CN117915259A - Dynamic target positioning and speed measuring method and device based on communication signals - Google Patents
Dynamic target positioning and speed measuring method and device based on communication signals Download PDFInfo
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Abstract
本发明提供一种基于通信信号的动态目标定位及测速方法和装置，包括：基于第一预设数量个子载波上发射的发射信号接收对应的原始混合回波信号；其中，所述发射信号包括多个通信波束和一个感知扫描波束；从所述原始混合回波信号中滤除静态环境杂波信号，得到动态目标回波信号矩阵；基于所述动态目标回波信号矩阵检测动态目标，得到角度估计结果、距离估计结果和速度估计结果；匹配所述角度估计结果、所述距离估计结果和所述速度估计结果，得到每个所述动态目标的定位及测速结果。本发明能够在保持系统通信性能的同时，实现从杂波环境中检测动态目标，并分别估计它们的角度、距离、速度参数。
The present invention provides a method and device for positioning and measuring speed of dynamic targets based on communication signals, comprising: receiving a corresponding original mixed echo signal based on a transmission signal transmitted on a first preset number of subcarriers; wherein the transmission signal includes multiple communication beams and a sensing scanning beam; filtering static environmental clutter signals from the original mixed echo signal to obtain a dynamic target echo signal matrix; detecting dynamic targets based on the dynamic target echo signal matrix to obtain angle estimation results, distance estimation results and speed estimation results; matching the angle estimation results, the distance estimation results and the speed estimation results to obtain positioning and speed measurement results for each of the dynamic targets. The present invention can detect dynamic targets from a clutter environment while maintaining the communication performance of the system, and estimate their angle, distance and speed parameters respectively.
Description
Technical Field
The present invention relates to the field of wireless communications technologies, and in particular, to a method and an apparatus for positioning and measuring a speed of a dynamic target based on a communication signal.
Background
The sixth generation mobile communication (6G) is intended to enable millimeter wave or terahertz frequency band in combination with a large-scale multiple input multiple output (Multiple input and multiple output, MIMO) technology to construct a communication awareness Integrated (ISAC) system. The core idea is to use the communication signals to sense various information in the physical world, such as target positions, building distribution and the like, and once the base station acquires the information, the base station can better serve communication users and support various emerging applications, such as internet of vehicles, intelligent factories and the like.
The perceived essence is to build a mapping from the real physical world, which is typically composed of static environments and dynamic targets, to the digital twinned world. Wherein the change of the static environment is usually slow and the change of the dynamic object is fast, so that the parameter information of the dynamic object needs to be updated in real time. In general, dynamic object perception problems can be divided into two categories: (1) perceiving a cooperative communication user, such as a mobile phone; (2) Non-cooperative dynamic objects that are not in communication with the base station, such as moving objects or mobile users that are not in communication, are perceived.
It can be appreciated that the perception of non-cooperative dynamic targets generally depends on a two-way echo link from a base station to a target and back to the base station, however, the existing dynamic target perception processing algorithm only focuses on the dynamic target echo of interest, and cannot realize the dynamic target perception in a real clutter environment background, which is difficult to be applied in a practical system.
Disclosure of Invention
The invention provides a method and a device for positioning and measuring a dynamic target based on a communication signal, which are used for solving the defect that the prior art cannot realize the perception of the dynamic target in a real clutter environment background, and realizing the perception of the dynamic target from the real clutter environment background while maintaining the communication performance of a system.
The invention provides a dynamic target positioning and speed measuring method based on communication signals, which comprises the following steps:
receiving corresponding original mixed echo signals based on the transmission signals transmitted on the first preset number of subcarriers; wherein the transmit signal comprises a plurality of communication beams and a perceptually scanned beam;
Filtering static environment clutter signals from the original mixed echo signals to obtain a dynamic target echo signal matrix;
Detecting a dynamic target based on the dynamic target echo signal matrix to obtain an angle estimation result, a distance estimation result and a speed estimation result;
And matching the angle estimation result, the distance estimation result and the speed estimation result to obtain the positioning and speed measurement result of each dynamic target.
According to the dynamic target positioning and speed measuring method based on the communication signals, the transmitting signals meet a first preset formula;
The first preset formula includes:
Where x q,n,m is the base station's transmit signal on the mth subcarrier of the nth transmission symbol in the qth slot, w c,p,q is the beamforming vector for the p-th communication user, w s,q is the beamforming vector for the perceived beam scan angle Θ q, Is a communication signal transmitted to the p-th communication user,/>Is the perceived probe signal transmitted to the P-th communication user, P t is the average transmit power of the base station, ρ qPt is the transmit power allocated to the perceived beam by the base station, ρ q is the proportionality parameter, N T is the number of antennas of the transmit array, a TX (θ) is the array steering vector of the base station transmit array facing angle θ,/>Is the angle at which the p-th user is located.
According to the dynamic target positioning and speed measuring method based on the communication signals, before the transmission of the transmission signals, the proportion parameters are optimized based on a second preset formula, so that the interference of the sensing scanning beam on the communication beam is reduced, and the transmission signals are optimized;
the second preset formula includes:
wherein, Is the transmitting array at/>Half power beamwidth of beam in direction,/>Is a constraint introduced by the p-th communication user, e p* is the minimum signal-to-interference-and-noise ratio required by the p-th communication user to meet the communication performance, G TX(θ1,θ2) is an introduced auxiliary function,/>Is the variance of the gaussian white noise added to the received signal of the p-th communication user, gamma p* is the channel fading factor of the p-th user, lambda is the wavelength, R p* is the distance of the p-th user from the base station, and min (·) is a function taking the minimum value.
