and the third pulse signal, and generating a corresponding first distance Doppler image, a second distance Doppler image and a third distance Doppler image according to the first echo signal, the second echo signal and the third echo signal;
a phase difference calculation module for calculating a first phase difference from target range-doppler cell position information in the first and second range-doppler images and calculating a second phase difference from target range-doppler cell position information in the second and third range-doppler images;
and the speed calculation module is used for calculating Doppler frequency according to the first phase difference and the second phase difference and calculating the current speed of the moving target according to the Doppler frequency.
According to another aspect of the present invention, there is also provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to perform any one of the moving object velocity defuzzification methods as described above.
According to another aspect of the present invention, there is also provided a storage medium having stored therein a plurality of instructions adapted to be loaded by a processor to perform any one of the moving object velocity defuzzification methods, apparatuses, electronic devices and storage media as described above.
Through one or more of the above embodiments of the present invention, at least the following technical effects can be achieved:
in the technical scheme disclosed by the invention, the radar system does not need the same transmitting antenna to transmit waveforms for a plurality of times, and each transmitting antenna only needs to transmit once, so that unnecessary waveform time is reduced; for receiving array elements, the setting of multiplexing array elements is not required, higher array freedom degree can be obtained, and the receiving antennas can be flexibly laid out according to requirements; the technical scheme has higher robustness, and can obtain an accurate solution speed fuzzy result under the condition of meeting the equidistant condition among any 3 transmitting antennas.
Drawings
The technical solution and other advantageous effects of the present invention will be made apparent by the following detailed description of the specific embodiments of the present invention with reference to the accompanying drawings.
FIG. 1 is a flow chart of steps of a method for disambiguating a moving object velocity according to an embodiment of the present invention;
FIG. 2 is a schematic waveform diagram of a pulse sequence according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a virtual array with equidistant transmitting antennas and receiving antennas according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a virtual array with equidistant transmitting antennas according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a virtual array with multiplexing array elements according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an array design with multiplexing array elements according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a moving object velocity deblurring device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and defined otherwise, the term "and/or" herein is merely an association relationship describing associated objects, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. The character "/" herein generally indicates that the associated object is an "or" relationship unless otherwise specified.
Fig. 1 is a flowchart illustrating steps of a moving object velocity deblurring method according to an embodiment of the present invention, where the moving object velocity deblurring method includes:
step 101: driving a first target transmitting antenna, a second target transmitting antenna and a third target transmitting antenna to sequentially transmit a first pulse signal, a second pulse signal and a third pulse signal, wherein the signal periods of the first pulse signal and the second pulse signal are the same, and the signal period of the third pulse signal is different from the signal periods of the first pulse signal and the second pulse signal, the transmitting time sequences of the first target transmitting antenna, the second target transmitting antenna and the third target transmitting antenna are adjacent, and the interval between the first target transmitting antenna and the second target transmitting antenna is equal to the interval between the second target transmitting antenna and the third target transmitting antenna;
step 102: acquiring a first echo signal, a second echo signal and a third echo signal which are returned by the same moving target and respectively aim at the first pulse signal, the second pulse signal and the third pulse signal, and acquiring a corresponding first range-Doppler image, a second range-Doppler image and a third range-Doppler image according to the first echo signal, the second echo signal and the third echo signal;
Step 103: calculating a first phase difference from target range-doppler cell position information in the first and second range-doppler images, and calculating a second phase difference from target range-doppler cell position information in the second and third range-doppler images;
step 104: and calculating Doppler frequency according to the first phase difference and the second phase difference, and calculating the current speed of the moving target according to the Doppler frequency.
In the step 101, a first target transmitting antenna, a second target transmitting antenna and a third target transmitting antenna are driven to sequentially transmit a first pulse signal, a second pulse signal and a third pulse signal, wherein the signal periods of the first pulse signal and the second pulse signal are the same, and the signal period of the third pulse signal is different from the signal periods of the first pulse signal and the second pulse signal, the transmitting timings of the first target transmitting antenna, the second target transmitting antenna and the third target transmitting antenna are adjacent, and the interval between the first target transmitting antenna and the second target transmitting antenna is equal to the interval between the second target transmitting antenna and the third target transmitting antenna.
For example, when ranging by a radar antenna, a transmitting antenna of the radar transmits a pulse signal to a moving object, and a receiving antenna receives an echo signal returned by the pulse signal on the moving object, because the object is moving, the echo signal has a doppler effect, and there is a frequency offset between different echo signals. Thus, the phase difference of different echo signals is obtained, and the Doppler frequency is calculated according to the phase difference, so that the current speed of the moving target can be calculated.
In the MIMO radar system, a time division transmitting mode is adopted to transmit pulse sequences, the time required by all antennas to alternately transmit pulse signals is a Burst period (a pulse sequence period), the time of the Burst period is divided into a plurality of Chirp signal periods, wherein the plurality of Chirp signal periods in the Burst period can be the same or different, and only one antenna transmits pulse signals in each Chirp signal period.
