CN115379380A - System and method for measuring radio frequency communication waveband distance difference based on pulse compression - Google Patents
System and method for measuring radio frequency communication waveband distance difference based on pulse compression Download PDFInfo
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Abstract
一种基于脉冲压缩技术的射频通信波段距离差测定系统与方法,包括射频通信波段发射机与接收机:发射机包括射频信号源,输出射频波段单频正弦波信号或线性扫频信号;低频信号源,输出单极性周期的脉冲波信号;高速电子开关,射频功率放大器,对数天线,用于发射射频信号;方法包括距离差测量方法和距离差计算数字信号处理算法。本发明利用基于脉冲压缩技术的射频波段通信技术,实现了高灵敏度、高精度、低成本、拓展性强的距离差测量计算,可用于航海、航天、无人机、自动驾驶等领域的测距和定位。
A radio frequency communication band distance difference measurement system and method based on pulse compression technology, including a radio frequency communication band transmitter and a receiver: the transmitter includes a radio frequency signal source, and outputs a radio frequency band single-frequency sine wave signal or a linear frequency sweep signal; a low-frequency signal The source is to output a unipolar periodic pulse wave signal; a high-speed electronic switch, a radio frequency power amplifier, and a logarithmic antenna are used to transmit a radio frequency signal; the method includes a distance difference measurement method and a distance difference calculation digital signal processing algorithm. The invention uses the radio frequency band communication technology based on the pulse compression technology to realize the measurement and calculation of the distance difference with high sensitivity, high precision, low cost and strong expandability, and can be used for ranging in the fields of navigation, aerospace, unmanned aerial vehicles, and automatic driving. and positioning.
Description
技术领域technical field
本发明涉及了一种基于脉冲压缩技术的射频通信波段距离差测定系统和方法,该系统包括射频通信波段发射机和射频通信波段接收机,该方法包括基于上述系统的距离差计算数字信号处理算法。The present invention relates to a radio frequency communication band distance difference measurement system and method based on pulse compression technology. The system includes a radio frequency communication band transmitter and a radio frequency communication band receiver. The method includes a digital signal processing algorithm based on the distance difference calculation of the above system .
背景技术Background technique
脉冲压缩处理就是通过信号处理技术来获得相应的脉冲压缩输出信号,这样就能在不提高雷达发射功率的条件下,得到较高的输出信号信噪比。按其实现方法可分为时域脉冲压缩和频域脉冲压缩处理法。Pulse compression processing is to obtain the corresponding pulse compression output signal through signal processing technology, so that a higher signal-to-noise ratio of the output signal can be obtained without increasing the radar transmission power. According to its implementation method, it can be divided into time domain pulse compression and frequency domain pulse compression processing method.
传统的脉冲压缩测距系统常见于雷达,其发射与接收系统均位于雷达端,为实现高灵敏度和高精度,抵消反射材料对电磁波的衰减,其往往需要更高的发射功率、更高的发射频率,发射频率通常在X波段及更高,并且需要进行发射端和接收端之间信号的隔离,接收机系统的成本也更高。同时,传统的脉冲压缩测距系统的解调算法过于复杂,对于接收机要求较高,成本较高。The traditional pulse compression ranging system is commonly used in radar, and its transmitting and receiving systems are located at the radar end. In order to achieve high sensitivity and high precision, and to offset the attenuation of electromagnetic waves by reflective materials, it often requires higher transmitting power and higher transmitting power. Frequency, the transmission frequency is usually in the X-band and higher, and signal isolation between the transmitting end and the receiving end is required, and the cost of the receiver system is also higher. At the same time, the demodulation algorithm of the traditional pulse compression ranging system is too complicated, which has high requirements for the receiver and high cost.
CN2018104411843给出基于无线脉冲射频信号进行双向飞行时间测距和通信的系统,包括:UWB装置、测距装置,其中,无线脉冲射频信号装置,用于通过无线脉冲射频信号进行通信,并通过双向飞行时间测距方式进行测距;测距装置与无线脉冲射频信号装置,测距装置包括处理器、收发器、天线、ID寄存器,测距装置包括处理器、收发器、天线、设置模块、ID寄存器和通信接口,其中,处理器用于进行数据处理;收发器与处理器连接,收发器还与所述天线连接,所述收发器用于通过所述天线输出测距请求,同时还通过所述天线接收其他测距装置测距请求,所述天线用于进行数据传输;所述ID寄存器为非易失性存储器,用于存储所有测距装置的ID识别号。CN2018104411843 provides a system for two-way time-of-flight ranging and communication based on wireless pulsed radio frequency signals, including: UWB devices and distance measuring devices, wherein the wireless pulsed radio frequency signal device is used for communication through wireless pulsed radio frequency signals, and through two-way flight Time ranging method for ranging; distance measuring device and wireless pulse radio frequency signal device, ranging device includes processor, transceiver, antenna, ID register, ranging device includes processor, transceiver, antenna, setting module, ID register and a communication interface, wherein the processor is used for data processing; the transceiver is connected with the processor, and the transceiver is also connected with the antenna, and the transceiver is used for outputting a ranging request through the antenna, and at the same time receiving the request through the antenna For other distance measuring devices, the antenna is used for data transmission; the ID register is a non-volatile memory for storing ID numbers of all distance measuring devices.
CN2015109540688提供一种射频信号测距方法及系统,能够在不依赖射频接收信号强度测量硬件的前提下,估算发射节点与接收节点之间的距离。所述方法包括:获取不同测距码字的出现概率与节点之间距离的关系表,所述节点之间距离为发射节点与接收节点之间的距离;通过发射节点发射测距分组列,所述测距分组列包括:多个不同级别射频发射功率的分组,分组内容中包含该分组的射频发送功率信息;通过接收节点接收发射节点发射的分组,并根据接收节点的接收结果构建测距码字;根据构建的测距码字及获取的不同测距码字的出现概率与节点之间距离的关系表,估算发射节点与接收节点之间的距离。更适用于定位技术领域。CN2015109540688 provides a radio frequency signal ranging method and system, which can estimate the distance between a transmitting node and a receiving node without relying on the radio frequency received signal strength measurement hardware. The method includes: obtaining a relationship table between the occurrence probabilities of different ranging codewords and the distance between nodes, where the distance between nodes is the distance between the transmitting node and the receiving node; transmitting the ranging group sequence by the transmitting node, the The range measurement packet sequence includes: a plurality of groups with different levels of radio frequency transmission power, and the content of the group contains the information of the radio frequency transmission power of the group; the packet transmitted by the transmission node is received by the receiving node, and the ranging code is constructed according to the receiving result of the receiving node words; according to the constructed ranging codewords and the obtained relationship table between the occurrence probability of different ranging codewords and the distance between nodes, the distance between the transmitting node and the receiving node is estimated. It is more applicable to the field of positioning technology.
发明内容Contents of the invention
本发明目的是,提出一种基于脉冲压缩技术的射频波段通信技术,实现高灵敏度、高精度、低成本、拓展性强的距离差测定系统,可用于高精度测距、多目标检测和三点定位。可用于航海、航天、无人机、自动驾驶等领域的测距和定位。该系统包括射频通信波段发射机和射频通信波段接收机,该方法包括距离差计算数字信号处理算法。The purpose of the present invention is to propose a radio frequency band communication technology based on pulse compression technology to realize a distance difference measurement system with high sensitivity, high precision, low cost and strong scalability, which can be used for high-precision distance measurement, multi-target detection and three-point detection. position. It can be used for ranging and positioning in the fields of navigation, aerospace, drones, and automatic driving. The system includes a radio frequency communication band transmitter and a radio frequency communication band receiver, and the method includes a distance difference calculation digital signal processing algorithm.
本发明的技术方案是,一种基于脉冲压缩技术的射频通信波段距离差测定系统,系统的阐述:包括射频通信波段发射机、射频通信波段接收机,The technical solution of the present invention is a radio frequency communication band distance difference measurement system based on pulse compression technology, and the description of the system includes a radio frequency communication band transmitter, a radio frequency communication band receiver,
所述射频通信波段发射机包括如下依次电连接的部件:The radio frequency communication band transmitter includes the following components that are electrically connected in sequence:
射频信号源,输出射频波段单频正弦波信号或线性扫频信号;RF signal source, output RF band single-frequency sine wave signal or linear frequency sweep signal;
低频信号源,输出单极性周期的脉冲波信号;Low frequency signal source, output unipolar periodic pulse wave signal;
高速电子开关,实现了两路信号相乘即脉冲成型的功能;The high-speed electronic switch realizes the function of multiplying two signals, that is, pulse shaping;
射频功率放大器,有效提高发射机输出的脉冲压缩信号功率;RF power amplifier to effectively increase the power of the pulse compression signal output by the transmitter;
对数天线,用于发射射频信号。Logarithmic antenna for transmitting radio frequency signals.