According to the method for positioning and measuring the speed of the dynamic target based on the communication signal provided by the invention, the static environment clutter signals are filtered from the original mixed echo signals to obtain a dynamic target echo signal matrix, which comprises the following steps:
Removing the influence of a transmission symbol from the original mixed echo signal on each subcarrier to obtain a mixed echo signal;
splicing the mixed echo signals received based on all the subcarriers to obtain echo signal tensors;
extracting a target signal matrix on a target subcarrier from the echo signal tensor;
averaging each row of the target signal matrix to obtain a static environment clutter signal vector;
constructing and obtaining a static environment clutter signal matrix according to the static environment clutter signal vector;
And obtaining a dynamic target echo signal matrix according to the target signal matrix and the static environment clutter signal matrix so as to obtain a dynamic target echo signal.
According to the method for positioning and measuring the speed of the dynamic target based on the communication signal, which is provided by the invention, the dynamic target is detected based on the dynamic target echo signal matrix to obtain an angle estimation result, a distance estimation result and a speed estimation result, and the method specifically comprises the following steps:
Based on the dynamic target echo signal matrix, performing fast Fourier transform from the dimension of the transmission symbol, and moving a zero frequency component to the matrix center of the dynamic target echo signal matrix to obtain an angle Doppler spectrum on the target subcarrier;
Taking a modulus value for each element of the angle Doppler spectrum to obtain a signal matrix to be detected;
using two-dimensional constant false alarm detection to the signal matrix to be detected based on a preset guard unit interval and a preset reference unit interval to obtain a single carrier judgment matrix on each subcarrier;
accumulating the single carrier judgment matrixes on all the subcarriers to obtain an accumulation matrix;
Detecting a constant threshold value of the accumulation matrix according to a preset threshold value to obtain a multi-carrier joint judgment matrix;
obtaining a quantity estimation result and an angle estimation result of the dynamic targets according to the multi-carrier joint judgment matrix, wherein the angle estimation result comprises an angle estimation value of each dynamic target;
and obtaining the distance estimation result and the speed estimation result of the dynamic target in the direction of the angle estimation value according to the angle estimation value.
According to the method for positioning and measuring the speed of the dynamic target based on the communication signal provided by the invention, the distance estimation result and the speed estimation result of the dynamic target in the direction of the angle estimation value are obtained according to the angle estimation value, and the method specifically comprises the following steps:
extracting an echo signal matrix with the angle being the angle estimated value from the echo signal tensor to obtain an estimated echo signal matrix;
calculating the estimated echo signal matrix and a transposed covariance matrix thereof to obtain a first covariance matrix and a second covariance matrix;
Performing covariance decomposition on the first covariance matrix and the second covariance matrix to obtain a first eigenvalue matrix and a second eigenvalue matrix, and a first eigenvector matrix and a second eigenvector matrix;
Estimating the number of the dynamic targets in the direction of the angle estimated value by using a minimum description length method based on the first eigenvalue matrix and the second eigenvalue matrix to obtain the number of the targets;
Extracting noise subspaces corresponding to a Doppler array and a range array from the first eigenvector matrix and the second eigenvector matrix to obtain a first noise subspace and a second noise subspace;
Constructing a Doppler spectrum search function and a range spectrum search function based on the first noise subspace and the second noise subspace;
and searching peaks of the Doppler frequency spectrum searching function and the distance frequency spectrum searching function to obtain distance estimation results and speed estimation results of the dynamic targets with the target quantity in the direction of the angle estimation value.
According to the method for positioning and measuring the speed of the dynamic target based on the communication signal provided by the invention, the angle estimation result, the distance estimation result and the speed estimation result are matched to obtain the positioning and measuring result of each dynamic target, and the method specifically comprises the following steps:
constructing a speed distance set according to the distance estimation result and the speed estimation result; the speed distance set comprises a second preset number of distance speed pairs;
Calculating a matching score for each distance speed pair in the speed distance set by using a fourth preset formula;
screening the target number of the distance speed pairs with the largest matching score to obtain speed estimated values and distance estimated values of the dynamic targets of the target number on the angle estimated value;
the angle estimation value, the speed estimation value and the distance estimation value of each dynamic target form the positioning and speed measurement result.
According to the method for positioning and measuring the speed of the dynamic target based on the communication signal provided by the invention, the fourth preset formula comprises:
wherein, Is distance velocity pair/>K D (v) is the Doppler array steering vector, k R (r) is the range array steering vector,/>Is an estimated echo signal matrix.
The invention also provides a dynamic target positioning and speed measuring device based on the communication signal, which comprises:
the receiving unit is used for receiving corresponding original mixed echo signals based on the transmitting signals transmitted on the first preset number of subcarriers; wherein the transmit signal comprises a plurality of communication beams and a perceptually scanned beam;
The filtering unit is used for filtering static environment clutter signals from the original mixed echo signals to obtain a dynamic target echo signal matrix;
the detection unit is used for detecting the dynamic target based on the dynamic target echo signal matrix to obtain an angle estimation result, a distance estimation result and a speed estimation result;
and the matching unit is used for matching the angle estimation result, the distance estimation result and the speed estimation result to obtain the positioning and speed measurement result of each dynamic target.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the dynamic target positioning and speed measuring method based on the communication signals when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a dynamic target positioning and velocity measurement method based on a communication signal as described in any of the above.
The invention also provides a computer program product comprising a computer program which when executed by a processor implements a dynamic target positioning and velocity measurement method based on a communication signal as described in any one of the above.
According to the method and the device for positioning and measuring the dynamic target based on the communication signals, the corresponding original mixed echo signals are received through the transmitting signals transmitted on the first preset number of subcarriers; wherein the transmit signal comprises a plurality of communication beams and a perceptually scanned beam; filtering static environment clutter signals from the original mixed echo signals to obtain a dynamic target echo signal matrix; detecting a dynamic target based on the dynamic target echo signal matrix to obtain an angle estimation result, a distance estimation result and a speed estimation result; and matching the angle estimation result, the distance estimation result and the speed estimation result to obtain the positioning and speed measurement result of each dynamic target. The invention filters static environment clutter signals from original mixed echo signals of transmitting signals comprising a plurality of communication beams and a perception scanning beam to obtain a dynamic target echo signal matrix, and obtains the positioning and speed measurement result of each dynamic target according to the dynamic target echo signal matrix.
