CN117970263A - Method, system and storage medium for removing static clutter target point by radar - Google Patents
Method, system and storage medium for removing static clutter target point by radar Download PDFInfo
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- CN117970263A CN117970263A CN202311697389.5A CN202311697389A CN117970263A CN 117970263 A CN117970263 A CN 117970263A CN 202311697389 A CN202311697389 A CN 202311697389A CN 117970263 A CN117970263 A CN 117970263A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/414—Discriminating targets with respect to background clutter
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Radar Systems Or Details Thereof (AREA)
Abstract
The application discloses a method, a system and a storage medium for removing static clutter target points by using a transmitting antenna and a receiving antenna, wherein the radar transmits a linear frequency modulation signal (LFM) through the transmitting antenna, the linear frequency modulation signal is reflected by a target to be detected and the static target, the receiving antenna receives echo signals, when the number of echo pulses of the received signals is N, digital Beam Forming (DBF) and Fast Fourier Transform (FFT) are carried out on the N echo signals to obtain a distance-angle map of the target, peak searching is carried out on the distance-angle map, a distance-angle index containing the static person target and the static clutter target is found, the amplitude corresponding to the distance-angle index of the target is extracted, the variance of the accumulated amplitude is calculated after M amplitudes are accumulated, the amplitude of the static person target and the static target can be distinguished according to variance change, and then the static person target point and the static clutter target point are distinguished by comparing with a preset variance threshold, so that the static clutter target point is removed, and the accuracy of target detection is improved.
Description
Technical Field
The application relates to the technical field of radar static clutter target point removal, in particular to a method, a system and a storage medium for radar static clutter target point removal.
Background
When the target detects the dynamic human target, the reflection amplitude of the rest static clutter targets (such as metal, glass and the like) is far smaller than the amplitude of the dynamic human target, and the dynamic human target is easy to detect. However, when the radar detects the static person target, the reflection amplitude of the static clutter target is similar to the amplitude of the static person target, so that the static clutter target and the static person target are difficult to distinguish, and the person target detection accuracy is low.
And the traditional static clutter target is removed, and the Doppler speed of the static clutter target is zero, and the Doppler speed of the dynamic person target is greater than zero, so that the static clutter target and the dynamic person target are distinguished. And then, after the dynamic target stops, performing important detection on the target stop position so as to realize detection of the static character target.
Another method for static person target detection relies on finding peaks in a 2-dimensional distance-angle map, and using a method of maximum likelihood estimation to determine valid peaks to determine whether a static person target is present.
CN103048654a discloses a radar sensor and a method of detecting an object using the radar sensor as in the prior art. The method comprises the following steps: receiving at least one radar signal reflected from an object; converting the received at least one radar signal into at least one frequency domain signal; accumulating the converted at least one signal for a predetermined time and extracting features from the accumulated at least one signal; identifying the object by comparing the extracted at least one feature with at least one reference value stored in a database; and further determining the kind of the detection object.
CN109444839B discloses a method and device for obtaining a target contour. Wherein the method comprises the following steps: transmitting radar waves to a target; acquiring radar echoes of radar waves on a target, wherein the radar echoes comprise a plurality of reflection points of different detection frames; superposing a plurality of reflection points to obtain a point cloud image corresponding to the target; acquiring contour information of a target according to a point cloud image, wherein the contour information comprises: the height of the target. The invention solves the technical problem that the height of the target can not be detected when the radar is used for carrying out contour recognition on the target in the related technology.
However, in the above prior art, static clutter cannot be processed, so that it is difficult to distinguish the detection result that is wrong due to the proximity of the object to be identified and the clutter, and improvement is needed based on the above problem.
The method for removing the static clutter target has the following defects: 1. when the static character target is stationary for a long time, the energy amplitude is close to the static clutter energy amplitude, and the static character target and the static clutter energy are difficult to distinguish, so that the false detection rate of the target is high, and the instability of the target position is large. 2. The 2-dimensional map peak finding method has the disadvantage of using maximum likelihood estimation to determine the effective peak and thus the distance-angle position of the target. Because maximum likelihood estimation is adopted, under the condition of low signal-to-noise ratio, static clutter targets and static person targets are not distinguished, and the target false alarm phenomenon is serious.
In view of the above problems, the present invention proposes a solution to the problems existing in the radar target detection field.
Disclosure of Invention
In order to optimize the related traditional scheme, the application provides a method, a system and a storage medium for removing static clutter target points by using a radar.