射频信号源和低频信号源均输入至高速电子开关后再经射频功率放大器混频放大后由对数天线发射信号;Both the radio frequency signal source and the low frequency signal source are input to the high-speed electronic switch, and then the signal is transmitted by the logarithmic antenna after being mixed and amplified by the radio frequency power amplifier;
所述射频通信波段发射机的进一步设计在于,所述射频信号源输出信号频率在1GHz到1.5GHz之间可调,输出信号功率在-40dBm到0dBm之间可调。射频信号源输出信号具体可为单频正弦波信号或线性扫频信号。The further design of the radio frequency communication band transmitter is that the output signal frequency of the radio frequency signal source is adjustable between 1GHz and 1.5GHz, and the output signal power is adjustable between -40dBm and 0dBm. The output signal of the radio frequency signal source can specifically be a single frequency sine wave signal or a linear frequency sweep signal.
所述射频通信波段发射机的进一步设计在于,所述低频信号源可以输出周期的脉冲波信号,脉冲波为单极性,其中高电平为正电压5伏,低电平为零,频率在1kHz到100kHz之间连续可调,占空比在0到100%之间连续可调,输出信号幅度在0到5伏之间连续可调。The further design of the radio frequency communication band transmitter is that the low frequency signal source can output a periodic pulse wave signal, the pulse wave is unipolar, wherein the high level is a positive voltage of 5 volts, the low level is zero, and the frequency is between It is continuously adjustable from 1kHz to 100kHz, the duty cycle is continuously adjustable from 0 to 100%, and the output signal amplitude is continuously adjustable from 0 to 5 volts.
所述射频通信波段发射机的进一步设计在于,所述高速电子开关至少需支持100KHz的开关速率,同时输入信号通道的频率范围需包含1GHz到1.5GHz频段。高速电子开关实现了两路信号相乘即脉冲成型的功能。The further design of the RF communication band transmitter is that the high-speed electronic switch needs to support at least a switching rate of 100KHz, and the frequency range of the input signal channel needs to include the frequency range from 1GHz to 1.5GHz. The high-speed electronic switch realizes the function of multiplying two signals, that is, pulse shaping.
所述射频通信波段发射机的进一步设计在于,所述射频功率放大器线性工作频段包含1GHz到1.5GHz范围,功率增益大于20dB。射频功率放大器可以有效提高发射机输出的脉冲压缩信号功率。The further design of the radio frequency communication band transmitter is that the linear operating frequency band of the radio frequency power amplifier includes the range from 1 GHz to 1.5 GHz, and the power gain is greater than 20 dB. The RF power amplifier can effectively increase the power of the pulse compression signal output by the transmitter.
所述射频通信波段发射机的进一步设计在于,所述对数天线工作频段包含1GHz-1.5GHz,天线增益为12-18dB,辐射方向全向与定向均可,天线驻波比小于等于1.5。The further design of the RF communication band transmitter is that the working frequency band of the logarithmic antenna includes 1GHz-1.5GHz, the antenna gain is 12-18dB, the radiation direction can be omnidirectional or directional, and the antenna standing wave ratio is less than or equal to 1.5.
所述射频通信波段接收机,其包括如下依次电连接的部件:The radio frequency communication band receiver includes the following components that are electrically connected in sequence:
对数天线,用于接收射频信号;Logarithmic antenna for receiving radio frequency signals;
低噪声放大器,提高输入信号的信噪比,抑制输入信号的噪声;Low noise amplifier, improve the signal-to-noise ratio of the input signal, and suppress the noise of the input signal;
无源混频器,通过本振信号对输入信号进行下变频;Passive mixer, which down-converts the input signal through the local oscillator signal;
本振信号源,产生频率幅度固定的标准正弦波本振信号;The local oscillator signal source generates a standard sine wave local oscillator signal with a fixed frequency and amplitude;
无源带通滤波器,作为接收机的中频滤波器,可以有效的降低等效噪声带宽;Passive bandpass filter, as the IF filter of the receiver, can effectively reduce the equivalent noise bandwidth;
中频放大器,放大中频信号,提高接收机的灵敏度和动态范围;Intermediate frequency amplifier, which amplifies the intermediate frequency signal and improves the sensitivity and dynamic range of the receiver;
示波器或计算机,采集波形信号并计算距离差。对数天线按序接低噪声放大器、无源混频器、无源带通滤波器、中频放大器和示波器或计算机用于采集波形信号并计算距离差,本振信号源的输出端接无源混频器的第二输入端。Oscilloscope or computer, collect the waveform signal and calculate the distance difference. The logarithmic antenna is sequentially connected to a low noise amplifier, a passive mixer, a passive bandpass filter, an intermediate frequency amplifier and an oscilloscope or a computer to collect waveform signals and calculate the distance difference. The output terminal of the local oscillator signal source is connected to the passive mixer. The second input terminal of the frequency converter.
所述射频通信波段接收机的进一步设计在于,各模块的输入阻抗和输出阻抗均为50欧,各模块之间均使用同轴线连接;各模块均采用0欧电阻一点接地。The further design of the radio frequency communication band receiver is that the input impedance and output impedance of each module are both 50 ohms, and the modules are connected by coaxial lines; each module is grounded with a 0 ohm resistor.
所述射频通信波段接收机的进一步设计在于,所述对数天线工作频段包含1GHz-1.5GHz,天线增益为12-18dB,天线驻波比小于等于1.5,极化方向为垂直极化。The further design of the radio frequency communication band receiver is that the working frequency band of the logarithmic antenna includes 1GHz-1.5GHz, the antenna gain is 12-18dB, the standing wave ratio of the antenna is less than or equal to 1.5, and the polarization direction is vertical polarization.
所述射频通信波段接收机的进一步设计在于,所述低噪声放大器的工作频率范围包含1GHz到1.5GHz频段,噪声系数小于1dB,放大器增益大于10dB。A further design of the radio frequency communication band receiver is that the operating frequency range of the low noise amplifier includes the frequency band from 1GHz to 1.5GHz, the noise figure is less than 1dB, and the amplifier gain is greater than 10dB.
所述射频通信波段接收机的进一步设计在于,所述无源混频器工作频率范围包含1GHz到1.5GHz频段,典型转换损耗小于7dB。所述无源混频器实现下变频,将输入的脉冲压缩信号的载波频率从1GHz到1.5GHz频率范围搬移到以100MHz为中心,90MHz-110MHz的频率范围内。A further design of the radio frequency communication band receiver is that the working frequency range of the passive mixer includes the 1GHz to 1.5GHz frequency band, and the typical conversion loss is less than 7dB. The passive mixer implements down-conversion, and moves the carrier frequency of the input pulse compression signal from a frequency range of 1GHz to 1.5GHz to a frequency range of 90MHz-110MHz centered on 100MHz.
所述射频通信波段接收机的进一步设计在于,所述本征信号源输出正弦波信号频率在900MHz到1.4GHz范围内连续可调,输出信号功率在-40dBm到10dBm范围内连续可调。The further design of the radio frequency communication band receiver is that the frequency of the sine wave signal output by the intrinsic signal source is continuously adjustable within the range of 900MHz to 1.4GHz, and the output signal power is continuously adjustable within the range of -40dBm to 10dBm.
所述射频通信波段接收机的进一步设计在于,所述无源带通滤波器的-3dB通频带为90MHz到110MHz,带内插入损耗小于1dB。The further design of the radio frequency communication band receiver is that the -3dB passband of the passive bandpass filter is 90MHz to 110MHz, and the in-band insertion loss is less than 1dB.
所述射频通信波段接收机的进一步设计在于,所述中频放大器工作频率范围需包含100MHz,增益大于20dB。提高中频放大器的增益有利于提高接收机的灵敏度。The further design of the radio frequency communication band receiver is that the operating frequency range of the intermediate frequency amplifier needs to include 100MHz, and the gain is greater than 20dB. Increasing the gain of the IF amplifier is beneficial to improve the sensitivity of the receiver.
所述射频通信波段接收机的进一步设计在于,所述示波器用于对接收机下变频后的脉冲压缩信号进行高速采样,其中设置示波器为深度存储模式,同时要保证示波器的实时采样率大于等于500MHz(示波器的记录时间长度=最大存储深度除以实时采样频率),利用示波器的高速ADC将脉冲压缩信号的波形进行模数转换并存储,同时将存储的波形数据文件导入计算机。所述计算机用于运行距离差计算数字信号处理算法对接收机下变频后的脉冲压缩信号进行数字解调。The further design of the radio frequency communication band receiver is that the oscilloscope is used for high-speed sampling of the pulse compression signal after the down-conversion of the receiver, wherein the oscilloscope is set to the deep storage mode, and at the same time, the real-time sampling rate of the oscilloscope must be guaranteed to be greater than or equal to 500MHz (the recording time length of the oscilloscope = the maximum storage depth divided by the real-time sampling frequency), use the high-speed ADC of the oscilloscope to perform analog-to-digital conversion and storage of the waveform of the pulse compression signal, and import the stored waveform data file into the computer at the same time. The computer is used to run the distance difference calculation digital signal processing algorithm to digitally demodulate the pulse compression signal after the down-conversion of the receiver.