For example, fig. 2 is a schematic waveform diagram of a pulse sequence provided in the embodiment of the present invention, assuming that a MIMO array has M transmitting antennas and N receiving antennas, and conditions of equal spacing among 3 transmitting antennas TXK, TX (k+1) and TX (k+2) are satisfied, fig. 2 is a schematic waveform diagram of a pulse sequence period in the time division transmission mode of the MIMO array. Within a single Burst period, the 3 transmit antennas TXK, TX (k+1), TX (k+2) are sequentially time-division transmitting waveforms. In one Burst period corresponding to the graph, there are M Chirp signal periods. The time period of the Chirp signal period of the transmitting antenna K and the transmitting antenna (k+1) is T1, the two transmitting antennas respectively transmit a pulse signal once in the respective Chirp signal period, and the time period of the Chirp (k+2) signal period corresponding to the transmitting antenna (k+2) is T2. Wherein, the waveform of each pulse signal is the same in one Burst period, but when the Chirp signal periods are different, the idle time (idle time) before transmitting the pulse signal is different in different Chirp signal periods.
The MIMO radar system is based on multiple array element antennas, a MIMO sub-channel is formed between each receiving and transmitting antenna pair, the MIMO radar adopts M transmitting antennas and N receiving antennas to transmit mutually orthogonal signals, multiple waveform signals are kept independent in space and are received by N receiving array elements through scattering of targets, and each array element adopts M matched filters to match echoes, so that echo data of M x N channels can be obtained.
In this scheme, the spacing between three transmitting antennas in the array transmitting antennas is required to satisfy the condition of equal spacing, for example, fig. 3 is a schematic diagram of a virtual array with equal spacing between transmitting antennas and receiving antennas, where the spacing between 3 transmitting antennas in the figure is equal, the spacing between 4 receiving antennas is also equal, and the schematic diagram of a virtual array with 3 transmitting antennas and 4 receiving antennas is shown in the figure. When the array is designed, the uniform transmission is only required, namely, the equidistant spacing of any 3 transmitting antennas is not required, the equidistant spacing of the receiving antennas is not required, and the distance of the 3 transmitting antennas is not required to be larger than the total distance length of the receiving antennas. For example, fig. 4 is a schematic diagram of an equidistant virtual array of transmitting antennas according to an embodiment of the present invention, where the distances between 3 transmitting antennas in the figure are equal, and the distances between 4 receiving antennas are not equal. For another example, fig. 5 is a schematic diagram of a virtual array with multiplexing array elements according to an embodiment of the present invention, where 3 transmitting antennas and 4 receiving antennas are uniform arrays, the space between the transmitting antennas is smaller than the size of the receiving antennas, and multiplexing array elements are present in the virtual array. Such as the array designs of the form described above, the spacing between the first and second target transmit antennas is equal to the spacing between the second and third target transmit antennas. As described above, the subsequent speed-resolving ambiguity operation can be performed as long as the equidistant condition between any 3 transmitting antennas is satisfied, and the scheme does not require the setting of multiplexing array elements, and can obtain higher array degrees of freedom.
In the step 102, a first echo signal, a second echo signal and a third echo signal respectively corresponding to the first pulse signal, the second pulse signal and the third pulse signal, which are returned by the same moving target, are obtained, and a corresponding first range-doppler image, a corresponding second range-doppler image and a corresponding third range-doppler image are obtained according to the first echo signal, the second echo signal and the third echo signal.
For example, the radar can measure the speed of a target by mainly using the Doppler effect generated when electromagnetic waves irradiate a moving target, and for the radar, when there is relative motion between the radar and the target, the Doppler effect exists in the signal, and the Doppler effect is mainly reflected in that the frequency of an echo signal is not equal to the frequency of a transmitting signal. After the radar emits an electromagnetic wave signal, when a target moving toward the radar is encountered, the frequency at which the radar receives the electromagnetic wave signal returned from the target will be higher than the emission frequency of the radar due to the doppler effect. When the electromagnetic wave emitted by the radar encounters a target moving in a direction far away from the radar, the radar receives an electromagnetic wave signal with a frequency lower than the radar emission frequency, and the Doppler radar realizes the measurement of the speed of the target by utilizing the Doppler frequency shift between the two frequencies. Thus, in order to analyze the amount of doppler shift between different echo signals, a range-doppler image needs to be generated from the echo signals.
In step 103 described above, a first phase difference is calculated from target range-doppler cell position information in the first and second range-doppler images, and a second phase difference is calculated from target range-doppler cell position information in the second and third range-doppler images.
For example, a radar adopts a time division transmission mode, and a certain phase difference exists in target echo data corresponding to adjacent time division transmission, the phase difference is mainly caused by array element spacing and target movement speed, and a calculation formula of the phase difference is as follows:
ψ＝exp(j·2π·d·sinθ)+exp(j·4π·v·T/λ)，
here, exp (j·2pi·d·sin θ) represents a phase difference due to an array element pitch, exp (j·4pi·v·t/λ) represents a phase difference due to a target movement speed, j represents a sign of a complex signal, d represents an array element pitch, θ represents a target angle, v represents a target movement speed, and λ represents a wavelength.