In order to achieve the above object, the present invention adopts the following technical scheme:
a method for radar to remove static clutter target points, comprising the steps of:
Step 1, a radar transmits a linear frequency modulation signal through 2 transmitting antennas After the signal is reflected by the static character target and the static clutter target, the 4 receiving antennas receive echo signals, and the obtained echo signals are/>；
Step 2, transmitting the chirp signal when the number of echo pulses of the received signal is NFor reference signals, echo signals/>, are received for all channelsPerforming matched filtering to obtain intermediate frequency signal/>. For intermediate frequency signal/>Digital beamforming/>Wherein/>Is the weight vector of the beam;
Step 3, digital Beam Forming Performing fast Fourier transform to obtain a distance-angle domain map, which is recorded as/>；
Step 4, adopting a 2-dimensional peak searching method to perform distance-angle mappingProcessing to find out peak units in the map, wherein the position of a certain peak unit is marked as/>The amplitude of the homounit is noted as/>；
Step 5, accumulating the amplitudes of n identical units, calculating the variance of the n amplitudes, and recording as；
Step 6, the amplitude variance is compared with a threshold value set in advanceFor comparison, if/>The peak unit has a character target; if/>The peak unit is the static clutter target point. And removing the static clutter target point.
Further, assume that there are 3 target peaks whose positions in the distance-angle map are respectively: positional meaning: distance units, angle units, units of m and ° (meters and degrees), respectively; wherein/> For static clutter target point position,/>Is a static character target point location.
Further, the radar carrier frequency is 60GHz, and the single pulse width is 60The chirp bandwidth is 3.2GHz, the sampling frequency is 2.5MHz, and the number of resident pulses n=128.
Further, in step a radar passes through n transmitting antennas, where n is greater than 3 and n is a positive integer.
In a second aspect, the present application provides a system for implementing the above radar to remove static clutter target points, where the system includes: the system comprises an antenna array, a voltage-controlled oscillator, a power amplifier, a signal mixer and a hardware circuit consisting of a digital signal processor, wherein the hardware circuit is used for detecting a static person target point and removing the static person target point.
Radar apparatus with multiple transmitting antennas for chirping signalsTransmitting to a target location;
For transmitting a chirp signal when the number of echo pulses to the received signal is N For reference signals, echo signals/>, are received for all channelsPerforming matched filtering to obtain intermediate frequency signal/>. For intermediate frequency signal/>Digital beamformingWherein/>Is the weight vector of the beam;
For digital beam forming Performing fast Fourier transform to obtain a distance-angle domain map, which is recorded as/>；
The distance-angle map is subjected to a 2-dimensional peak searching methodProcessing to find out peak units in the map, wherein the position of a certain peak unit is marked as/>The amplitude of the homounit is noted as/>；
Accumulating the magnitudes of n identical units, calculating the variance of the n magnitudes, and recording as；
The amplitude variance is compared with a threshold value set in advanceFor comparison, if/>The peak unit has a character target; if/>The peak unit is the static clutter target point. And removing the static clutter target point.
In a third aspect, the present application provides a storage medium comprising a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, implements the step of the radar removing static clutter target points.
In summary, compared with the prior art, the application has at least the following beneficial effects:
The method for removing the static clutter target point by the radar can realize the use of a 2-dimensional peak searching algorithm as a target detection method, so that each peak value in a map can be accurately found; and finally, accumulating the target amplitude of each peak value, calculating the variance, and comparing the threshold value to distinguish the static person target from the static clutter target, so as to remove the static clutter target, thereby improving the detection accuracy of the static target.
Drawings
FIG. 1 is a flow chart of the radar of the present invention for removing static clutter target points;
FIG. 2 is a 2-dimensional object detection distance-angle magnitude plot of the present invention;
FIG. 3 is a block diagram of variance detection and variance accumulation according to the present invention.
Detailed Description
The present application will be described in further detail with reference to the accompanying drawings.
Example 1
1-3, A flow chart of a method for removing static clutter target points by the radar according to the present embodiment specifically includes the following steps:
Step 1, a radar transmits a linear frequency modulation signal through 2 transmitting antennas After the signal is reflected by the static character target and the static clutter target, the 4 receiving antennas receive echo signals, and the obtained echo signals are/>；
Step 2, transmitting the chirp signal when the number of echo pulses of the received signal is NFor reference signals, echo signals/>, are received for all channelsPerforming matched filtering to obtain intermediate frequency signal/>. For intermediate frequency signal/>Digital beamforming/>Wherein/>Is the weight vector of the beam;
Step 3, digital Beam Forming Performing fast Fourier transform to obtain a distance-angle domain map, which is recorded as/>；
Step 4, adopting a 2-dimensional peak searching method to perform distance-angle mappingProcessing to find out peak units in the map, wherein the position of a certain peak unit is marked as/>The amplitude of the homounit is noted as/>；
Step 5, accumulating the amplitudes of n identical units, calculating the variance of the n amplitudes, and recording as；
Step 6, the amplitude variance is compared with a threshold value set in advanceFor comparison, if/>The peak unit has a character target; if/>The peak unit is the static clutter target point. And removing the static clutter target point.