本发明测量的距离差定义为:某发射机到接收机1距离和接收机2距离的差值。The distance difference measured by the present invention is defined as: the difference between the distance from a certain transmitter to the
如图3所示,距离差测量系统由一台发射机和两台接收机组成:接收机1和接收机2。A为发射机到接收机1的距离,B为发射机到接收机2的距离,C为接收机1和接收机2之间的距离。本发明技术距离差测量系统可以测量发射机到接收机1的距离与发射机到接收机2的距离之间的差值d,即有:As shown in Figure 3, the distance difference measurement system consists of a transmitter and two receivers:
d=|A-B| (1)d=|A-B| (1)
d即为本发明技术距离差测量系统测量的距离差。d is the distance difference measured by the technology distance difference measurement system of the present invention.
在图3中,接收机1与接收机2位置固定,且两者之间的距离C为已知常量。In FIG. 3 , the positions of
使用本技术发明提及的发射机系统发射脉冲压缩信号,使用本技术发明提及的接收机系统同时接收脉冲压缩信号,接收机完成信号的前置低噪声放大、下变频、滤波和中频放大后,使用示波器高速实时采样并存储脉冲压缩信号波形,同时将经过ADC采样量化后波形数据导入计算机,计算机运行距离差计算数字信号处理算法对两路接收机下变频后的脉冲压缩信号进行数字解调。Use the transmitter system mentioned in this technical invention to transmit pulse compressed signals, and use the receiver system mentioned in this technical invention to receive pulse compressed signals at the same time. After the receiver completes the pre-low noise amplification, down conversion, filtering and intermediate frequency amplification of the signal , use the oscilloscope to sample and store the pulse compression signal waveform in real time at high speed, and at the same time import the waveform data after ADC sampling and quantization into the computer, and the computer runs the distance difference calculation digital signal processing algorithm to digitally demodulate the pulse compression signal after the down-conversion of the two receivers .
本发明的距离差计算数字信号处理算法,应用上述距离差测量系统,所述距离差计算数字信号处理算法包括:The distance difference calculation digital signal processing algorithm of the present invention applies the above-mentioned distance difference measurement system, and the distance difference calculation digital signal processing algorithm includes:
半波整流算法,用于提取脉冲压缩信号的脉冲包络正半周(正极性)波形;Half-wave rectification algorithm, used to extract the positive half-cycle (positive polarity) waveform of the pulse envelope of the pulse compression signal;
低通滤波算法,滤除载波信号,进一步提高信噪比,提取脉冲信号的包络;Low-pass filtering algorithm to filter out the carrier signal, further improve the signal-to-noise ratio, and extract the envelope of the pulse signal;
匹配滤波算法,用于计算两接收机接收信号间的相位差;Matched filtering algorithm, used to calculate the phase difference between the signals received by the two receivers;
距离差计算算法,用于计算两接收机与发射机之间距离的距离差。The distance difference calculation algorithm is used to calculate the distance difference between the two receivers and the transmitter.
所述的距离差计算数字信号处理算法,所述半波整流算法仅保留波形幅值大于0的部分,将小于0的部分置为0。In the digital signal processing algorithm for calculating the distance difference, the half-wave rectification algorithm only retains the part whose waveform amplitude is greater than 0, and sets the part smaller than 0 as 0.
所述的距离差计算数字信号处理算法,所述低通滤波算法:对半波整流算法的处理结果进行数字低通滤波器滤波,可以滤除载波信号,进一步提高信噪比,提取脉冲信号的包络。数字低通滤波器的截止频率设置为脉冲包络信号的频率,所述脉冲包络信号的频率为低频信号源产生的周期脉冲波信号的频率。The digital signal processing algorithm for calculating the distance difference, the low-pass filtering algorithm: carry out digital low-pass filter filtering on the processing result of the half-wave rectification algorithm, which can filter out the carrier signal, further improve the signal-to-noise ratio, and extract the pulse signal envelope. The cut-off frequency of the digital low-pass filter is set to the frequency of the pulse envelope signal, and the frequency of the pulse envelope signal is the frequency of the periodic pulse wave signal generated by the low-frequency signal source.
所述的匹配滤波算法,所述互相关函数Rxy(m),具体为:Described matched filtering algorithm, described cross-correlation function R xy (m), specifically:
上式中,x(n)表示接收机1输出的波形信号数据序列,y(n)表示接收机2输出的波形数据序列,m表示在运算过程中将序列y(n)移动的点数。In the above formula, x(n) represents the waveform signal data sequence output by
设发射机产生的脉冲压缩信号的脉冲包络频率为f,单位为Hz;两接收机接收到的信号之间存在的相位差为单位为弧度;电磁波信号的传播速度为光速c,单位为m/s,则距离差计算公式为:Suppose the pulse envelope frequency of the pulse compression signal generated by the transmitter is f, and the unit is Hz; the phase difference between the signals received by the two receivers is The unit is radian; the propagation speed of the electromagnetic wave signal is the speed of light c, and the unit is m/s, then the distance difference calculation formula is:
式(1)所述两接收机接收到的信号之间存在的相位差计算公式为:The phase difference existing between the signals received by the two receivers described in formula (1) The calculation formula is:
其中,fs为示波器ADC的采样频率,单位为Hz;f为脉冲压缩信号的脉冲包络频率,单位为Hz;m为互相关函数的主峰值点与原点偏移的采样点数;c为信号的传播速度光速,单位为m/s。Among them, f s is the sampling frequency of the oscilloscope ADC, the unit is Hz; f is the pulse envelope frequency of the pulse compression signal, the unit is Hz; m is the number of sampling points where the main peak point of the cross-correlation function deviates from the origin; c is the signal The speed of propagation is the speed of light, in m/s.
本发明距离差计算数字信号处理算法:The distance difference calculation digital signal processing algorithm of the present invention:
半波整流算法:仅保留信号波形幅值大于0的部分,将小于0的部分置为0。两路接收机下变频后输出信号的之间的相位差在脉冲压缩信号的波形上表现为脉冲包络信号的相位差,所述脉冲包络信号为低频信号源产生的周期脉冲波信号的周期波形。在对两路脉冲压缩信号进行互相关运算前,可以尽可能滤除脉冲包络上的噪声,有效提取包络信号,提高距离差测量精度。Half-wave rectification algorithm: only retain the part of the signal waveform whose amplitude is greater than 0, and set the part less than 0 to 0. The phase difference between the output signals after the down-conversion of the two receivers is expressed as the phase difference of the pulse envelope signal on the waveform of the pulse compression signal, and the pulse envelope signal is the period of the periodic pulse wave signal generated by the low-frequency signal source waveform. Before the cross-correlation operation is performed on the two pulse compression signals, the noise on the pulse envelope can be filtered out as much as possible, the envelope signal can be effectively extracted, and the distance difference measurement accuracy can be improved.
具体的,对于两路接收机输出的下变频后的脉冲压缩信号,经过示波器的高速ADC采样存储,将两路波形数据序列导入计算机之后,本发明技术的距离差计算数字信号处理算法首先进行半波整流算法,将双极性的脉冲包络信号转换成单极性的脉冲包络。Specifically, for the down-converted pulse compression signals output by the two-way receivers, after the high-speed ADC sampling and storage of the oscilloscope, and after the two-way waveform data sequences are imported into the computer, the distance difference calculation digital signal processing algorithm of the technology of the present invention is first performed halfway The wave rectification algorithm converts the bipolar pulse envelope signal into a unipolar pulse envelope.
低通滤波:所述低通滤波算法的特征在于:对半波整流算法的处理结果进行数字低通滤波器滤波,可以滤除载波信号,进一步提高信噪比,提取脉冲信号的包络。数字低通滤波器的截止频率设置为脉冲包络信号的频率,所述脉冲包络信号的频率为低频信号源产生的周期脉冲波信号的频率。Low-pass filtering: the low-pass filtering algorithm is characterized in that: the processing result of the half-wave rectification algorithm is filtered by a digital low-pass filter, which can filter out the carrier signal, further improve the signal-to-noise ratio, and extract the envelope of the pulse signal. The cut-off frequency of the digital low-pass filter is set to the frequency of the pulse envelope signal, and the frequency of the pulse envelope signal is the frequency of the periodic pulse wave signal generated by the low-frequency signal source.