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In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a dynamic target positioning and speed measuring method based on communication signals;
FIG. 2 is a schematic diagram of a communication perception integrated system framework of an embodiment of a communication signal-based dynamic target positioning and speed measurement method provided by the invention;
FIG. 3 is a schematic diagram of a communication perceived beam joint optimization region of one embodiment of a communication signal-based dynamic target positioning and velocity measurement method provided by the invention;
FIG. 4 is a diagram of a communication perception beam joint optimization simulation result of one embodiment of a communication signal-based dynamic target positioning and velocity measurement method provided by the invention;
FIG. 5 is a schematic diagram of static clutter filtering, angular velocity spectrum estimation, and multi-carrier joint detection simulation of one embodiment of a method for positioning and measuring a velocity of a dynamic target based on a communication signal provided by the invention;
FIG. 6 is a schematic diagram of a dynamic target distance and velocity estimation and matching simulation of one embodiment of a method for positioning and measuring a velocity of a dynamic target based on a communication signal provided by the present invention;
FIG. 7 is a schematic diagram of a communication signal based dynamic target positioning and velocity measuring device according to the present invention;
fig. 8 is a schematic structural diagram of an electronic device provided by the present invention.
Reference numerals:
710: a receiving unit; 720: a filtering unit; 730: a detection unit; 740: and a matching unit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. 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 be within the scope of the invention.
Since the change in the static environment is typically slow, various environmental reconstruction techniques can be utilized to obtain the perceived result of the static environment. In the process of sensing a non-cooperative dynamic target based on the double-city echo link, after the base station transmits a sensing detection signal to the space, the static environment and the dynamic target can generate echoes, and a receiving array of the base station can simultaneously receive the interesting dynamic target echoes and the uninteresting static environment clutters. The sensing task of the base station is to detect the existence of a dynamic target from the static environment clutter background and estimate parameters such as the angle, the distance, the speed and the like of the dynamic target. The prior art often ignores the interference caused by static environment clutter on the perception of a dynamic target, which is not matched with the real situation that the target is always coupled with the static environment and is difficult to separate, so that the method is difficult to be applied to a practical system. Based on the method and the device, the invention provides a dynamic target positioning and speed measuring method and device based on communication signals.
The following describes a dynamic target positioning and speed measuring method based on communication signals with reference to fig. 1 to 6, as shown in fig. 1, fig. 1 is a schematic flow chart of the dynamic target positioning and speed measuring method based on communication signals, where the method includes:
step 110: receiving corresponding original mixed echo signals based on the transmission signals transmitted on the first preset number of subcarriers; wherein the transmit signal comprises a plurality of communication beams and a perceptually scanned beam.
It should be noted that, the application is applied to communication perception integration work, and for convenience of explanation, a complete communication perception integration work cycle is divided into two stages: a perceived beam scanning phase and a perceived beam tracking phase. In the sensing beam scanning stage, the base station generates a plurality of communication beams to communicate with communication users, and simultaneously generates a rotating sensing beam to finish detection scanning of a sensing space in a time division wave scanning mode. In the sensing beam tracking stage, the base station generates one or more sensing tracking beams based on the obtained positioning and speed measuring results of the dynamic targets, and realizes dynamic tracking of the dynamic targets.
That is, the present invention is implemented based on a base station capable of simultaneously implementing both wireless communication and radar sensing functions, in some embodiments employing a MIMO array-based ISAC system using orthogonal frequency division multiplexing (Orthogonal Frequency Division Multiplexing, OFDM) waveform modulation operating in the millimeter wave or terahertz frequency band, in which a dual-function base station is configured to simultaneously implement both wireless communication and radar sensing functions. For convenience of explanation, the base station will be further described: the base station is configured with two mutually parallel uniform linear arrays as a transmitting array and a receiving array respectively, wherein the transmitting array is configured with N T antenna array elements, the serial numbers of the array elements are 0,1, N T -1 respectively; the receiving array is configured with N R antenna array elements, wherein the array element serial numbers are 0,1, N R -1 respectively; the antenna spacing is equal toWhere lambda is the carrier wavelength. Further, in one embodiment, the base station uses narrowband OFDM signals and has a total of M subcarriers, where the lowest frequency and subcarrier frequency spacing are f 0 and Δf, respectively, and then the frequency of the mth subcarrier is f m＝f0 +mΔf, where m=0, 1. In one embodiment, the base station uses N consecutive OFDM symbols in the same sense scan direction for the sensing of dynamic targets, the duration of the OFDM symbols being/>
It should be noted that the above description is only for convenience of explanation of the present invention and is not meant as a limitation of the present invention, and the present invention may be implemented based on any base station having both wireless communication and radar sensing functions.
Based on this, fig. 2 shows a communication perception integration system framework employing the above arrangement, and as shown in fig. 2, in terms of communication, a base station continuously generates a plurality of communication beams to communication users to maintain communication services. In terms of perception, the base station generates one rotated perceived beam to scan the entire perceived space, i.e. the perceived beam can explore all angular spaces at certain scan intervals over a certain time.
Further, in the present embodiment, the perceived beam scanning phase is divided into Q slots, each of which has a duration of N OFDM symbols, i.e., each of which has a duration of T 0＝NTs. In the q-th slot, the base station needs to generate a plurality of communication beams for the transmitting array to point to the user and a perceived beam to point to the perceived scan angle Θ q, and the base station needs to generate a perceived receive beam for the receiving array to point to the perceived scan angle Θ q. The base station will then transmit pilot signals through the transmit array and receive the original hybrid echo signals in each time slot through the receive array.