Assuming that there are 3 target peaks, their positions in the distance-angle map are respectively: Positional meaning: [ distance unit, angle unit ], units are m and DEG, respectively; wherein/> Is static clutter target point position,/>Is a static character target point location.
Radar carrier frequency 60GHz, single pulse width 60The chirp bandwidth is 3.2GHz, the sampling frequency is 2.5MHz, and the number of resident pulses n=128.
In step a radar passes through n transmitting antennas, where n is greater than 3 and n is a positive integer.
Example 2
A system for implementing radar to remove static clutter target points, comprising: the antenna array, the voltage-controlled oscillator, the power amplifier, the signal mixer and the digital signal processor.
Radar apparatus in which a plurality of transmitting antennas are used for transmitting a chirp signalTransmitting to a target location;
For transmitting a chirp signal when the number of echo pulses to the received signal is N For reference signals, echo signals/>, are received for all channelsPerforming matched filtering to obtain intermediate frequency signal/>. For intermediate frequency signal/>Digital beamformingWherein/>Is the weight vector of the beam;
For digital beam forming Performing fast Fourier transform to obtain a distance-angle domain map, which is recorded as/>；
The distance-angle map is subjected to a 2-dimensional peak searching methodProcessing to find out peak units in the map, wherein the position of a certain peak unit is marked as/>The amplitude of the homounit is noted as/>；
Accumulating the magnitudes of n identical units, calculating the variance of the n magnitudes, and recording as；
The amplitude variance is compared with a threshold value set in advanceFor comparison, if/>The peak unit has a character target; if/>The peak unit is the static clutter target point. And removing the static clutter target point.
Example 3
A storage medium comprising a memory and a processor, the memory having stored therein a computer program which when executed by the processor performs the step of the radar removing a static clutter target point.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application 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 application, and are intended to be included in the scope of the present application.
Claims (5)
1. A method for radar to remove static clutter target points, characterized by: which comprises the steps of the following steps of,
Step 1, a radar transmits a linear frequency modulation signal through 2 transmitting antennasAfter the signal is reflected by the static character target and the static clutter target, the 4 receiving antennas receive echo signals, and the obtained echo signals are/>；
Step 2, transmitting the chirp signal when the number of echo pulses of the received signal is NFor reference signals, echo signals/>, are received for all channelsPerforming matched filtering to obtain intermediate frequency signal/>. For intermediate frequency signal/>Digital beamformingWherein/>Is the weight vector of the beam;
Step 3, digital Beam Forming Performing fast Fourier transform to obtain a distance-angle domain map, which is recorded as/>；
Step 4, adopting a 2-dimensional peak searching method to perform distance-angle mappingProcessing to find out peak units in the map, wherein the position of a certain peak unit is marked as/>The amplitude of the homounit is noted as/>；
Step 5, accumulating the amplitudes of n identical units, calculating the variance of the n amplitudes, and recording as；
Step 6, the amplitude variance is compared with a threshold value set in advanceFor comparison, if/>The peak unit has a character target; if/>The peak unit is a static clutter target point, and the static clutter target point is removed.
2. The method for removing static clutter target points by the radar according to claim 1, further comprising the steps of: when there are 3 target peaks, their positions in the distance-angle map are respectively: Positional meaning: distance unit, angle unit, in meters and degrees, respectively.
3. The method for removing static clutter target point of claim 1, wherein the radar carrier frequency is 60GHz and the single pulse width is 60The chirp bandwidth is 3.2GHz, the sampling frequency is 2.5MHz, and the number of resident pulses n=128.
4. A system for implementing a method for removing a static clutter target point of a radar according to claims 1-3, wherein the system comprises a hardware circuit comprising an antenna array, a voltage controlled oscillator, a power amplifier, a signal mixer and a digital signal processor, and the hardware circuit is used for detecting a static person target point and removing the static clutter target point.
5. A storage medium comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the computer program when executed by the processor implements the steps of radar elimination of static clutter target points according to any of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311697389.5A CN117970263A (en) | 2023-12-12 | 2023-12-12 | Method, system and storage medium for removing static clutter target point by radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311697389.5A CN117970263A (en) | 2023-12-12 | 2023-12-12 | Method, system and storage medium for removing static clutter target point by radar |
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| CN202311697389.5A Pending CN117970263A (en) | 2023-12-12 | 2023-12-12 | Method, system and storage medium for removing static clutter target point by radar |
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