在电路系统中,接收机使用混频器对接收的脉冲压缩信号的载波进行了下变频,同时用带通滤波器将下变频后的载波信号取出,滤除其它干扰信号的组合频率分量,降低了等效噪声带宽,提高了信噪比,但是叠加在脉冲压缩信号包络上的噪声还需要进一步的滤除。In the circuit system, the receiver uses a mixer to down-convert the carrier of the received pulse compression signal, and at the same time uses a band-pass filter to take out the down-converted carrier signal, filter out the combined frequency components of other interference signals, and reduce the The equivalent noise bandwidth is increased, and the signal-to-noise ratio is improved, but the noise superimposed on the pulse compression signal envelope needs to be further filtered.
两接收机端采用完全相同的数字低通滤波器,因此滤波器引入的相移相同,不会影响互相关函数计算两路信号的延迟和距离差的测量。The two receivers use the same digital low-pass filter, so the phase shift introduced by the filter is the same, which will not affect the cross-correlation function to calculate the delay and distance difference measurement of the two signals.
数字滤波器的常用设计算法已经公开和成熟了,在本发明技术方案中不做具体的阐述。Commonly used design algorithms for digital filters have been disclosed and matured, and will not be specifically described in the technical solution of the present invention.
匹配滤波算法:由于两路接收机接收的脉冲压缩信号均来自于同一发射机,两路接收机的电路结构相同,因此载波下变频后的脉冲压缩信号经过高速示波器采样模数转换、存储并导入计算机后的两路波形数据序列有很强的相关性。匹配滤波算法将对两路接收机低通滤波算法输出的波形数据序列进行互相关运算。互相关函数Rxy(m)可表示为:Matched filtering algorithm: Since the pulse compression signals received by the two receivers come from the same transmitter, and the circuit structures of the two receivers are the same, the pulse compression signals after carrier down-conversion are sampled by a high-speed oscilloscope, converted, stored and imported There is a strong correlation between the two waveform data sequences behind the computer. The matched filtering algorithm will perform cross-correlation operation on the waveform data sequence output by the low-pass filtering algorithm of the two receivers. The cross-correlation function R xy (m) can be expressed as:
上式中,x(n)表示接收机1输出的波形信号数据序列,y(n)表示接收机2输出的波形数据序列,m表示在运算过程中将序列y(n)移动的点数。In the above formula, x(n) represents the waveform signal data sequence output by
若两个接收机的信号间不存在相位差,则互相关函数Rxy(m)的最大值点对应的横坐标m=0;若两路信号间存在相位差,则互相关函数Rxy(m)的最大值点将对应的横坐标相对零点存在偏移,其偏移量和相位差成正比。同时,若Rxy(m)在最大值点对应的横坐标m>0,则说明x(n)相位落后于y(n);若Rxy(m)在最大值点对应的横坐标m<0,则说明x(n)相位超前于y(n)。If there is no phase difference between the signals of the two receivers, then the abscissa m=0 corresponding to the maximum point of the cross-correlation function R xy (m); if there is a phase difference between the two signals, then the cross-correlation function R xy ( The maximum point of m) will have an offset relative to the zero point on the corresponding abscissa, and the offset is proportional to the phase difference. At the same time, if the abscissa m>0 corresponding to R xy (m) at the maximum point, it means that the phase of x(n) lags behind y(n); if R xy (m) corresponds to the abscissa m< 0, it means that the phase of x(n) is ahead of y(n).
距离差计算算法:设发射机产生的脉冲压缩信号的脉冲包络频率为f,单位为Hz;两接收机接收到的信号之间存在的相位差为单位为弧度;电磁波信号的传播速度为光速c,单位为m/s,则距离差计算公式为:Distance difference calculation algorithm: Let the pulse envelope frequency of the pulse compression signal generated by the transmitter be f, and the unit is Hz; the phase difference between the signals received by the two receivers is The unit is radian; the propagation speed of the electromagnetic wave signal is the speed of light c, and the unit is m/s, then the distance difference calculation formula is:
需要特别注意的是,由于发射机发射的脉冲压缩信号的脉冲包络是周期性的,当两接收机下变频后输出信号之间的相位延迟超过180°,即两路接收信号的时间延迟达到1/f的一半以上时,将无法判断和区分两接收机输出信号的相对时间延迟和超前,所述1/f表示发射机低频信号源产生的周期脉冲波信号的周期。且如果两路接收信号的相位差高达1/f的整数倍以上时,互相关函数Rxy(m)的最大值点与原点的相位偏移量最大值也不会超过一个1/f周期,此时通过互相关函数的主峰值点与原点的相位偏移量换算成的时间差将远小于实际的时间差。It should be noted that since the pulse envelope of the pulse compression signal transmitted by the transmitter is periodic, when the phase delay between the output signals of the two receivers is down-converted, the phase delay between the output signals exceeds 180°, that is, the time delay of the two received signals reaches When it is more than half of 1/f, it will be impossible to judge and distinguish the relative time delay and advance of the output signals of the two receivers. The 1/f represents the period of the periodic pulse wave signal generated by the low-frequency signal source of the transmitter. And if the phase difference between the two received signals is as high as an integer multiple of 1/f, the maximum value of the phase offset between the maximum point of the cross-correlation function R xy (m) and the origin will not exceed a 1/f cycle, At this time, the time difference converted by the phase offset between the main peak point of the cross-correlation function and the origin will be much smaller than the actual time difference.
因此,本发明提出的距离差测量方案的测距上限由脉冲压缩信号的脉冲包络周期所决定,在距离差测量的实际应用中,两路接收机进行载波下变频后输出的脉冲压缩信号的时延需要满足条件,即时延小于脉冲包络周期的一半。如下式所示:Therefore, the ranging upper limit of the distance difference measurement scheme proposed by the present invention is determined by the pulse envelope period of the pulse compression signal. The delay needs to meet the condition that the delay is less than half of the pulse envelope period. As shown in the following formula:
式(6)所述两接收机接收到的信号之间存在的相位差计算公式为:The phase difference existing between the signals received by the two receivers described in formula (6) The calculation formula is:
其中,fs为示波器ADC的采样频率,单位为Hz;f为脉冲压缩信号的脉冲包络频率,单位为Hz;m为互相关函数的主峰值点与原点偏移的采样点数;c为信号的传播速度光速,单位为m/s。Among them, f s is the sampling frequency of the oscilloscope ADC, the unit is Hz; f is the pulse envelope frequency of the pulse compression signal, the unit is Hz; m is the number of sampling points where the main peak point of the cross-correlation function deviates from the origin; c is the signal The speed of propagation is the speed of light, in m/s.
本发明的理论最大分辨距离由示波器的最大采样频率决定。理论最大分辨距离等于光速乘以最大采样率频率。The theoretical maximum resolution distance of the present invention is determined by the maximum sampling frequency of the oscilloscope. The theoretical maximum resolution distance is equal to the speed of light multiplied by the maximum sampling rate frequency.
有益效果:Beneficial effect:
1.发射机的功率相对较小,载波频率较低,可使用成熟的器件和芯片构成发射机电路,降低系统的成本。1. The power of the transmitter is relatively small, and the carrier frequency is low. Mature devices and chips can be used to form the transmitter circuit to reduce the cost of the system.
2.发射机和接收机系统采用脉冲压缩信号进行通信,可节省发射功率,提高信噪比,同时提高了接收机的灵敏度和抗干扰能力。2. The transmitter and receiver systems use pulse compression signals for communication, which can save transmission power, improve the signal-to-noise ratio, and improve the sensitivity and anti-interference ability of the receiver at the same time.
3.在接收机端可直接使用高速数字示波器进行采样存储,并直接将采样后的信号导入计算机进行数字信号处理,简化了接收机系统的复杂度,降低了系统成本。3. At the receiver side, a high-speed digital oscilloscope can be directly used for sampling and storage, and the sampled signal can be directly imported into the computer for digital signal processing, which simplifies the complexity of the receiver system and reduces the system cost.
4.在距离差计算数字信号处理算法中,首先通过半波整流,数字低通滤波的预处理,可有效提高信噪比,提高距离差的测量精度。4. In the digital signal processing algorithm for distance difference calculation, firstly, the preprocessing of half-wave rectification and digital low-pass filter can effectively improve the signal-to-noise ratio and improve the measurement accuracy of distance difference.