Step 120: and filtering static environment clutter signals from the original mixed echo signals to obtain a dynamic target echo signal matrix.
After receiving the original mixed echo signals of the dynamic target and the static environment, the clutter signals of the static environment need to be filtered out. In some embodiments, the base station first filters static environmental clutter from the original echo signal using a mean-value phasor cancellation method, and extracts an effective dynamic target echo, thereby obtaining a dynamic target echo signal matrix.
Step 130: and detecting a dynamic target based on the dynamic target echo signal matrix to obtain an angle estimation result, a distance estimation result and a speed estimation result.
After the dynamic target echo signal matrix is obtained, detecting the dynamic target according to the dynamic target echo signal matrix, in some embodiments, detecting the existence of the dynamic target by using an angle Doppler spectrum estimation and a multi-carrier joint detection algorithm, and estimating the angle of the dynamic target to obtain an angle estimation result. And then, estimating the distance and the speed of each dynamic target by using an expanded array signal estimation method to obtain a distance estimation result and a speed estimation result for the estimated angle value of each dynamic target.
Step 140: and matching the angle estimation result, the distance estimation result and the speed estimation result to obtain the positioning and speed measurement result of each dynamic target.
After all the angle estimation results, the distance estimation results and the speed estimation results are obtained, the parameter matching formula is utilized to realize the matching of the angle estimation results, the distance estimation results and the speed estimation results of multiple targets, so that the positioning and speed measurement results of each dynamic target are obtained.
Further, in some embodiments, the transmit signal is optimized. Specifically, since the perceived beam scanning phase includes Q time slots. In the q-th time slot, the transmitting array of the base station needs to generate P communication beams facing P communication users and 1 sensing beam facing the sensing scanning angle theta q, and in order to realize uniform scanning detection of the service space [ theta min,θmax ] required by the base station, the method should satisfyIn order to reduce the complexity of the beam optimization algorithm, the transmission signal of the base station on the m-th subcarrier of the n-th OFDM symbol in the q-th slot should satisfy the first preset formula:
Where x q,n,m is the base station's transmit signal on the mth subcarrier of the nth transmission symbol in the qth slot, w c,p,q is the beamforming vector for the p-th communication user, w s,q is the beamforming vector for the perceived beam scan angle Θ q, Is a communication signal transmitted to the p-th communication user,/>Is the perceived probe transmitted to the P-th communication user, P t is the average transmit power of the base station, ρ qPt is the transmit power allocated to the perceived beam by the base station, ρ q is the scale parameter, ρ q∈[0,1],NT is the number of antennas of the transmit array,/>Is the array steering vector of the base station transmitting array facing angle theta,/>Is the angle at which the p-th user is located.
Based on the above embodiments, further, in some embodiments, in order to mitigate and suppress the dynamic negative interference of the perceived beam on the communication beam, the base station needs to optimize ρ q in the transmit beamforming matrix within each time slot, so an effective optimization strategy needs to be formulated for ρ q. Specifically, as shown in fig. 3, the service area of the base station is divided into a sensing area of sensing beams and a sensing area of communication beams. In order to ensure the communication performance of the system, the communication beam is used as a sensing area, and the sensing function is realized by the communication beam in the area instead of distributing energy to the sensing beam, namely the base station does not generate a separate sensing beam any moreAll p=1..p, within P, ρ q is optimized as ρ q =0. In order to maximize the perceived performance while guaranteeing the user communication performance, the perceived beam is converted into an optimization problem and a closed-form solution of ρ q is derived. Combining the optimization schemes in the two types of sectors to obtain the optimization strategy of rho q which meets a second preset formula:
wherein, Is the transmitting array at/>Half power beamwidth of beam in direction,/>Is a constraint introduced by the p-th communication user, e p* is the minimum signal-to-interference-and-noise ratio required by the p-th communication user to meet the communication performance, G TX(θ1,θ2) is an introduced auxiliary function,/>Is the variance of the received signal of the p-th communication user plus Gaussian white noise,/>Is the channel fading factor of the p-th user, λ is the wavelength, R p* is the distance of the p-th user from the base station, and min (·) is a function of the minimum value.
Based on the above embodiments, the present invention provides a specific embodiment for optimizing a transmission beam, as shown in fig. 4, and fig. 4 shows a set of examples of the optimization of the transmission beam, in which 128 transmission antennas are provided, and three communication users are located at-40 °, -10 ° and 30 °, respectively. The dashed and solid lines in the figure represent the communication beam and the perception beam, respectively. Several snapshots of the perceived scan angle Θq gradually from 25 ° to 40 ° are given by fig. 4, which passes through a C2S sector in the range of [29.5452 °,30.4548 ° ] introduced by a communicating user over 30 °. The perceived scan angle Θq in the first plot of the first row of fig. 4 is 25 °, at which time an apparent, solid perceived beam is seen in the 25 ° direction due to the different angle Θq from the user. In the third diagram of the first row in fig. 4, Θq is set to 30 °, where Θq is the same as the user angle in the 30 ° direction, and Θq is located in the C2S sector, where the result of optimizing according to the second preset formula is ρq=0, as can be seen from the diagram, in order to avoid interference to the communication user in the 30 ° direction, no dedicated perceived beam is generated. Fortunately, the echoes brought about by the communication beams in this direction can still be used for system perception, since the base station itself knows the communication signals to be transmitted to the communicating users in the 30 ° direction.