In the technical scheme disclosed by the invention, as the array element distances among the first target transmitting antenna, the second target transmitting antenna and the third target transmitting antenna are the same, the frequency offset caused by the echo signals returned on the first target transmitting antenna and the second target transmitting antenna on the array element distance is the same as the frequency offset caused by the echo signals returned on the second target transmitting antenna and the third target transmitting antenna on the array element distance. Meanwhile, the Chirp signal periods of the first target transmitting antenna and the second target transmitting antenna are the same, and the Chirp signal periods of the second target transmitting antenna and the third target transmitting antenna are different, so that the frequency offset caused by the echo signals returned on the first target transmitting antenna and the second target transmitting antenna on the target moving distance is different from the frequency offset caused by the echo signals returned on the second target transmitting antenna and the third target transmitting antenna on the target moving distance. Thus, calculating the current velocity of the moving object requires calculating a first phase difference from the target range-doppler cell position information in the first and second range-doppler images and calculating a second phase difference from the target range-doppler cell position information in the second and third range-doppler images.
In the above step 104, a doppler frequency is calculated according to the first phase difference and the second phase difference, and a current velocity of the moving object is calculated according to the doppler frequency.
Illustratively, the first phase difference and the second phase difference are both caused by the array element spacing and the distance the target moves, wherein the array element spacing causing the first phase difference and the second phase difference are the same and the speed at which the moving target moves is the same, but the periods of the Chirp signals of the transmitted pulse sequences are different. Thus, the frequency of the Doppler shift is related to the Chirp signal period of the pulse sequence and the current speed of the moving object, and the current speed of the moving object can be calculated according to the Doppler frequency calculated by the first phase difference and the second phase difference.
In the technical scheme disclosed by the invention, the radar system does not need the same transmitting antenna to transmit waveforms for a plurality of times, and each transmitting antenna only needs to transmit once, so that unnecessary waveform time is reduced; for receiving array elements, the setting of multiplexing array elements is not required, higher array freedom degree can be obtained, and the receiving antennas can be flexibly laid out according to requirements; the technical scheme has higher robustness, and can obtain an accurate solution speed fuzzy result under the condition of meeting the equidistant condition among any 3 transmitting antennas.
Further, the first target transmitting antenna and the second target transmitting antenna are adjacent in transmission timing, and the second target transmitting antenna and the third target transmitting antenna are adjacent in transmission timing.
The radar system measures the speed according to the Doppler effect, in particular calculates the current speed of the moving object according to the frequency offset of the echo signals between the receiving and transmitting antennas. The motion state of the moving target is uncertain, and can be uniform or acceleration or deceleration, so that the measurement accuracy is improved, errors are reduced, the first target transmitting antenna and the second target transmitting antenna are adjacent in the transmitting time sequence, the second target transmitting antenna and the third target transmitting antenna are adjacent in the transmitting time sequence, the time for transmitting signals by the plurality of target transmitting antennas is kept consistent as much as possible, and the measurement accuracy is improved.
Further, in step 102, the acquiring the first echo signal, the second echo signal, and the third echo signal respectively for the first pulse signal, the second pulse signal, and the third pulse signal returned by the same moving object includes:
n paths of first echo signals, N paths of second echo signals and N paths of third echo signals which are respectively received by N receiving antennas and are returned by the same moving target and are aimed at the first pulse signals, the second pulse signals and the third pulse signals are obtained.
For example, assuming that the number of radar transmitting antennas is M, the number of receiving antennas is N, the radar adopts a time division transmission mode, and assuming that a target speed is V, distance dimension sampling is performed on echo data in each Chirp period, the number of distance dimension sampling points is Nr, N receiving antennas in each Chirp period obtain N paths of one-dimensional data altogether, and the same Burst waveform is transmitted for Na times in a total cycle to obtain data of one frame. Taking the radar transmitting sequence in fig. 2 as an example, the transmitting antenna TXK transmits a signal to obtain two-dimensional data with data size of N paths Nr, and the transmitting antenna TX (k+1) transmits a signal and the transmitting antenna TX (k+2) transmits a signal to obtain two-dimensional data of N paths Nr.
Further, in step 102, the obtaining the corresponding first range-doppler image, second range-doppler image, and third range-doppler image according to the first echo signal, the second echo signal, and the third echo signal includes:
and respectively performing distance dimension sampling on the N paths of first echo signals, the N paths of second echo signals and the N paths of third echo signals which are obtained in one frame, and performing two-dimensional fast Fourier transform on the sampled data to obtain N first distance Doppler images, N second distance Doppler images and N third distance Doppler images.
Illustratively, the radar test system performs a range-dimensional FFT and a doppler-dimensional FFT on each path of data to obtain a range-doppler image. Range-Doppler (RD) imaging algorithms are common methods for performing Range-Doppler analysis on a target, and perform FFT (fast Fourier transform ) processing on Range-dimensional (fast time) echo data, and then perform FFT processing on Doppler-dimensional (slow time) echo data, so that in a finally obtained two-dimensional Range-Doppler image map, the Range of the target at the position of a corresponding Range-Doppler cell is significantly higher than that of other Range-Doppler cells, and the Range-Doppler cells correspond to the Range-velocity information of the target.