5.在接收机的解调过程中,即距离差计算数字信号处理算法中,采用了数字匹配滤波算法(计算互相关函数),使距离差测量系统可实现低信噪比情况下的测量,有效提高了接收机的灵敏度和距离差测量精度。对于采样率为5GSa/s的示波器,理论最高精度可达0.12米。5. In the demodulation process of the receiver, that is, in the digital signal processing algorithm of distance difference calculation, a digital matched filter algorithm (calculation of cross-correlation function) is used, so that the distance difference measurement system can realize the measurement under the condition of low signal-to-noise ratio, The sensitivity of the receiver and the measurement accuracy of the distance difference are effectively improved. For an oscilloscope with a sampling rate of 5GSa/s, the theoretical maximum accuracy can reach 0.12 meters.
6.本距离差测量系统采用的通信波段频率适中,器件成本相对于高频雷达通信系统所用的器件成本明显较低,本系统的发射机和接收机硬件电路完全模块化,实时数字示波器作为脉冲压缩信号解调的核心装置,具有很好的可拓展性,便于系统维护和升级。6. The frequency of the communication band used in this distance difference measurement system is moderate, and the device cost is significantly lower than that used in the high-frequency radar communication system. The transmitter and receiver hardware circuits of this system are completely modularized, and the real-time digital oscilloscope is used as a pulse The core device of compressed signal demodulation has good scalability and is convenient for system maintenance and upgrade.
附图说明Description of drawings
图1是射频通信波段发射机的结构框图。Figure 1 is a structural block diagram of a radio frequency communication band transmitter.
图2是射频通信波段接收机的结构框图。Fig. 2 is a structural block diagram of a radio frequency communication band receiver.
图3是距离差测量实施案例示意图。Fig. 3 is a schematic diagram of an implementation case of distance difference measurement.
图4是示波器采集的两路接收机输出的载波下变频脉冲压缩信号波形。Fig. 4 is the waveform of the carrier frequency down-conversion pulse compression signal output by the two receivers collected by the oscilloscope.
图5是两路接收机输出信号经过半波整流和数字低通滤波后的波形。Figure 5 is the waveform of the output signals of the two receivers after half-wave rectification and digital low-pass filtering.
图6是两路数字序列的互相关函数波形。Figure 6 is the cross-correlation function waveform of two digital sequences.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明方案进行详细说明。The solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
发射机如图1,所述射频通信波段发射机,包括:Transmitter as shown in Figure 1, the radio frequency communication band transmitter includes:
射频信号源,输出射频波段单频正弦波信号或线性扫频信号;RF signal source, output RF band single-frequency sine wave signal or linear frequency sweep signal;
低频信号源,输出单极性周期的脉冲波信号;Low frequency signal source, output unipolar periodic pulse wave signal;
高速电子开关,实现了两路信号相乘即脉冲成型的功能;The high-speed electronic switch realizes the function of multiplying two signals, that is, pulse shaping;
射频功率放大器,有效提高发射机输出的脉冲压缩信号功率;RF power amplifier to effectively increase the power of the pulse compression signal output by the transmitter;
对数天线,用于发射射频信号。Logarithmic antenna for transmitting radio frequency signals.
所述射频通信波段发射机的进一步设计在于,所述射频信号源使用LMX2571锁相环模块制作,输出信号频率在1GHz到1.5GHz之间可调,输出信号功率在-40dBm到0dBm之间可调。射频信号源输出信号具体可为单频正弦波信号或线性扫频信号。The further design of the transmitter in the radio frequency communication band is that the radio frequency signal source is made with an LMX2571 phase-locked loop module, the output signal frequency is adjustable between 1GHz and 1.5GHz, and the output signal power is adjustable between -40dBm and 0dBm . The output signal of the radio frequency signal source can specifically be a single frequency sine wave signal or a linear frequency sweep signal.
射频信号源输出产生脉冲压缩信号的载波信号。该频段规避了常用的移动通信频段,环境中的电磁干扰相对较小;同时该频段的器件已相对成熟,在市场上比较常见,同时具有衰减小、低成本等优势。The RF signal source outputs a carrier signal that produces a pulse-compressed signal. This frequency band avoids the commonly used mobile communication frequency band, and the electromagnetic interference in the environment is relatively small; at the same time, the devices in this frequency band are relatively mature and common in the market, and have the advantages of small attenuation and low cost.
所述射频通信波段发射机的进一步设计在于,所述低频信号源使用DDS9958信号源模块制作,可以输出周期的脉冲波信号,脉冲波为单极性,其中高电平为正电压5伏,低电平为零,频率在1kHz到100kHz之间连续可调,占空比在0到100%之间连续可调,输出信号幅度在0到5伏之间连续可调。The further design of the radio-frequency communication band transmitter is that the low-frequency signal source is made using a DDS9958 signal source module, which can output periodic pulse wave signals, and the pulse wave is unipolar, wherein the high level is a positive voltage of 5 volts, and the low level is a positive voltage of 5 volts. The level is zero, the frequency is continuously adjustable between 1kHz and 100kHz, the duty cycle is continuously adjustable between 0 and 100%, and the output signal amplitude is continuously adjustable between 0 and 5 volts.
低频信号源产生的周期性低频脉冲信号和射频载波信号通过高速开关电路直接相乘,产生一定脉宽的脉冲压缩信号,低频脉冲信号的高电平宽度决定了脉冲压缩信号的时域宽度。The periodic low-frequency pulse signal generated by the low-frequency signal source and the RF carrier signal are directly multiplied by a high-speed switching circuit to generate a pulse-compressed signal with a certain pulse width. The high-level width of the low-frequency pulse signal determines the time-domain width of the pulse-compressed signal.
所述射频通信波段发射机的进一步设计在于,所述高速电子开关使用HMC270电子开关制作,至少需支持100KHz的开关速率,同时输入信号通道的频率范围需包含1GHz到1.5GHz频段。高速电子开关实现了两路信号相乘即脉冲成型的功能,相比于使用模拟乘法器或混频器实现脉冲成型的方案,使用高速电子开关成型的脉冲信号边沿更陡峭,射频载波信号失真更小,噪声基底也更小。The further design of the RF communication band transmitter is that the high-speed electronic switch is made of HMC270 electronic switch, which must support at least a switching rate of 100KHz, and the frequency range of the input signal channel must include the frequency range of 1GHz to 1.5GHz. The high-speed electronic switch realizes the function of multiplying two signals, that is, pulse shaping. Compared with the scheme of using an analog multiplier or mixer to realize pulse shaping, the edge of the pulse signal shaped by the high-speed electronic switch is steeper, and the distortion of the RF carrier signal is lower. Smaller, the noise floor is also smaller.
所述射频通信波段发射机的进一步设计在于,所述射频功率放大器线性工作频段包含1GHz到1.5GHz范围,功率增益大于20dB。射频功率放大器可以有效提高发射机输出的脉冲压缩信号功率,使脉冲压缩信号发射和接收系统的工作距离、测距精度、定位精度等性能指标得到提高。The further design of the radio frequency communication band transmitter is that the linear operating frequency band of the radio frequency power amplifier includes the range from 1 GHz to 1.5 GHz, and the power gain is greater than 20 dB. The RF power amplifier can effectively increase the power of the pulse compression signal output by the transmitter, and improve the performance indicators such as the working distance, ranging accuracy, and positioning accuracy of the pulse compression signal transmitting and receiving system.
所述射频通信波段发射机的进一步设计在于,所述对数天线工作频段包含1GHz-1.5GHz,天线增益为12-18dB,辐射方向全向与定向均可,天线驻波比小于等于1.5。The further design of the RF communication band transmitter is that the working frequency band of the logarithmic antenna includes 1GHz-1.5GHz, the antenna gain is 12-18dB, the radiation direction can be omnidirectional or directional, and the antenna standing wave ratio is less than or equal to 1.5.
射频信号源和低频信号源均输入至高速电子开关后再经射频功率放大器混频放大后由对数天线发射信号。Both the radio frequency signal source and the low frequency signal source are input to the high-speed electronic switch, and then the signal is transmitted by the logarithmic antenna after being mixed and amplified by the radio frequency power amplifier.