In some embodiments, as shown in fig. 5, the method for filtering static environmental clutter from an original echo signal by using a mean value phasor cancellation method to obtain a dynamic target echo signal matrix specifically includes:
Removing the influence of a transmission symbol from the original mixed echo signal on each subcarrier to obtain a mixed echo signal;
splicing the mixed echo signals received based on all the subcarriers to obtain echo signal tensors;
extracting a target signal matrix on a target subcarrier from the echo signal tensor;
averaging each row of the target signal matrix to obtain a static environment clutter signal vector;
constructing and obtaining a static environment clutter signal matrix according to the static environment clutter signal vector;
And obtaining a dynamic target echo signal matrix according to the target signal matrix and the static environment clutter signal matrix so as to obtain a dynamic target echo signal.
Specifically, as shown in the static ambient clutter filtering portion of fig. 5, the original echo signal on the mth subcarrier of the nth symbol in the qth slot, i.e. the target subcarrier, is first expressed asThen eliminating the influence of the transmission symbol to obtain a mixed echo signal/>, corresponding to the target subcarrierWherein/>For transmitting symbols; according to the method, the influence of transmission symbols is removed from the original echo signals on all the subcarriers, and the mixed echo signals corresponding to each subcarrier are obtained.
Then, the mixed echo signals on all sub-carriers of all symbols of all scanning angles are spliced into an echo signal tensorExtracting the signal matrix/>, on the m-th subcarrier (target subcarrier), from the echo signal tensor Y cube As a target signal matrix; matrix/>, of target signalsIs averaged to obtain an echo signal vector caused by static environment, namely static environment clutter signal vector/>Using static ambient clutter signal vectorsReconstructing an echo signal matrix caused by a static environment, i.e. a static environment clutter signal matrixExtracting dynamic target echo signal matrix/>Thus, static environment clutter is filtered out, and dynamic target echoes are extracted.
Further, in some embodiments, symbols are transmittedA third preset formula is satisfied:
Wherein the method comprises the steps of Is a communication signal transmitted by the base station to the p-th communication user,/>Is the perceived probe signal transmitted by the base station.
In some embodiments, as shown in fig. 5, the existence of a dynamic target is detected by using an angular doppler spectrum estimation and a multi-carrier joint detection algorithm, and the angle of the dynamic target is estimated, so as to obtain an angle estimation result. Then, for the estimated angle value of each dynamic target, estimating the distance and the speed of the dynamic target by using an extended array signal estimation method to obtain a distance estimation result and a speed estimation result, wherein the method specifically comprises the following steps of:
Based on the dynamic target echo signal matrix, performing fast Fourier transform from the dimension of the transmission symbol, and moving a zero frequency component to the matrix center of the dynamic target echo signal matrix to obtain an angle Doppler spectrum on the target subcarrier;
Taking a modulus value for each element of the angle Doppler spectrum to obtain a signal matrix to be detected;
using two-dimensional constant false alarm detection to the signal matrix to be detected based on a preset guard unit interval and a preset reference unit interval to obtain a single carrier judgment matrix on each subcarrier;
accumulating the single carrier judgment matrixes on all the subcarriers to obtain an accumulation matrix;
Detecting a constant threshold value of the accumulation matrix according to a preset threshold value to obtain a multi-carrier joint judgment matrix;
obtaining a quantity estimation result and an angle estimation result of the dynamic targets according to the multi-carrier joint judgment matrix, wherein the angle estimation result comprises an angle estimation value of each dynamic target;
and obtaining the distance estimation result and the speed estimation result of the dynamic target in the direction of the angle estimation value according to the angle estimation value.
Specifically, as shown in the angular velocity spectrum estimation and multi-carrier joint detection section of fig. 5, the dynamic target echo signal matrix is first of allFast fourier transform is performed on the OFDM symbol dimension of (2), and the zero frequency component is shifted to the center of the matrix to obtain the angular doppler spectrum/>, on the mth subcarrier (target subcarrier)For angle Doppler Spectrum/>Taking the modulus value of each element of the matrix to obtain the matrix/>Signal matrix/>, to be detected, based on preset guard unit intervals and reference unit intervalsSequentially obtaining single carrier decision matrix on each subcarrier by using two-dimensional Constant false alarm detection (Constant FALSE ALARM RATE, CFAR), wherein the single carrier decision matrix on the mth subcarrier (target subcarrier) is recorded asNote that, the guard unit interval and the reference unit interval may be set appropriately according to the need.
Secondly, accumulating the single carrier judgment matrixes on all the subcarriers to obtain an accumulation matrix G out; detecting the constant threshold value of the accumulation matrix G out according to a preset threshold value to obtain a multi-carrier joint judgment matrixIt should be noted that the threshold is set appropriately according to the actual requirement. Thereafter, a matrix/>, is jointly determined from the multiple carriersThe number of the dynamic targets is estimated to obtain a number estimation result, and the angle estimation value of each dynamic target is estimated to obtain an angle estimation result.
And thirdly, obtaining a distance estimation result and a speed estimation result of the dynamic target in the direction of the angle estimation value according to each angle estimation value. Specifically, for the estimated angle value of each dynamic target, the distance and the speed of the dynamic target are estimated by using an extended array signal estimation method, and a distance estimation result and a speed estimation result are obtained.
Further, in some embodiments, for the estimated angle value of each dynamic target, estimating the distance and the speed of the dynamic target by using an extended array signal estimation method to obtain a distance estimation result and a speed estimation result, which specifically include:
extracting an echo signal matrix with the angle being the angle estimated value from the echo signal tensor to obtain an estimated echo signal matrix;
calculating the estimated echo signal matrix and a transposed covariance matrix thereof to obtain a first covariance matrix and a second covariance matrix;
Performing covariance decomposition on the first covariance matrix and the second covariance matrix to obtain a first eigenvalue matrix and a second eigenvalue matrix, and a first eigenvector matrix and a second eigenvector matrix;
Estimating the number of the dynamic targets in the direction of the angle estimated value by using a minimum description length method based on the first eigenvalue matrix and the second eigenvalue matrix to obtain the number of the targets;
Extracting noise subspaces corresponding to a Doppler array and a range array from the first eigenvector matrix and the second eigenvector matrix to obtain a first noise subspace and a second noise subspace;
Constructing a Doppler spectrum search function and a range spectrum search function based on the first noise subspace and the second noise subspace;
and searching peaks of the Doppler frequency spectrum searching function and the distance frequency spectrum searching function to obtain distance estimation results and speed estimation results of the dynamic targets with the target quantity in the direction of the angle estimation value.