For example, in the example shown in fig. 2, two-dimensional data with the data amount of N paths nr×na obtained by transmitting signals by the transmitting antenna TXK are respectively processed in two dimensions, so as to obtain N range-doppler images. Similarly, two-dimensional data of which the data volume is N paths of Nr and Na, obtained by transmitting signals of the transmitting antenna TX (K+1) and the transmitting antenna TX (K+2), are respectively subjected to two-dimensional FFT processing, and N distance Doppler images are obtained.
After the two-dimensional FFT processing, the corresponding motion phase compensation is carried out after the data of each channel corresponding to the position of the target distance Doppler unit is taken out, and the phase compensation is not needed to be directly carried out on a large amount of original data, because the angle measurement operation is only needed to be carried out on the detected target in practice, the complexity is reduced.
Further, in step 103, the calculating a first phase difference from target range-doppler cell position information in the first range-doppler image and the second range-doppler image comprises:
respectively acquiring N first complex data corresponding to the target range-Doppler unit positions in the N first range-Doppler images, and respectively acquiring N second complex data corresponding to the target range-Doppler unit positions in the N second range-Doppler images;
the first phase difference is calculated from the N first complex data and the N second complex data.
Illustratively, echo signals on a channel between a transmit antenna and a receive antenna each correspond to a range-doppler image in which there is corresponding complex data from which a phase difference between the different echo signals can be obtained.
Further, in step 103, calculating a second phase difference from target range-doppler cell position information in the second range-doppler image and the third range-doppler image comprises:
respectively acquiring N second complex data corresponding to the target range-Doppler unit positions in the N second range-Doppler images, and respectively acquiring N third complex data corresponding to the target range-Doppler unit positions in the N third range-Doppler images;
The second phase difference is calculated from the N second complex data and the N third complex data.
Illustratively, the second phase difference is obtained according to the same method, on the same principle as the first phase difference is obtained.
Further, the calculating the first phase difference from the N first complex data and the N second complex data includes:
calculating the first phase difference according to:
[ψ 1 ,ψ 2 ,…,ψ N ]＝[β 1 *α 1 * ,β 2 *α 2 * ,…,β N *α N * ]，
wherein, "# is a conjugate operation, [ ψ ] 1 ,ψ 2 ,…,ψ N ]Representing the first phase difference [ alpha ] 1 ,α 2 ,…,α N ]Representing the N first complex data, [ beta ] 1 ,β 2 ,…,β N ]Representing the N second complex data.
Exemplary, complex data of target range-Doppler unit positions in the range-Doppler images corresponding to N receiving array elements corresponding to the first target transmitting antenna and the second target transmitting antenna are taken out and respectively expressed as [ alpha ] 1 ,α 2 ,…,α N ]、[β 1 ,β 2 ,…,β N ]And performing conjugate multiplication on the two sets of complex data in a one-to-one correspondence manner to obtain a first phase difference.
Further, the calculating the second phase difference from the N second complex data and the N third complex data includes:
calculating the second motion phase difference according to:
[σ 1 ,σ 2 ,…,σ N ]＝[δ 1 *β 1 * ,δ 2 *β 2 * ,…,δ N *β N * ]，
wherein, "[ sigma ] is a conjugate operation 1 ,σ 2 ,…,σ N ]Representing the second phase difference [ beta ] 1 ,β 2 ,…,β N ]Representing the N second complex data, [ delta ] 1 ,δ 2 ,…,δ N ]Representing the N third complex data.
Exemplary, and in a similar manner, complex data of target range-Doppler unit positions in the range-Doppler images corresponding to N receiving array elements corresponding to the second target transmitting antenna and the third target transmitting antenna are taken out and respectively expressed as [ beta ] 1 ,β 2 ,…,β N ]、[δ 1 ,δ 2 ,…,δ N ]And performing conjugate multiplication on the two sets of complex data in a one-to-one correspondence manner to obtain a first phase difference.
Further, the calculating the doppler frequency from the first phase difference and the second phase difference includes:
the differential phase is calculated according to the following:
wherein ". Times." is a conjugate operation, Δρ represents the differential phase, [ ψ ] 1 ,ψ 2 ,…,ψ N ]Representing the first phase difference [ sigma ] 1 ,σ 2 ,…,σ N ]And N represents the number of receiving antennas of the radar.
The following describes the implementation procedure in step 103 by way of example.
Example 1
The radar adopts a time division transmitting mode, and certain phase difference exists in target echo data corresponding to adjacent time division transmitting, wherein the phase difference is mainly caused by array element spacing and target movement speed, and a calculation formula of the phase difference is as follows:
ψ＝exp(j·2π·d·sinθ)+exp(j·4π·v·T/λ)，
here, exp (j.2pi.d.sinθ) represents a phase difference due to an array element pitch, exp (j.4pi.v.t/λ) represents a phase difference due to a target movement speed, j is a sign of a complex signal, d is an array element pitch, θ is a target angle, v is a target movement speed, and λ is a wavelength.