接收机,如图2,所述射频通信波段接收机,其包括:Receiver, as Fig. 2, described radio frequency communication band receiver, it comprises:
对数天线,用于接收射频信号;Logarithmic antenna for receiving radio frequency signals;
低噪声放大器,提高输入信号的信噪比,抑制输入信号的噪声;Low noise amplifier, improve the signal-to-noise ratio of the input signal, and suppress the noise of the input signal;
无源混频器,通过本振信号对输入信号进行下变频;Passive mixer, which down-converts the input signal through the local oscillator signal;
本振信号源,产生频率幅度固定的标准正弦波本振信号;The local oscillator signal source generates a standard sine wave local oscillator signal with a fixed frequency and amplitude;
无源带通滤波器,作为接收机的中频滤波器,可以有效的降低等效噪声带宽;Passive bandpass filter, as the IF filter of the receiver, can effectively reduce the equivalent noise bandwidth;
中频放大器,放大中频信号,提高接收机的灵敏度和动态范围;Intermediate frequency amplifier, which amplifies the intermediate frequency signal and improves the sensitivity and dynamic range of the receiver;
示波器或计算机,采集波形信号并计算距离差。对数天线按序接低噪声放大器、无源混频器、无源带通滤波器、中频放大器和示波器或计算机用于采集波形信号并计算距离差,本振信号源的输出端接无源混频器的第二输入端。Oscilloscope or computer, collect the waveform signal and calculate the distance difference. The logarithmic antenna is sequentially connected to a low noise amplifier, a passive mixer, a passive bandpass filter, an intermediate frequency amplifier and an oscilloscope or a computer to collect waveform signals and calculate the distance difference. The output terminal of the local oscillator signal source is connected to the passive mixer. The second input terminal of the frequency converter.
所述射频通信波段接收机的进一步设计在于,各模块的输入阻抗和输出阻抗均为50欧,各模块之间均使用同轴线连接;各模块均采用0欧电阻一点接地。The further design of the radio frequency communication band receiver is that the input impedance and output impedance of each module are both 50 ohms, and the modules are connected by coaxial lines; each module is grounded with a 0 ohm resistor.
所述射频通信波段接收机的进一步设计在于,所述对数天线工作频段包含1GHz-1.5GHz,天线增益为12-18dB,天线驻波比小于等于1.5,极化方向为垂直极化。The further design of the radio frequency communication band receiver is that the working frequency band of the logarithmic antenna includes 1GHz-1.5GHz, the antenna gain is 12-18dB, the standing wave ratio of the antenna is less than or equal to 1.5, and the polarization direction is vertical polarization.
所述射频通信波段接收机的进一步设计在于,所述低噪声放大器使用SPF5043Z放大器模块制作,工作频率范围包含1GHz到1.5GHz频段,输入端的噪声电压小于噪声系数小于1dB,放大器增益大于10dB。接收机前级使用低噪声系数的射频低噪声放大器可以有效提高接收机的灵敏度。The further design of the radio frequency communication band receiver is that the low noise amplifier is made of SPF5043Z amplifier module, the working frequency range includes 1GHz to 1.5GHz frequency band, and the noise voltage at the input terminal is less than The noise figure is less than 1dB, and the amplifier gain is greater than 10dB. The use of RF low noise amplifiers with low noise figures in the front stage of the receiver can effectively improve the sensitivity of the receiver.
所述射频通信波段接收机的进一步设计在于,所述无源混频器使用MinicircuitsRMS-11X+混频器制作,工作频率范围包含1GHz到1.5GHz频段,典型转换损耗小于7dB。The further design of the radio frequency communication band receiver is that the passive mixer is made of Minicircuits RMS-11X+ mixer, the working frequency range includes 1GHz to 1.5GHz frequency band, and the typical conversion loss is less than 7dB.
在本发明的实施例中,所述无源混频器使用二极管无源混频器,可以获得较大的输入信号动态范围、噪声系数小、输出的组合频分量和干扰小,有利于提高接收机的灵敏度。所述无源混频器实现下变频,将输入的脉冲压缩信号的载波频率从1GHz到1.5GHz频率范围搬移到以100MHz为中心,90MHz-110MHz的频率范围内。In the embodiment of the present invention, the passive mixer uses a diode passive mixer, which can obtain a larger dynamic range of the input signal, a small noise figure, and a small combined frequency component and interference of the output, which is conducive to improving the reception machine sensitivity. The passive mixer implements down-conversion, and moves the carrier frequency of the input pulse compression signal from a frequency range of 1GHz to 1.5GHz to a frequency range of 90MHz-110MHz centered on 100MHz.
所述射频通信波段接收机的进一步设计在于,所述无源混频器实现下变频,将输入的脉冲压缩信号的载波频率从1GHz到1.5GHz频率范围搬移到以100MHz为中心,90MHz-110MHz的频率范围内。The further design of the radio frequency communication band receiver is that the passive mixer realizes down-conversion, and the carrier frequency of the input pulse compression signal is moved from the frequency range of 1GHz to 1.5GHz to 100MHz as the center, 90MHz-110MHz frequency range.
所述射频通信波段接收机的进一步设计在于,所述本征信号源使用LMX2571锁相环制作,输出正弦波信号频率在900MHz到1.4GHz范围内连续可调,输出信号功率在-40dBm到10dBm范围内连续可调。The further design of the radio frequency communication band receiver is that the intrinsic signal source is made by using LMX2571 phase-locked loop, the output sine wave signal frequency is continuously adjustable in the range of 900MHz to 1.4GHz, and the output signal power is in the range of -40dBm to 10dBm Continuously adjustable.
所述射频通信波段接收机的进一步设计在于,所述无源带通滤波器使用简单RLC电路制作,其-3dB通频带为90MHz到110MHz,带内插入损耗小于1dB。A further design of the radio frequency communication band receiver is that the passive bandpass filter is made of a simple RLC circuit, its -3dB passband is 90MHz to 110MHz, and the in-band insertion loss is less than 1dB.
所述射频通信波段接收机的进一步设计在于,所述中频放大器使用ADL5330可控增益放大器电路模块制作,工作频率范围需包含100MHz,增益大于20dB。提高中频放大器的增益有利于提高接收机的灵敏度。The further design of the radio frequency communication band receiver is that the intermediate frequency amplifier is made of ADL5330 controllable gain amplifier circuit module, the working frequency range needs to include 100MHz, and the gain is greater than 20dB. Increasing the gain of the IF amplifier is beneficial to improve the sensitivity of the receiver.
所述射频通信波段接收机的进一步设计在于,所述示波器用于对接收机下变频后的脉冲压缩信号进行高速采样,其中设置示波器为深度存储模式,同时要保证示波器的实时采样率大于等于500MHz(示波器的记录时间长度=最大存储深度除以实时采样频率),利用示波器的高速ADC将脉冲压缩信号的波形进行模数转换并存储,同时将存储的波形数据文件导入计算机。所述计算机用于运行距离差计算数字信号处理算法对接收机下变频后的脉冲压缩信号进行数字解调。The further design of the radio frequency communication band receiver is that the oscilloscope is used for high-speed sampling of the pulse compression signal after the down-conversion of the receiver, wherein the oscilloscope is set to the deep storage mode, and at the same time, the real-time sampling rate of the oscilloscope must be guaranteed to be greater than or equal to 500MHz (the recording time length of the oscilloscope = the maximum storage depth divided by the real-time sampling frequency), use the high-speed ADC of the oscilloscope to perform analog-to-digital conversion and storage of the waveform of the pulse compression signal, and import the stored waveform data file into the computer at the same time. The computer is used to run the distance difference calculation digital signal processing algorithm to digitally demodulate the pulse compression signal after the down-conversion of the receiver.
本技术中测量的距离差定义为:某发射机到接收机1距离和接收机2距离的差值。The distance difference measured in this technology is defined as: the difference between the distance from a transmitter to
如图3所示,距离差测量系统由一台发射机和两台接收机组成:接收机1和接收机2。A为发射机到接收机1的距离,B为发射机到接收机2的距离,C为接收机1和接收机2之间的距离。本发明技术距离差测量系统可以测量发射机到接收机1的距离与发射机到接收机2的距离之间的差值d,即有:As shown in Figure 3, the distance difference measurement system consists of a transmitter and two receivers:
d=|A-B| (9)d=|A-B| (9)
d即为本发明技术距离差测量系统测量的距离差。d is the distance difference measured by the technology distance difference measurement system of the present invention.
在图3中,接收机1与接收机2位置固定,且两者之间的距离C为已知常量。In FIG. 3 , the positions of
使用本技术发明提及的发射机系统发射脉冲压缩信号,使用本技术发明提及的接收机系统同时接收脉冲压缩信号,接收机完成信号的前置低噪声放大、下变频、滤波和中频放大后,使用示波器高速实时采样并存储脉冲压缩信号波形,同时将经过ADC采样量化后波形数据导入计算机,计算机运行距离差计算数字信号处理算法对两路接收机下变频后的脉冲压缩信号进行数字解调。Use the transmitter system mentioned in this technical invention to transmit pulse compressed signals, and use the receiver system mentioned in this technical invention to receive pulse compressed signals at the same time. After the receiver completes the pre-low noise amplification, down conversion, filtering and intermediate frequency amplification of the signal , use the oscilloscope to sample and store the pulse compression signal waveform in real time at high speed, and at the same time import the waveform data after ADC sampling and quantization into the computer, and the computer runs the distance difference calculation digital signal processing algorithm to digitally demodulate the pulse compression signal after the down-conversion of the two receivers .