Specifically, as shown in the distance and velocity spectrum search section of fig. 6, first, the echo signal tensor is obtained fromExtracting an echo signal matrix/>, on an angle theta q (angle estimation value) of a targetRecording as an estimated echo signal matrix; based on the estimated echo signal matrix/>And/>Calculate their covariance matrix/>And/>The first covariance matrix and the second covariance matrix are respectively marked, and it is noted that the first covariance matrix and the second covariance matrix are only used for distinguishing the two covariance matrices. In a specific embodiment, the echo signal matrix/>, will be estimatedCovariance matrix/>Recorded as a first covariance matrix, the transpose/>, of the estimated echo signal matrixCovariance matrix/>And is denoted as the second covariance matrix.
Then, for the first covariance matrixAnd a second covariance matrix/>Covariance decomposition is performed to obtain two eigenvalue matrices and two eigenvector matrices, namely a first eigenvalue matrix Σ D,q and a second eigenvalue matrix Σ R,q, and a first eigenvector matrix U D,q and a second eigenvector matrix U R,q, respectively. Estimating the number of dynamic targets on the angle estimation value from the first eigenvalue matrix sigma D,q and the second eigenvalue matrix sigma R,q by using a minimum description length method, and recording the number as the target numberExtracting noise subspaces corresponding to the Doppler array and the range array from the first eigenvector matrix U D,q and the second eigenvector matrix U R,q as first noise subspaces/>, respectivelyAnd a second noise subspace/>
After the first noise subspace and the second noise subspace are obtained, a Doppler spectrum search function and a distance spectrum search function are constructed based on the first noise subspace and the second noise subspace, and specifically, the Doppler spectrum search function is as followsDistance spectrum search function is/>
Wherein,Is the doppler array steering vector and,Is a distance array steering vector.
Finally, obtaining initial distance estimation and initial speed estimation of K q dynamic targets with the number of targets K q in the direction of the angle estimation value as speed estimation results respectively by searching peak values of the Doppler frequency spectrum search function F D,q (v) and the distance frequency spectrum search function F R,q (r)And distance estimation result/>
Further, based on the above embodiment, the matching the angle estimation result, the distance estimation result, and the speed estimation result to obtain a positioning and speed measurement result of each dynamic target specifically includes:
constructing a speed distance set according to the distance estimation result and the speed estimation result; the speed distance set comprises a second preset number of distance speed pairs;
Calculating a matching score for each distance speed pair in the speed distance set by using a fourth preset formula;
screening the target number of the distance speed pairs with the largest matching score to obtain speed estimated values and distance estimated values of the dynamic targets of the target number on the angle estimated value;
the angle estimation value, the speed estimation value and the distance estimation value of each dynamic target form the positioning and speed measurement result.
Specifically, as shown in the distance speed matching section of fig. 6, first, the base station estimates the result based on the speedAnd distance estimation result/>Build a containing two preset quantity/>Velocity distance set of individual elements/>
It will be appreciated that the second predetermined amountIs the square of the target number K q.
Then, each element in the corresponding speed-distance set XI q, namely the distance speed pairCalculating the matching score/>, of the element by using a fourth preset formulaThe fourth preset formula is:
Wherein the method comprises the steps of Is the doppler array steering vector and,Is a distance array steering vector,/>Is from echo signal tensor/>Extracting an echo signal matrix (estimated echo signal matrix) at an angle Θ q at which the target exists.
After calculating the matching scores of all elements, all element matching scores form a score set corresponding to the speed distance set xi q By determining a set of scores/>The maximum target number K q elements and the corresponding distance speed pairs in the speed-distance set XI q can obtain the matched speed estimated value and the distance estimated value of the target number K q dynamic targets on the angle estimated value. The angle estimation value, the speed estimation value and the distance estimation value of each dynamic target form a positioning and speed measurement result.
Further, the invention also includes a specific embodiment for carrying out one-time positioning and speed measurement by adopting the dynamic target positioning and speed measurement method based on the communication signals, which comprises the following steps:
S1: the base station uses a transmitting array to optimize and transmit a plurality of communication beams and a sensing scanning beam in each time slot in the sensing beam scanning stage; the base station receives original mixed echo signals of a static environment and a dynamic target by using a receiving array; the user receives the communication signal and demodulates the communication.
S2: after the sensing beam scanning is completed, the base station filters static environment clutter from the original echo signals by using a mean value phasor cancellation method, and extracts a dynamic target echo to obtain a dynamic target echo signal matrix.
S3: and the base station detects the existence of the dynamic target from the filtered echo signal matrix of the dynamic target by using an angle Doppler spectrum estimation and multi-carrier joint detection method, and estimates the angles of the dynamic target and the dynamic target to obtain an angle estimation result.
S4: the base station further uses an expanded array signal estimation method to estimate the distance and the speed of the dynamic target, and a distance estimation result and a speed estimation result are obtained.
S5: and finally, the base station utilizes a fourth preset formula to realize the matching of the multi-target angle, distance and speed estimation results, and completes the perception of the dynamic targets, and the positioning and speed measurement results of each dynamic target.