In this embodiment, the waveform design is shown in fig. 2, and the corresponding array of multiplexing array elements is shown in fig. 6, where the transmitting antenna TXK has the same array element spacing when corresponding to the virtual array elements formed by the transmitting antenna TX (k+1) and the N receiving array elements one by one. Wherein, virtual array element numbers formed by the transmitting antenna TX1 and 4 receiving antennas are 1, 2, 3 and 4, virtual array element numbers formed by the transmitting antenna TX2 and 4 receiving antennas are 5, 6, 7 and 8, and virtual array element numbers formed by the transmitting antenna TX3 and 4 receiving antennas are 9, 10, 11 and 12. At this time, the virtual array elements formed by the transmitting antenna TX1 and the transmitting antenna TX2 and the 4 receiving array elements have the same array element spacing when corresponding one by one, and the spacing between the virtual array elements n and m is expressed as L n,m The array element spacing is shown as follows:
L 5,1 ＝L 6,2 ＝L 7,3 ＝L 8,4 ＝L 9,5 ＝L 10,6 ＝L 11,7 ＝L 12,8 ，
correspondingly, the first phase difference between the complex data of the target range-doppler cell position in the range-doppler image of the array element corresponding to the first target antenna and the second target antenna may be expressed as:
ψ 5,1 ＝exp(j·2π·L 5,1 ·sinθ)+exp(j·4π·v·T1/λ)，
ψ 6,2 ＝exp(j·2π·L 6,2 ·sinθ)+exp(j·4π·v·T1/λ)，
ψ 7,3 ＝exp(j·2π·L 7,3 ·sinθ)+exp(j·4π·v·T1/λ)，
ψ 8,4 ＝exp(j·2π·L 8,4 ·sinθ)+exp(j·4π·v·T1/λ)。
similarly, the second phase difference between the complex data of the target range-doppler cell locations in the range-doppler images of the array elements corresponding to the second target antenna and the third target antenna may be expressed as:
ψ 9,5 ＝exp(j·2π·L 9,5 ·sinθ)+exp(j·4π·v·T2/λ)，
ψ 10,6 ＝exp(j·2π·L 10,6 ·sinθ)+exp(j·4π·v·T2/λ)，
ψ 11,7 ＝exp(j·2π·L 11,7 ·sinθ)+exp(j·4π·v·T2/λ)，
ψ 12,8 ＝exp(j·2π·L 12,8 ·sinθ)+exp(j·4π·v·T2/λ)。
Calculating a differential phase between the first phase difference and the second phase difference according to the first phase difference and the second phase difference, and then phi 9,5 And psi is equal to 5,1 、ψ 10,6 And psi is equal to 6,2 、ψ 11,7 And psi is equal to 7,3 、ψ 12,8 And psi is equal to 8,4 Respectively performing conjugate multiplication to obtain:
the obtained 4 differential phases are averaged according to the following equation:
wherein, by averaging the calculated plurality of differential phases, a more accurate result can be obtained, and the measurement accuracy of the radar system ranging is improved.
The above example case of the 3-transmit-4-receive MIMO array is generalized to the M-transmit-N-receive MIMO radar, and under the condition that the equidistant among any 3 transmitting antennas is satisfied and the waveform design is met, the frequency offset among different echo signals can be calculated according to the method in the scheme, so that the current speed of the moving target is obtained.
Further, the calculating the doppler frequency from the first phase difference and the second phase difference further includes:
calculating a phase angle of the differential phase;
and calculating the Doppler frequency according to the phase angle.
By way of example, the phase angle of the corresponding vector can be calculated from the differential phase difference, and the Doppler frequency can then be calculated from the phase angle.
Further, the calculating the doppler frequency from the first phase difference and the second phase difference further includes:
Calculating the Doppler frequency according to the following formula:
wherein f d The function of angle () function is the phase angle of the return vector, the unit is radian, Δρ represents the differential phase, and Δt represents the signal period of the first pulse signal or the difference between the signal period of the second pulse signal and the signal period of the third pulse signal.
Further, the calculating the current velocity of the moving object according to the doppler frequency includes:
calculating the current speed of the moving object according to the following formula:
V＝-f d ·λ/2，
wherein V represents the current speed of the moving object, f d And represents the Doppler frequency, and lambda is the wavelength.
In addition, in the technical scheme disclosed by the invention, the MIMO array is provided with M transmitting antennas and N receiving antennas, so that in order to ensure that the phase measurement is not ambiguous, the speed of solution is not ambiguous, and the following steps are ensured: when the pi is equal to 4 pi.v.delta T/lambda pi is less than pi, the maximum non-blurring speed is obtainedAccordingly, the range of unambiguous speeds-V that the radar system is now capable of characterizing max ～V max Is->
If the waveform design of the invention is not adopted, the range of the non-ambiguous speed corresponding to the classical TDM-MIMO radar waveform transmitting mode is
Thus, the invention can improve the detection range of the non-blurring speedMultiple in which Δt can be customized to achieve the range of unambiguous speeds achieved by the radar design requirements.