本发明距离差计算数字信号处理算法阐述如下:The distance difference calculation digital signal processing algorithm of the present invention is described as follows:
距离差计算数字信号处理算法包括以下四个部分:1)半波整流算法、2)低通滤波算法、3)匹配滤波算法、4)距离差计算算法The digital signal processing algorithm for distance difference calculation includes the following four parts: 1) half-wave rectification algorithm, 2) low-pass filter algorithm, 3) matched filter algorithm, 4) distance difference calculation algorithm
半波整流算法:Half-wave rectification algorithm:
所述半波整流算法特征在于:仅保留信号波形幅值大于0的部分,将小于0的部分置为0。两路接收机下变频后输出信号的之间的相位差在脉冲压缩信号的波形上表现为脉冲包络信号的相位差,所述脉冲包络信号为低频信号源产生的周期脉冲波信号的周期波形。在对两路脉冲压缩信号进行互相关运算前,可以尽可能滤除脉冲包络上的噪声,有效提取包络信号,提高距离差测量精度。The half-wave rectification algorithm is characterized in that: only the portion of the signal waveform whose amplitude is greater than 0 is reserved, and the portion smaller than 0 is set to 0. The phase difference between the output signals after the down-conversion of the two receivers is expressed as the phase difference of the pulse envelope signal on the waveform of the pulse compression signal, and the pulse envelope signal is the period of the periodic pulse wave signal generated by the low-frequency signal source waveform. Before the cross-correlation operation is performed on the two pulse compression signals, the noise on the pulse envelope can be filtered out as much as possible, the envelope signal can be effectively extracted, and the distance difference measurement accuracy can be improved.
具体的,对于两路接收机输出的下变频后的脉冲压缩信号,经过示波器的高速ADC采样存储,将两路波形数据序列导入计算机之后,本发明技术的距离差计算数字信号处理算法首先进行半波整流算法,将双极性的脉冲包络信号转换成单极性的脉冲包络。Specifically, for the down-converted pulse compression signals output by the two-way receivers, after the high-speed ADC sampling and storage of the oscilloscope, and after the two-way waveform data sequences are imported into the computer, the distance difference calculation digital signal processing algorithm of the technology of the present invention is first performed halfway The wave rectification algorithm converts the bipolar pulse envelope signal into a unipolar pulse envelope.
低通滤波::Low Pass Filtering::
所述低通滤波算法的特征在于:对半波整流算法的处理结果进行数字低通滤波器滤波,可以滤除载波信号,进一步提高信噪比,提取脉冲信号的包络。数字低通滤波器的截止频率设置为脉冲包络信号的频率,所述脉冲包络信号的频率为低频信号源产生的周期脉冲波信号的频率。The low-pass filtering algorithm is characterized in that: the processing result of the half-wave rectification algorithm is filtered by a digital low-pass filter, which can filter out the carrier signal, further improve the signal-to-noise ratio, and extract the envelope of the pulse signal. The cut-off frequency of the digital low-pass filter is set to the frequency of the pulse envelope signal, and the frequency of the pulse envelope signal is the frequency of the periodic pulse wave signal generated by the low-frequency signal source.
在电路系统中,接收机使用混频器对接收的脉冲压缩信号的载波进行了下变频,同时用带通滤波器将下变频后的载波信号取出,滤除其它干扰信号的组合频率分量,降低了等效噪声带宽,提高了信噪比,但是叠加在脉冲压缩信号包络上的噪声还需要进一步的滤除。In the circuit system, the receiver uses a mixer to down-convert the carrier of the received pulse compression signal, and at the same time uses a band-pass filter to take out the down-converted carrier signal, filter out the combined frequency components of other interference signals, and reduce the The equivalent noise bandwidth is increased, and the signal-to-noise ratio is improved, but the noise superimposed on the pulse compression signal envelope needs to be further filtered.
两接收机端采用完全相同的数字低通滤波器,因此滤波器引入的相移相同,不会影响互相关函数计算两路信号的延迟和距离差的测量。The two receivers use the same digital low-pass filter, so the phase shift introduced by the filter is the same, which will not affect the cross-correlation function to calculate the delay and distance difference measurement of the two signals.
数字滤波器的常用设计算法已经公开和成熟了,在本发明技术方案中不做具体的阐述。Commonly used design algorithms for digital filters have been disclosed and matured, and will not be specifically described in the technical solution of the present invention.
匹配滤波算法:由于两路接收机接收的脉冲压缩信号均来自于同一发射机,两路接收机的电路结构相同,因此载波下变频后的脉冲压缩信号经过高速示波器采样模数转换、存储并导入计算机后的两路波形数据序列有很强的相关性。匹配滤波算法将对两路接收机低通滤波算法输出的波形数据序列进行互相关运算。互相关函数Rxy(m)可表示为:Matched filtering algorithm: Since the pulse compression signals received by the two receivers come from the same transmitter, and the circuit structures of the two receivers are the same, the pulse compression signals after carrier down-conversion are sampled by a high-speed oscilloscope, converted, stored and imported There is a strong correlation between the two waveform data sequences behind the computer. The matched filtering algorithm will perform cross-correlation operation on the waveform data sequence output by the low-pass filtering algorithm of the two receivers. The cross-correlation function R xy (m) can be expressed as:
上式中,x(n)表示接收机1输出的波形信号数据序列,y(n)表示接收机2输出的波形数据序列,m表示在运算过程中将序列y(n)移动的点数。In the above formula, x(n) represents the waveform signal data sequence output by
若两个接收机的信号间不存在相位差,则互相关函数Rxy(m)的最大值点对应的横坐标m=0;若两路信号间存在相位差,则互相关函数Rxy(m)的最大值点将对应的横坐标相对零点存在偏移,其偏移量和相位差成正比。同时,若Rxy(m)在最大值点对应的横坐标m>0,则说明x(n)相位落后于y(n);若Rxy(m)在最大值点对应的横坐标m<0,则说明x(n)相位超前于y(n)。If there is no phase difference between the signals of the two receivers, then the abscissa m=0 corresponding to the maximum point of the cross-correlation function R xy (m); if there is a phase difference between the two signals, then the cross-correlation function R xy ( The maximum point of m) will have an offset relative to the zero point on the corresponding abscissa, and the offset is proportional to the phase difference. At the same time, if the abscissa m>0 corresponding to R xy (m) at the maximum point, it means that the phase of x(n) lags behind y(n); if R xy (m) corresponds to the abscissa m< 0, it means that the phase of x(n) is ahead of y(n).
距离差计算算法:Distance difference calculation algorithm:
设发射机产生的脉冲压缩信号的脉冲包络频率为f,单位为赫兹;两接收机接收到的信号之间存在的相位差为单位为弧度;电磁波信号的传播速度为光速c,单位为m/s,则距离差计算公式为:Suppose the pulse envelope frequency of the pulse compression signal generated by the transmitter is f, and the unit is Hertz; the phase difference between the signals received by the two receivers is The unit is radian; the propagation speed of the electromagnetic wave signal is the speed of light c, and the unit is m/s, then the distance difference calculation formula is:
需要特别注意的是,由于发射机发射的脉冲压缩信号的脉冲包络是周期性的,当两接收机下变频后输出信号之间的相位延迟超过180°,即两路接收信号的时间延迟达到1/f的一半以上时,将无法判断和区分两接收机输出信号的相对时间延迟和超前,所述1/f表示发射机低频信号源产生的周期脉冲波信号的周期。且如果两路接收信号的相位差高达1/f的整数倍以上时,互相关函数Rxy(m)的最大值点与原点的相位偏移量最大值也不会超过一个1/f周期,此时通过互相关函数的主峰值点与原点的相位偏移量换算成的时间差将远小于实际的时间差。It should be noted that since the pulse envelope of the pulse compression signal transmitted by the transmitter is periodic, when the phase delay between the output signals of the two receivers is down-converted, the phase delay between the output signals exceeds 180°, that is, the time delay of the two received signals reaches When it is more than half of 1/f, it will be impossible to judge and distinguish the relative time delay and advance of the output signals of the two receivers. The 1/f represents the period of the periodic pulse wave signal generated by the low-frequency signal source of the transmitter. And if the phase difference between the two received signals is as high as an integer multiple of 1/f, the maximum value of the phase offset between the maximum point of the cross-correlation function R xy (m) and the origin will not exceed a 1/f cycle, At this time, the time difference converted by the phase offset between the main peak point of the cross-correlation function and the origin will be much smaller than the actual time difference.