According to the dynamic target positioning and speed measuring method based on the communication signals, corresponding original mixed echo signals are received through the transmitting signals transmitted on the first preset number of subcarriers; wherein the transmit signal comprises a plurality of communication beams and a perceptually scanned beam; filtering static environment clutter signals from the original mixed echo signals to obtain a dynamic target echo signal matrix; detecting a dynamic target based on the dynamic target echo signal matrix to obtain an angle estimation result, a distance estimation result and a speed estimation result; and matching the angle estimation result, the distance estimation result and the speed estimation result to obtain the positioning and speed measurement result of each dynamic target. The invention filters static environment clutter signals from original mixed echo signals of transmitting signals comprising a plurality of communication beams and a perception scanning beam to obtain a dynamic target echo signal matrix, and obtains the positioning and speed measurement result of each dynamic target according to the dynamic target echo signal matrix.
The communication signal-based dynamic target positioning and speed measuring device provided by the invention is described below, and the communication signal-based dynamic target positioning and speed measuring device and the communication signal-based dynamic target positioning and speed measuring method described above can be correspondingly referred to each other. As shown in fig. 7, fig. 7 is a schematic structural diagram of a dynamic target positioning and speed measuring device based on communication signals, where the device includes:
A receiving unit 710, configured to receive a corresponding original hybrid echo signal based on the transmission signals transmitted on the first preset number of subcarriers; wherein the transmit signal comprises a plurality of communication beams and a perceptually scanned beam;
The filtering unit 720 is configured to filter the static environment clutter signal from the original hybrid echo signal to obtain a dynamic target echo signal matrix;
the detecting unit 730 is configured to detect a dynamic target based on the dynamic target echo signal matrix, and obtain an angle estimation result, a distance estimation result, and a speed estimation result;
and a matching unit 740, configured to match the angle estimation result, the distance estimation result, and the speed estimation result, and obtain a positioning and speed measurement result of each dynamic target.
Based on the above embodiment, in the apparatus, the transmission signal satisfies a first preset formula;
The first preset formula includes:
Where x q,n,m is the base station's transmit signal on the mth subcarrier of the nth transmission symbol in the qth slot, w c,p,q is the beamforming vector for the p-th communication user, w s,q is the beamforming vector for the perceived beam scan angle Θ q, Is a communication signal transmitted to the p-th communication user,/>Is the perceived probe signal transmitted to the P-th communication user, P t is the average transmit power of the base station, ρ qPt is the transmit power allocated to the perceived beam by the base station, ρ q is the proportionality parameter, N T is the number of antennas of the transmit array, a TX (θ) is the array steering vector of the base station transmit array facing angle θ,/>Is the angle at which the p-th user is located.
Based on the above embodiment, in the device, before the transmitting signal is transmitted, the proportion parameter is optimized based on a second preset formula, so that the interference of the perceived scanning beam on the communication beam is reduced, and the transmitting signal is optimized;
the second preset formula includes:
wherein, Is the transmitting array at/>Half power beamwidth of beam in direction,/>Is a constraint introduced by the p-th communication user, e p* is the minimum signal-to-interference-and-noise ratio required by the p-th communication user to meet the communication performance, G TX(θ1,θ2) is an introduced auxiliary function,/>Is the variance of the gaussian white noise added to the received signal of the p-th communication user, gamma p* is the channel fading factor of the p-th user, lambda is the wavelength, R p* is the distance of the p-th user from the base station, and min (·) is a function taking the minimum value.
Based on the above embodiment, in the apparatus, the filtering static environment clutter signals from the original mixed echo signals to obtain a dynamic target echo signal matrix specifically includes:
Removing the influence of a transmission symbol from the original mixed echo signal on each subcarrier to obtain a mixed echo signal;
splicing the mixed echo signals received based on all the subcarriers to obtain echo signal tensors;
extracting a target signal matrix on a target subcarrier from the echo signal tensor;
averaging each row of the target signal matrix to obtain a static environment clutter signal vector;
constructing and obtaining a static environment clutter signal matrix according to the static environment clutter signal vector;
And obtaining a dynamic target echo signal matrix according to the target signal matrix and the static environment clutter signal matrix so as to obtain a dynamic target echo signal.
Based on the above embodiment, in the device, detecting a dynamic target based on the dynamic target echo signal matrix, to obtain an angle estimation result, a distance estimation result, and a speed estimation result, includes:
Based on the dynamic target echo signal matrix, performing fast Fourier transform from the dimension of the transmission symbol, and moving a zero frequency component to the matrix center of the dynamic target echo signal matrix to obtain an angle Doppler spectrum on the target subcarrier;
Taking a modulus value for each element of the angle Doppler spectrum to obtain a signal matrix to be detected;
using two-dimensional constant false alarm detection to the signal matrix to be detected based on a preset guard unit interval and a preset reference unit interval to obtain a single carrier judgment matrix on each subcarrier;
accumulating the single carrier judgment matrixes on all the subcarriers to obtain an accumulation matrix;
Detecting a constant threshold value of the accumulation matrix according to a preset threshold value to obtain a multi-carrier joint judgment matrix;
obtaining a quantity estimation result and an angle estimation result of the dynamic targets according to the multi-carrier joint judgment matrix, wherein the angle estimation result comprises an angle estimation value of each dynamic target;
and obtaining the distance estimation result and the speed estimation result of the dynamic target in the direction of the angle estimation value according to the angle estimation value.