Fig. 7 is a schematic structural diagram of a moving object velocity defuzzification device according to an embodiment of the present invention, and according to another aspect of the present invention, there is further provided a moving object velocity defuzzification device for a MIMO radar having at least three transmitting antennas, wherein the device includes:
a signal transmitting module 201, configured to drive a first target transmitting antenna, a second target transmitting antenna, and a third target transmitting antenna to sequentially transmit a first pulse signal, a second pulse signal, and a third pulse signal, where signal periods of the first pulse signal and the second pulse signal are the same, and signal periods of the third pulse signal are different from signal periods of the first pulse signal and the second pulse signal, where transmission timings of the first target transmitting antenna, the second target transmitting antenna, and the third target transmitting antenna are adjacent, and a space between the first target transmitting antenna and the second target transmitting antenna is equal to a space between the second target transmitting antenna and the third target transmitting antenna;
A range-doppler image generating module 202, configured to acquire a first echo signal, a second echo signal, and a third echo signal respectively for the first pulse signal, the second pulse signal, and the third pulse signal returned by the same moving target, and generate a corresponding first range-doppler image, a second range-doppler image, and a third range-doppler image according to the first echo signal, the second echo signal, and the third echo signal;
a phase difference calculation module 203 for calculating a first phase difference from target range-doppler cell position information in the first and second range-doppler images and calculating a second phase difference from target range-doppler cell position information in the second and third range-doppler images;
a velocity calculating module 204, configured to calculate a doppler frequency according to the first phase difference and the second phase difference, and calculate a current velocity of the moving object according to the doppler frequency.
In addition, other aspects and implementation details of the moving object velocity deblurring device are the same as or similar to those of the moving object velocity deblurring method described above, and are not described herein.
According to another aspect of the present invention, there is provided an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements any one of the moving object velocity defuzzification methods described above when executing the program.
According to another aspect of the present invention, there is also provided a storage medium having stored therein a plurality of instructions adapted to be loaded by a processor to perform any one of the moving object velocity defuzzification methods described above.
In summary, although the present invention has been described in terms of the preferred embodiments, the preferred embodiments are not limited to the above embodiments, and various modifications and changes can be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention is defined by the appended claims.
Claims (15)
1. A moving object velocity disambiguation method for a MIMO radar having at least three transmit antennas, the method comprising:
driving a first target transmitting antenna, a second target transmitting antenna and a third target transmitting antenna to sequentially transmit a first pulse signal, a second pulse signal and a third pulse signal, wherein the signal periods of the first pulse signal and the second pulse signal are the same, and the signal period of the third pulse signal is different from the signal periods of the first pulse signal and the second pulse signal, the transmitting time sequences of the first target transmitting antenna, the second target transmitting antenna and the third target transmitting antenna are adjacent, and the interval between the first target transmitting antenna and the second target transmitting antenna is equal to the interval between the second target transmitting antenna and the third target transmitting antenna, wherein the first target transmitting antenna, the second target transmitting antenna and the third target transmitting antenna only transmit one pulse signal in one signal period respectively;
Acquiring a first echo signal, a second echo signal and a third echo signal which are returned by the same moving target and respectively aim at the first pulse signal, the second pulse signal and the third pulse signal, and acquiring a corresponding first range-Doppler image, a second range-Doppler image and a third range-Doppler image according to the first echo signal, the second echo signal and the third echo signal;
calculating a first phase difference from target range-doppler cell position information in the first and second range-doppler images, and calculating a second phase difference from target range-doppler cell position information in the second and third range-doppler images;
and calculating Doppler frequency according to the first phase difference and the second phase difference, and calculating the current speed of the moving target according to the Doppler frequency.
2. The method of claim 1, wherein the first target transmit antenna and the second target transmit antenna are adjacent in transmit timing, and the second target transmit antenna and the third target transmit antenna are adjacent in transmit timing.
3. The method of claim 2, wherein the acquiring first, second, and third echo signals returned by the same moving object for the first, second, and third pulse signals, respectively, comprises:
n paths of first echo signals, N paths of second echo signals and N paths of third echo signals which are respectively received by N receiving antennas and are returned by the same moving target and are aimed at the first pulse signals, the second pulse signals and the third pulse signals are obtained.
4. The method of claim 3, wherein the deriving corresponding first, second, and third range-doppler images from the first, second, and third echo signals comprises:
and respectively performing distance dimension sampling on the N paths of first echo signals, the N paths of second echo signals and the N paths of third echo signals which are obtained in one frame, and performing two-dimensional fast Fourier transform on the sampled data to obtain N first distance Doppler images, N second distance Doppler images and N third distance Doppler images.
5. The method of claim 4, wherein said calculating a first phase difference from target range-doppler cell location information in the first range-doppler image and the second range-doppler image comprises:
respectively acquiring N first complex data corresponding to the target range-Doppler unit positions in the N first range-Doppler images, and respectively acquiring N second complex data corresponding to the target range-Doppler unit positions in the N second range-Doppler images;
the first phase difference is calculated from the N first complex data and the N second complex data.