因此,本发明提出的距离差测量方案的测距上限由脉冲压缩信号的脉冲包络周期所决定,在距离差测量的实际应用中,两路接收机进行载波下变频后输出的脉冲压缩信号的时延需要满足条件,即时延小于脉冲包络周期的一半。如下式所示:Therefore, the ranging upper limit of the distance difference measurement scheme proposed by the present invention is determined by the pulse envelope period of the pulse compression signal. The delay needs to meet the condition that the delay is less than half of the pulse envelope period. As shown in the following formula:
式11所述两接收机接收到的信号之间存在的相位差计算公式为:The phase difference between the signals received by the two receivers described in Equation 11 The calculation formula is:
其中,fs为示波器ADC的采样频率,单位为Hz;f为脉冲压缩信号的脉冲包络频率,单位为Hz;m为互相关函数的主峰值点与原点偏移的采样点数;c为信号的传播速度光速,单位为m/s。Among them, f s is the sampling frequency of the oscilloscope ADC, the unit is Hz; f is the pulse envelope frequency of the pulse compression signal, the unit is Hz; m is the number of sampling points where the main peak point of the cross-correlation function deviates from the origin; c is the signal The speed of propagation is the speed of light, in m/s.
在本发明的部分实施例中,如图3所示位置安装一个发射机与两个接收机,三者构成直角三角形。其中,发射机与接收机1的距离A=15米,发射机与接收机2的距离B=25米,接收机1与接收机2的距离C=20米。In some embodiments of the present invention, a transmitter and two receivers are installed at positions as shown in FIG. 3 , and the three form a right triangle. Wherein, the distance A between the transmitter and the
在本发明的部分实施例中,在发射机中,设置射频信号源输出频率为1.2GHz的信号作为载波信号,输出功率为-20dBm。低频信号源输出占空比为50%的方波信号,幅值为5V,频率为50kHz。低频信号源产生的周期性低频脉冲信号和射频信号源产生的载波信号通过高速开关电路直接相乘,产生一定脉宽的脉冲压缩信号。In some embodiments of the present invention, in the transmitter, the radio frequency signal source is set to output a signal with a frequency of 1.2 GHz as the carrier signal, and the output power is -20 dBm. The low-frequency signal source outputs a square wave signal with a duty cycle of 50%, an amplitude of 5V, and a frequency of 50kHz. The periodic low-frequency pulse signal generated by the low-frequency signal source and the carrier signal generated by the RF signal source are directly multiplied by a high-speed switching circuit to generate a pulse-compressed signal with a certain pulse width.
在本发明的部分实施例中,发射机与接收机使用的对数天线工作频段均包含1GHz-1.5GHz,天线增益为15dB,天线驻波比小于等于1.5,极化方向为垂直极化。其中,发射机天线辐射方向为全向,接收机天线辐射方向为定向。In some embodiments of the present invention, the working frequency band of the logarithmic antenna used by the transmitter and the receiver includes 1GHz-1.5GHz, the antenna gain is 15dB, the standing wave ratio of the antenna is less than or equal to 1.5, and the polarization direction is vertical polarization. Among them, the radiation direction of the transmitter antenna is omnidirectional, and the radiation direction of the receiver antenna is directional.
在本发明的部分实施例中,在两接收机中,前置低噪声放大器的增益为10dB。本征信号源输出频率为1.3GHz,输出功率为0dBm。In some embodiments of the present invention, in the two receivers, the gain of the pre-low noise amplifier is 10dB. The output frequency of the intrinsic signal source is 1.3GHz, and the output power is 0dBm.
在本发明的部分实施例中,接收机使用的无源混频器为二极管无源混频器,工作频率范围为200MHz到3GHz频段,典型转换损耗为4.5dB。In some embodiments of the present invention, the passive mixer used by the receiver is a diode passive mixer, the operating frequency range is from 200MHz to 3GHz, and the typical conversion loss is 4.5dB.
在本发明的部分实施例中,接收机中混频后的脉冲压缩信号的载波频率为100MHz。In some embodiments of the present invention, the carrier frequency of the pulse-compressed signal mixed in the receiver is 100 MHz.
在本发明的部分实施例中,中频放大器使用ADL5330可控增益放大器电路模块,增益设置为20dB。In some embodiments of the present invention, the intermediate frequency amplifier uses an ADL5330 controllable gain amplifier circuit module, and the gain is set to 20dB.
在本发明的部分实施例中,使用带宽为1GHz,最高采样率为5GHz的高速实时数字示波器对两路接收机输出的载波下边频后的脉冲压缩信号进行采样(用示波器的双通道同步采样两路接收机的输出信号)In some embodiments of the present invention, the use of a bandwidth of 1GHz, a high-speed real-time digital oscilloscope with a maximum sampling rate of 5GHz samples the pulse-compressed signal after the lower side frequency of the carrier output of the two receivers (using the dual-channel synchronous sampling of the oscilloscope for two receiver output signal)
在本发明的部分实施例中,示波器设置存储的采样总时间为100us。通过示波器采样存储,并导入计算机的两路接收机输出的脉冲压缩信号波形数字序列都是20000个点。In some embodiments of the present invention, the oscilloscope is set to store a total sampling time of 100 us. Sampling and storage by oscilloscope, and importing into computer, the digital sequence of pulse compression signal waveform output by two receivers is 20000 points.
在本发明的部分实施例中,结合示波器设置存储的采样总时间以及采样点数可得此时的实际采样频率为200MSa/s,可得此时的分辨精度为1.5米。在实施过程中可通过提高实际采样频率提高实时分辨精度。In some embodiments of the present invention, the actual sampling frequency at this time is 200 MSa/s, and the resolution accuracy at this time is 1.5 meters in combination with the total sampling time and the number of sampling points stored in the oscilloscope. In the implementation process, the real-time resolution accuracy can be improved by increasing the actual sampling frequency.
在本发明的部分实施例中,两路接收机输出的载波下变频的脉冲压缩信号经过示波器采样存储后转换成两路数字序列,将两路数字序列导入计算机进行数字信号处理。In some embodiments of the present invention, the down-converted pulse compression signals output by the two receivers are sampled and stored by an oscilloscope and then converted into two digital sequences, which are then imported into a computer for digital signal processing.
在本发明的部分实施例中,在数字信号处理过程中,将对示波器采样到的信号进行半波整流随后进行50kHz低通数字滤波,提取出脉冲压缩信号的包络。随后对两路接收机的包络信号进行数字互相关计算,读出互相关函数的主峰值相对于与原点偏移的采样点数,利用前述的计算公式(11)、(13)可以计算出发射机和两路接收机之间的距离差。In some embodiments of the present invention, in the process of digital signal processing, half-wave rectification is performed on the signal sampled by the oscilloscope and then 50 kHz low-pass digital filtering is performed to extract the envelope of the pulse compression signal. Then carry out digital cross-correlation calculations on the envelope signals of the two receivers, read out the number of sampling points where the main peak value of the cross-correlation function is offset from the origin, and use the aforementioned calculation formulas (11) and (13) to calculate the emission The difference in distance between the machine and the two receivers.
在本发明的部分实施例中,两路接收机输出的载波下变频脉冲压缩信号经过示波器双通道采集的波形如图4所示。In some embodiments of the present invention, the waveforms of the carrier-frequency down-converted pulse compression signals output by the two receivers collected by the two channels of the oscilloscope are shown in FIG. 4 .
在本发明的部分实施例中,示波器双通道同时采样存储后转换成两路数字序列,将两路数字序列导入计算机进行半波整流,并经过截止频率为50KHz的数字低通滤波器后得到的波形如图5所示。In some embodiments of the present invention, the dual channels of the oscilloscope are simultaneously sampled and stored and converted into two digital sequences, and the two digital sequences are imported into the computer for half-wave rectification, and obtained after passing through a digital low-pass filter with a cutoff frequency of 50KHz The waveform is shown in Figure 5.
在本发明的部分实施例中,两路数字序列经过上述的数字信号处理步骤后,最后计算两路数字序列的互相关函数波形如图6所示。In some embodiments of the present invention, after the two digital sequences go through the above-mentioned digital signal processing steps, the cross-correlation function waveforms of the two digital sequences are finally calculated as shown in FIG. 6 .
在本发明的部分实施例中,从互相关函数的波形图中可知,互相关函数的主峰值与原点偏移点数为7,代入前述的距离差计算公式可得到发射机和两个接收机之间的距离差为10.5米,与实际值的误差为0.5米。In some embodiments of the present invention, it can be seen from the waveform diagram of the cross-correlation function that the main peak value of the cross-correlation function is offset from the origin by 7 points, and the difference between the transmitter and the two receivers can be obtained by substituting the aforementioned distance difference calculation formula. The distance difference between them is 10.5 meters, and the error from the actual value is 0.5 meters.
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