Based on the above embodiment, in the apparatus, the obtaining the distance estimation result and the speed estimation result of the dynamic target in the direction of the angle estimation value according to the angle estimation value specifically includes:
extracting an echo signal matrix with the angle being the angle estimated value from the echo signal tensor to obtain an estimated echo signal matrix;
calculating the estimated echo signal matrix and a transposed covariance matrix thereof to obtain a first covariance matrix and a second covariance matrix;
Performing covariance decomposition on the first covariance matrix and the second covariance matrix to obtain a first eigenvalue matrix and a second eigenvalue matrix, and a first eigenvector matrix and a second eigenvector matrix;
Estimating the number of the dynamic targets in the direction of the angle estimated value by using a minimum description length method based on the first eigenvalue matrix and the second eigenvalue matrix to obtain the number of the targets;
Extracting noise subspaces corresponding to a Doppler array and a range array from the first eigenvector matrix and the second eigenvector matrix to obtain a first noise subspace and a second noise subspace;
Constructing a Doppler spectrum search function and a range spectrum search function based on the first noise subspace and the second noise subspace;
and searching peaks of the Doppler frequency spectrum searching function and the distance frequency spectrum searching function to obtain distance estimation results and speed estimation results of the dynamic targets with the target quantity in the direction of the angle estimation value.
Based on the above embodiment, in the device, the matching the angle estimation result, the distance estimation result, and the speed estimation result to obtain the positioning and speed measurement result of each dynamic target specifically includes:
constructing a speed distance set according to the distance estimation result and the speed estimation result; the speed distance set comprises a second preset number of distance speed pairs;
Calculating a matching score for each distance speed pair in the speed distance set by using a fourth preset formula;
screening the target number of the distance speed pairs with the largest matching score to obtain speed estimated values and distance estimated values of the dynamic targets of the target number on the angle estimated value;
the angle estimation value, the speed estimation value and the distance estimation value of each dynamic target form the positioning and speed measurement result.
Based on the foregoing embodiment, in the apparatus, the fourth preset formula includes:
wherein, Is distance velocity pair/>K D (v) is the Doppler array steering vector, k R (r) is the range array steering vector,/>Is an estimated echo signal matrix.
The dynamic target positioning and speed measuring device based on the communication signals receives corresponding original mixed echo signals through the transmitting signals transmitted on the first preset number of subcarriers; wherein the transmit signal comprises a plurality of communication beams and a perceptually scanned beam; filtering static environment clutter signals from the original mixed echo signals to obtain a dynamic target echo signal matrix; detecting a dynamic target based on the dynamic target echo signal matrix to obtain an angle estimation result, a distance estimation result and a speed estimation result; and matching the angle estimation result, the distance estimation result and the speed estimation result to obtain the positioning and speed measurement result of each dynamic target. The invention filters static environment clutter signals from original mixed echo signals of transmitting signals comprising a plurality of communication beams and a perception scanning beam to obtain a dynamic target echo signal matrix, and obtains the positioning and speed measurement result of each dynamic target according to the dynamic target echo signal matrix.
Fig. 8 illustrates a physical structure diagram of an electronic device, as shown in fig. 8, which may include: processor 810, communication interface (Communications Interface) 820, memory 830, and communication bus 840, wherein processor 810, communication interface 820, memory 830 accomplish communication with each other through communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a dynamic target positioning and velocity measurement method based on communication signals, the method comprising: receiving corresponding original mixed echo signals based on the transmission signals transmitted on the first preset number of subcarriers; wherein the transmit signal comprises a plurality of communication beams and a perceptually scanned beam; filtering static environment clutter signals from the original mixed echo signals to obtain a dynamic target echo signal matrix; detecting a dynamic target based on the dynamic target echo signal matrix to obtain an angle estimation result, a distance estimation result and a speed estimation result; and matching the angle estimation result, the distance estimation result and the speed estimation result to obtain the positioning and speed measurement result of each dynamic target.
Further, the logic instructions in the memory 830 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the method for dynamic target positioning and velocity measurement based on communication signals provided by the above methods, the method comprising: receiving corresponding original mixed echo signals based on the transmission signals transmitted on the first preset number of subcarriers; wherein the transmit signal comprises a plurality of communication beams and a perceptually scanned beam; filtering static environment clutter signals from the original mixed echo signals to obtain a dynamic target echo signal matrix; detecting a dynamic target based on the dynamic target echo signal matrix to obtain an angle estimation result, a distance estimation result and a speed estimation result; and matching the angle estimation result, the distance estimation result and the speed estimation result to obtain the positioning and speed measurement result of each dynamic target.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method for dynamic target positioning and velocity measurement based on communication signals provided by the above methods, the method comprising: receiving corresponding original mixed echo signals based on the transmission signals transmitted on the first preset number of subcarriers; wherein the transmit signal comprises a plurality of communication beams and a perceptually scanned beam; filtering static environment clutter signals from the original mixed echo signals to obtain a dynamic target echo signal matrix; detecting a dynamic target based on the dynamic target echo signal matrix to obtain an angle estimation result, a distance estimation result and a speed estimation result; and matching the angle estimation result, the distance estimation result and the speed estimation result to obtain the positioning and speed measurement result of each dynamic target.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
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| CN118465729A (en) * | 2024-07-11 | 2024-08-09 | 中国人民解放军海军航空大学 | A method for array radar target detection based on Fourier transform of space-time image data |
| CN119224720A (en) * | 2024-11-28 | 2024-12-31 | 电子科技大学长三角研究院(衢州) | A radar detection method, device, equipment and medium in a multi-target environment |
| CN119450774A (en) * | 2025-01-07 | 2025-02-14 | 智慧尘埃(成都)科技有限公司 | Clutter suppression method, device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN118465729A (en) * | 2024-07-11 | 2024-08-09 | 中国人民解放军海军航空大学 | A method for array radar target detection based on Fourier transform of space-time image data |
| CN119224720A (en) * | 2024-11-28 | 2024-12-31 | 电子科技大学长三角研究院(衢州) | A radar detection method, device, equipment and medium in a multi-target environment |
| CN119450774A (en) * | 2025-01-07 | 2025-02-14 | 智慧尘埃(成都)科技有限公司 | Clutter suppression method, device and storage medium |
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