6. The method of claim 5, wherein calculating a second phase difference from target range-doppler cell location information in the second range-doppler image and the third range-doppler image comprises:
respectively acquiring N second complex data corresponding to the target range-Doppler unit positions in the N second range-Doppler images, and respectively acquiring N third complex data corresponding to the target range-Doppler unit positions in the N third range-Doppler images;
the second phase difference is calculated from the N second complex data and the N third complex data.
7. The method of claim 6, wherein said calculating said first phase difference from said N first complex data and said N second complex data comprises:
calculating the first phase difference according to:
[ψ 1 ,ψ 2 ,…,ψ N ]＝[β 1 *α 1 * ,β 2 *α 2 * ,…,β N *α N * ]，
wherein () * To take the conjugate operation, [ ψ ] 1 ,ψ 2 ,…,ψ N ]Representing the first phase difference [ alpha ] 1 ,α 2 ,…,α N ]Representing the N first complex data, [ beta ] 1 ,β 2 ,…,β N ]Representing the N second complex data.
8. The method of claim 7, wherein said calculating said second phase difference from said N second complex data and said N third complex data comprises:
calculating the second phase difference according to:
[σ 1 ,σ 2 ,…,σ N ]＝[δ 1 *β 1 * ,δ 2 *β 2 * ,…,δ N *β N * ]，
wherein () * To take the conjugate operation, [ sigma ] 1 ,σ 2 ,…,σ N ]Representing the second phase difference [ beta ] 1 ,β 2 ,…,β N ]Representing the N second complex data, [ delta ] 1 ,δ 2 ,…,δ N ]Representing the N third complex data.
9. The method of claim 8, wherein said calculating a doppler frequency from said first phase difference and said second phase difference comprises:
the differential phase is calculated according to the following:
wherein () * To take the conjugate operation, Δρ represents the differential phase, [ ψ ] 1 ,ψ 2 ,…,ψ N ]Representing the first phase difference [ sigma ] 1 ,σ 2 ,…,σ N ]And N represents the number of receiving antennas of the radar.
10. The method of claim 9, wherein said calculating a doppler frequency from said first phase difference and said second phase difference further comprises:
calculating a phase angle of the differential phase;
and calculating the Doppler frequency according to the phase angle.
11. The method of claim 10, wherein said calculating a doppler frequency from said first phase difference and said second phase difference further comprises:
calculating the Doppler frequency according to the following formula:
wherein f d The function of angle () function is the phase angle of the return vector, the unit is radian, Δρ represents the differential phase, and Δt represents the signal period of the first pulse signal or the difference between the signal period of the second pulse signal and the signal period of the third pulse signal.
12. The method of claim 11, wherein said calculating a current velocity of the moving object from the doppler frequency comprises:
calculating the current speed of the moving object according to the following formula:
V＝-f d ·λ/2，
wherein V represents the current speed of the moving object, f d And represents the Doppler frequency, and lambda is the wavelength.
13. A moving object velocity disambiguation apparatus for a MIMO radar having at least three transmit antennas, the apparatus comprising:
The signal transmitting module is used for driving a first target transmitting antenna, a second target transmitting antenna and a third target transmitting antenna to sequentially transmit a first pulse signal, a second pulse signal and a third pulse signal, the signal periods of the first pulse signal and the second pulse signal are the same, the signal period of the third pulse signal is different from the signal periods of the first pulse signal and the second pulse signal, the transmitting time sequences of the first target transmitting antenna, the second target transmitting antenna and the third target transmitting antenna are adjacent, and the interval between the first target transmitting antenna and the second target transmitting antenna is equal to the interval between the second target transmitting antenna and the third target transmitting antenna, wherein the first target transmitting antenna, the second target transmitting antenna and the third target transmitting antenna only transmit pulse signals once in one signal period respectively;
the distance Doppler image generation module is used for acquiring a first echo signal, a second echo signal and a third echo signal which are returned by the same moving target and respectively aim at the first pulse signal, the second pulse signal and the third pulse signal, and generating a corresponding first distance Doppler image, a second distance Doppler image and a third distance Doppler image according to the first echo signal, the second echo signal and the third echo signal;
A phase difference calculation module for calculating a first phase difference from target range-doppler cell position information in the first and second range-doppler images and calculating a second phase difference from target range-doppler cell position information in the second and third range-doppler images;
and the speed calculation module is used for calculating Doppler frequency according to the first phase difference and the second phase difference and calculating the current speed of the moving target according to the Doppler frequency.
14. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the moving object velocity disambiguation method of any of claims 1 to 12 when the program is executed by the processor.
15. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the moving object velocity deblurring method according to any one of claims 1 to 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210437233.2A CN114814817B (en) | 2022-04-25 | 2022-04-25 | Moving object speed deblurring method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210437233.2A CN114814817B (en) | 2022-04-25 | 2022-04-25 | Moving object speed deblurring method and device, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114814817A CN114814817A (en) | 2022-07-29 |
| CN114814817B true CN114814817B (en) | 2023-10-20 |
Family
ID=82506810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210437233.2A Active CN114814817B (en) | 2022-04-25 | 2022-04-25 | Moving object speed deblurring method and device, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114814817B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115421134B (en) * | 2022-08-15 | 2023-12-19 | 赛恩领动(上海)智能科技有限公司 | Method and device for resolving ambiguity of speed of radar and millimeter wave radar |
| CN115267721B (en) * | 2022-09-27 | 2022-12-20 | 中国电子科技集团公司第十四研究所 | Ground moving target radial velocity estimation method based on double-frequency SAR |
| CN116719004B (en) * | 2023-08-10 | 2023-10-10 | 南京隼眼电子科技有限公司 | Radar signal processing method, device, storage medium and radar receiving system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594233A (en) * | 2018-04-24 | 2018-09-28 | 森思泰克河北科技有限公司 | A kind of velocity solution blur method based on MIMO car radars |
| CN112764020A (en) * | 2020-02-28 | 2021-05-07 | 加特兰微电子科技(上海)有限公司 | Method, device and related equipment for resolving speed ambiguity and determining moving speed of object |
| WO2021129581A1 (en) * | 2019-12-23 | 2021-07-01 | 华为技术有限公司 | Signal processing method and apparatus |
| CN113777599A (en) * | 2021-09-13 | 2021-12-10 | 电子科技大学 | A Velocity Deblurring Method Based on FDA-MIMO Radar |
| CN113917423A (en) * | 2021-09-28 | 2022-01-11 | 纵目科技（上海）股份有限公司 | Doppler ambiguity calculation method, target speed measurement method and device |
| CN114137508A (en) * | 2022-01-29 | 2022-03-04 | 南京隼眼电子科技有限公司 | Moving target velocity deblurring method, device, electronic device and storage medium |
-
2022
- 2022-04-25 CN CN202210437233.2A patent/CN114814817B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594233A (en) * | 2018-04-24 | 2018-09-28 | 森思泰克河北科技有限公司 | A kind of velocity solution blur method based on MIMO car radars |
| WO2021129581A1 (en) * | 2019-12-23 | 2021-07-01 | 华为技术有限公司 | Signal processing method and apparatus |
| CN112764020A (en) * | 2020-02-28 | 2021-05-07 | 加特兰微电子科技(上海)有限公司 | Method, device and related equipment for resolving speed ambiguity and determining moving speed of object |
| CN113777599A (en) * | 2021-09-13 | 2021-12-10 | 电子科技大学 | A Velocity Deblurring Method Based on FDA-MIMO Radar |
| CN113917423A (en) * | 2021-09-28 | 2022-01-11 | 纵目科技（上海）股份有限公司 | Doppler ambiguity calculation method, target speed measurement method and device |
| CN114137508A (en) * | 2022-01-29 | 2022-03-04 | 南京隼眼电子科技有限公司 | Moving target velocity deblurring method, device, electronic device and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 一种基于重叠天线的TDM_MIMO雷达速度解模糊方法;江应怀 等;《现代信息科技》;第5卷(第21期);正文69-73页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114814817A (en) | 2022-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114814817B (en) | Moving object speed deblurring method and device, electronic equipment and storage medium | |
| CN106405541B (en) | Full-coherent continuous wave Doppler radar and distance and speed measuring method thereof | |
| CN108693511B (en) | Calculation method of moving target angle for time-division multiplexing MIMO radar | |
| CN104931938A (en) | Coherent agile frequency radar clutter inhibition method and system | |
| EP4471458A1 (en) | Moving target speed ambiguity resolution method and apparatus, and electronic device and storage medium | |
| CN114442080B (en) | Moving object speed deblurring method and device, electronic equipment and storage medium | |
| CN103823217A (en) | Bistatic MIMO radar high-speed movement target parameter estimation method based on dual-frequency transmission | |
| JP7023247B2 (en) | Radar device | |
| CN108387875A (en) | Time-division MIMO radar phase error antidote based on Two-dimensional FFT | |
| US12313768B2 (en) | Signal processing method and apparatus | |
| CN116500620A (en) | Data processing method, device, storage medium and unmanned vehicle of millimeter wave radar | |
| CN106093927B (en) | Target based on the big pulse width signal of radar tests the speed distance measuring method | |
| CN112526496A (en) | Measurement information acquisition method, device and equipment | |
| CN115421134A (en) | Method and device for resolving ambiguity of radar speed and millimeter wave radar | |
| JP2007192573A (en) | Target positioning apparatus | |
| CN115267721B (en) | Ground moving target radial velocity estimation method based on double-frequency SAR | |
| US20240019565A1 (en) | Motion compensation for fast target detection in automotive radar | |
| CN117092634A (en) | Radar speed measurement and ambiguity resolution method, device and storage medium | |
| CN114609624A (en) | Target speed solution method based on MIMO radar, memory and electronic equipment | |
| Haimovich | Distributed mimo radar for imaging and high resolution target localization | |
| TWI802994B (en) | Radar velocity detection system, method, and radar device thereof | |
| CN115267785B (en) | Velocity deambiguation method and system based on TDM MIMO radar | |
| CN114002674B (en) | SBRIM-based multi-overlapping moving target position and speed estimation method | |
| CN114779228B (en) | Target ranging method, device and storage medium | |
| Ghatnekar Nilsson | Localisation and estimation of vibrations using mmWave Pulsed Coherent Radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |